CN114448321B - Torque motor output control method and device, storage medium and processor - Google Patents
Torque motor output control method and device, storage medium and processor Download PDFInfo
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- CN114448321B CN114448321B CN202210041375.7A CN202210041375A CN114448321B CN 114448321 B CN114448321 B CN 114448321B CN 202210041375 A CN202210041375 A CN 202210041375A CN 114448321 B CN114448321 B CN 114448321B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention relates to the technical field of torque motor control, in particular to a torque motor output control method, a torque motor output control device, a torque motor output control storage medium and a torque motor output control processor, wherein the torque motor output control method comprises the following steps: s10: acquiring a time point of a voltage sine wave zero crossing point; s20: respectively calculating the time t1 and t2 of two adjacent zero-crossing half waves of the voltage sine wave according to the acquired time points; s30: judging whether the ratio of t1 to t2 is 1; s40: if the ratio of t1 to t2 is 1, triggering the thyristor by the original voltage waveform, and then repeating the steps S10 to S40; s50: if the ratio of t1 and t2 is not 1, the time-consuming average value is calculated by taking N half waves, the pulse voltage is triggered at the middle position of each average value period, so that the thyristor is triggered at the middle position of each average value period, and the thyristor is closed at the end position of each average value period, wherein N is a positive integer not less than 1. The invention reduces the error of the torque output by the torque motor and improves the performance effect of the torque motor output.
Description
Technical Field
The invention relates to the technical field of torque motor control, in particular to a torque motor output control method, a torque motor output control device, a torque motor output control storage medium and a torque motor output control processor.
Background
The torque motor comprises a direct current torque motor, an alternating current torque motor and a brushless direct current motor, the torque motor can continuously run at low speed even in a locked-rotor state, the motor cannot be damaged, the torque motor can provide stable torque for a load, and the torque motor can output power by transverse torque; however, for the alternating-current torque motor, a controller of the alternating-current torque motor mostly adopts silicon controlled rectifiers to control the motor, the controller is provided with a thyristor, the thyristor is triggered according to the voltage, and the controller can control the motor by changing the trigger angle of the thyristor;
in the related art, an ideal voltage waveform is as shown in fig. 1, the ideal waveform is a symmetrical shape, the periods of the positive half cycle and the negative half cycle are equal, that is, the time of each zero crossing point is the same, and when the voltage reaches the position of a peak or a trough, the thyristor is triggered, so as to control the rotation of the torque motor; however, in actual operation, as shown in fig. 2, the waveform of the voltage is not a standard sinusoidal waveform, and the periods of two adjacent zero-crossing points are not the same, which results in irregularity of the trigger time of the thyristor, thereby affecting the output performance of the torque motor, and becoming a problem to be solved at present.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art that is known to a person skilled in the art.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: a torque motor output control method, a torque motor output control device, a storage medium and a torque motor output control processor are provided to reduce errors of torque motor output torque.
In order to achieve the purpose, the invention adopts the technical scheme that:
in a first aspect, the present invention provides a torque motor output control method, including the steps of:
the method comprises the following steps:
s10: acquiring a time point of a voltage sine wave zero crossing point;
s20: respectively calculating the time t1 and t2 of two adjacent zero-crossing half waves of the voltage sine wave according to the acquired time point;
s30: judging whether the ratio of t1 to t2 is 1;
s40: if the ratio of t1 to t2 is 1, triggering the thyristor by the original voltage waveform, and then repeating the steps S10 to S40;
s50: if the ratio of t1 to t2 is not 1, taking N half waves to calculate the time-consuming average value, triggering the pulse voltage at the middle position of each average value period, so that the thyristor is triggered at the middle position of each average value period, and is closed at the end position of each average value period, wherein N is a positive integer not less than 1.
Further, in step S20, the t1 is the elapsed time of the first positive half cycle, and the t2 is the elapsed time of the first negative half cycle.
Further, if the ratio of t1 to t2 is not 1, the value of N is 6.
Further, when the average value is calculated, the average value of the positive half cycle and the average value of the negative half cycle are respectively calculated, and then the trigger pulse voltage is respectively set at the middle point of the positive half cycle and the negative half cycle according to the calculation result.
In a second aspect, the present invention provides a torque motor output control apparatus comprising:
the acquisition unit is used for acquiring the time point of the voltage sine wave zero crossing point;
the calculating unit is used for respectively calculating the time t1 and t2 of two adjacent zero-crossing half waves of the voltage sine wave according to the acquired time points;
the judging unit is used for judging whether the ratio of the t1 to the t2 is 1 or not;
the first trigger unit triggers the thyristor by using the original voltage waveform if the ratio of t1 to t2 is 1, and then repeatedly executes the acquisition unit, the calculation unit and the judgment unit;
and a second trigger unit for taking N half-waves to calculate a time-consuming average value if the ratio of t1 to t2 is not 1, triggering the pulse voltage at a middle position of each average value period so that the thyristor is triggered at the middle position of each average value period, and being turned off at an end position of each average value period, wherein N is a positive integer not less than 1.
Further, in the computing unit, the t1 is the time of the first positive half cycle, and the t2 is the time of the first negative half cycle.
Further, in the second trigger unit, if the ratio of t1 to t2 is not 1, the value of N is 6.
Further, the second trigger unit is configured to, when calculating the average value, calculate the average value of the positive half cycle and the average value of the negative half cycle, and set the trigger pulse voltage at a midpoint of the positive half cycle and the negative half cycle according to the calculation result.
In a third aspect, the present invention provides a computer storage medium comprising a stored program, wherein the program is operative to perform the torque motor output control method according to the first aspect.
In a fourth aspect, the invention provides a processor for running a program, wherein the program when running performs the torque motor output control method according to the first aspect.
The beneficial effects of the invention are as follows: the control voltage of the torque motor is detected by obtaining and judging whether a plurality of half-wave periods are equal or not, compared with the prior art, the control instability caused by voltage asymmetry is prevented, and when the voltage is asymmetric, the control of the thyristor tends to be stable by recalculating the average value and distributing the trigger time of the thyristor at equal intervals.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is an ideal torque motor thyristor trigger voltage waveform in the background of the invention;
FIG. 2 is a graph of actual trigger voltage waveforms of thyristors of the torque motor in the background art of the present invention
FIG. 3 is a flowchart illustrating steps of a torque motor output control method according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of an output waveform adjustment waveform of a torque motor according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of an output waveform adjustment waveform of another torque motor according to an embodiment of the present invention;
FIG. 6 is a schematic diagram illustrating adjustment of an output waveform of another torque motor according to an embodiment of the present invention;
fig. 7 is a schematic diagram of an output control device of a torque motor according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
The torque motor output control method as shown in fig. 3 to includes the steps of:
s10: acquiring a time point of a voltage sine wave zero crossing point; it should be noted that in the specific implementation, the time point of the zero-crossing point may be obtained through the trigger board and the timer, as shown in fig. 4, the first zero-crossing point is denoted as C0, the second zero-crossing point is denoted as C1, and the third zero-crossing point is denoted as C2, at this time, the time of the first positive half cycle is t1= C1-C0, and the time of the first negative half cycle is t2= C2-C1;
s20: respectively calculating the time t1 and t2 of two adjacent zero-crossing half waves of the voltage sine wave according to the acquired time points; it should be noted that, in the embodiment of the present invention, when selecting the comparison interval, as shown in fig. 4, the duration of a half wave may be selected as t1, or as shown in fig. 5, the durations of two half waves may be selected as t1 as the comparison interval, and a person skilled in the art may also select the comparison interval with a longer span as needed, where the manner of selecting the comparison interval all falls within the protection scope of the present invention;
s30: judging whether the ratio of t1 to t2 is 1; the purpose of judging whether the ratio of the two is 1 is to see whether the time of the two selected intervals is equal, and if the time of the two selected intervals is equal, the waveforms are judged to be symmetrical, so that the waveforms do not need to be adjusted;
s40: if the ratio of t1 to t2 is 1, triggering the thyristor by the original voltage waveform, and then repeating the steps S10 to S40; after the waveform with the ratio of 1 is processed, the same detection judgment program is continuously carried out on the subsequent waveform;
s50: if the ratio of t1 and t2 is not 1, the time-consuming average value is calculated by taking N half waves, the pulse voltage is triggered at the middle position of each average value period, so that the thyristor is triggered at the middle position of each average value period, and the thyristor is closed at the end position of each average value period, wherein N is a positive integer not less than 1. As shown in fig. 4 and 5, when the ratio is not 1, the time-use average value of each half-wave is first calculated, and then the thyristor is triggered at the middle position point of each half-wave period, but it should be noted here that since the half-waves are divided into a positive half-cycle and a negative half-cycle, when the thyristor is specifically triggered, the high level is triggered at the positive half-cycle part, and the low level is triggered at the negative half-cycle part, so as to ensure that the thyristor is uniformly triggered;
in the embodiment, the control voltage of the torque motor is detected by obtaining and judging whether a plurality of half-wave periods are equal, compared with the prior art, unstable control caused by asymmetric voltage is prevented, and when the voltage is asymmetric, the control of the thyristor tends to be stable by recalculating the average value and distributing the trigger time of the thyristor at equal intervals.
In addition to the above embodiment, since it is necessary to control the voltage waveform first, the longer the time for the identification determination is, the worse the timeliness of the control torque motor is, and therefore, in step S20, in order to improve the timeliness of the control torque motor, t1 is the time duration of the first positive half cycle, and t2 is the time duration of the first negative half cycle. Therefore, only the duration of one half-wave is judged, and the detection efficiency can be improved;
when the waveform asymmetry is detected, in order to improve the accuracy of the control, in the embodiment of the present invention, if the ratio of t1 to t2 is not 1, the value of N is 6. In this way, when the time consumption of the first two half waves is judged to be unequal, the average value of each half wave is calculated by adding the subsequent four half waves, so that the obtained half wave has higher time stability, and the timeliness is also grasped; through the arrangement, the judgment is carried out during the first waveform shaping, and once a problematic waveform appears, the average value of three continuous waveforms is calculated to control the output trigger angle; through the mode, compared with the prior art, the output precision of the torque motor can be improved, and the control timeliness can be ensured.
In another embodiment of the present invention, if the positive and negative half cycles need to be controlled separately, based on the same inventive concept, as shown in fig. 6, when calculating the average value, the average value of the positive half cycle and the average value of the negative half cycle are calculated respectively, i.e. t1 and t2 or t1 'and t 2' in fig. 6 are taken for comparison, if the ratio is not 1, the calculation is performed to set the trigger voltage at the middle point of the positive half cycle and the negative half cycle respectively according to the calculation result. That is, the average values of t1, t2 and t3 are calculated first, the middle point of the average values is selected as the trigger point, then the average values of t1 ', t2 ' and t3 ' are calculated, the middle point of the average values is selected as the trigger point, then the trigger is performed in sequence according to the waveform sequence, and the adjusted trigger pulse is as shown in fig. 6.
As will be appreciated by those skilled in the art, the embodiments of the present application may be provided as a method, an apparatus, a storage medium, or a computer program product, so that the embodiments of the present application may fully adopt hardware embodiments, hardware and software combined embodiments, or pure software embodiments, and the torque motor output control apparatus in the embodiments of the present application is described below, the following embodiments of the apparatus correspond to the above embodiments of the method, and those skilled in the art can understand the following implementation processes based on the above description, and will not be described in detail herein;
according to another aspect of the embodiments of the present invention, there is also provided a torque motor output control apparatus, and fig. 7 is a schematic view of the torque motor output control apparatus according to the embodiments of the present invention, as shown in fig. 7, including: the device comprises an acquisition unit 100, a calculation unit 200, a judgment unit 300, a first trigger unit 400 and a second trigger unit 500;
an obtaining unit 100, configured to obtain a time point of a voltage sine wave zero crossing point;
the calculating unit 200 is used for respectively calculating the time spent on two adjacent equal zero-crossing half waves of the voltage sine wave t1 and t2 according to the acquired time points;
a judging unit 300, configured to judge whether a ratio of t1 to t2 is 1;
the first trigger unit 400 triggers the thyristor with the original voltage waveform if the ratio of t1 to t2 is 1, and then repeatedly executes the obtaining unit 100, the calculating unit 200 and the judging unit 300;
and a second trigger unit 500, if the ratio of t1 to t2 is not 1, the second trigger unit 500 is used for taking N half waves to calculate a time-consuming average value, triggering the pulse voltage at the middle position of each average value period, so that the thyristor is triggered at the middle position of each average value period and is closed at the end position of each average value period, wherein N is a positive integer not less than 1.
In the embodiment of the present invention, in the computing unit 200, t1 is the time of the first positive half cycle, and t2 is the time of the first negative half cycle.
In the embodiment of the present invention, in the second trigger unit 500, if the ratio of t1 to t2 is not 1, the value of N is 6.
In the embodiment of the present invention, in the second trigger unit 500, when the average value is calculated, the average value of the positive half cycle and the average value of the negative half cycle are respectively calculated, and then the trigger pulse voltage is respectively set at the midpoint of the positive half cycle and the negative half cycle according to the calculation result.
In another aspect of the embodiments of the present invention, there is also provided a computer storage medium including a stored program, wherein the program is executed to perform any one of the torque motor output control methods described above when the program is executed.
According to another aspect of the embodiment of the present invention, there is also provided a processor for executing a program, wherein the program executes the torque motor output control method according to any one of the above methods.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the technical solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, and such changes and modifications are within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (4)
1. The torque motor output control method is characterized by comprising the following steps of:
s10: acquiring the time point of a voltage sine wave zero crossing point;
s20: respectively calculating the time spent on two adjacent zero-crossing half waves of the voltage sine wave t1 and t2 according to the obtained time points, wherein t1 is the time spent on two adjacent zero-crossing half waves of the first positive half cycle, and t2 is the time spent on two adjacent zero-crossing half waves of the first negative half cycle;
s30: judging whether the ratio of t1 to t2 is 1;
s40: if the ratio of t1 to t2 is 1, triggering the thyristor by the original voltage waveform, and then repeating the steps S10 to S40;
s50: if the ratio of t1 to t2 is not 1, calculating the time consumption average value of 6 half waves, calculating the average value of three continuous waveforms to control the output trigger angle, and setting a trigger pulse voltage at the middle position of each average value period;
when the average value is calculated, the average value of the positive half cycle and the average value of the negative half cycle are respectively calculated, and then the trigger pulse voltage is respectively set at the middle point of the positive half cycle and the negative half cycle according to the calculation result, so that the thyristor is triggered at the middle position of each average value cycle according to the waveform sequence, and is closed at the end position of each average value cycle, and the independent control of the positive half cycle and the negative half cycle is realized.
2. A torque motor output control device, comprising:
the acquisition unit is used for acquiring the time point of the voltage sine wave zero crossing point;
the calculating unit is used for respectively calculating the time spent on two adjacent zero-crossing half waves of the voltage sine wave t1 and t2 according to the acquired time points, wherein t1 is the time spent on two adjacent zero-crossing half waves of a first positive half cycle, and t2 is the time spent on two adjacent zero-crossing half waves of a first negative half cycle;
the judging unit is used for judging whether the ratio of the t1 to the t2 is 1 or not;
the first trigger unit is used for triggering the thyristor by using the original voltage waveform if the ratio of t1 to t2 is 1, and then the acquisition unit, the calculation unit and the judgment unit are repeatedly executed;
if the ratio of t1 to t2 is not 1, the second trigger unit is used for taking an average value of 6 half waves for calculating time consumption, calculating an average value of three continuous waveforms to control an output trigger angle, and setting a trigger pulse voltage at the middle position of each average value period;
when the average value is calculated, the average value of the positive half cycle and the average value of the negative half cycle are respectively calculated, then trigger pulse voltage is respectively set at the middle point of the positive half cycle and the negative half cycle according to the calculation result, so that the thyristor is triggered at the middle position of each average value cycle according to the waveform sequence, and is closed at the end point of each average value cycle, so that the positive half cycle and the negative half cycle are independently controlled.
3. A computer storage medium, characterized in that the storage medium includes a stored program, wherein the program when executed performs the torque motor output control method according to claim 1.
4. A processor, characterized in that the processor is configured to run a program, wherein the program when executed performs the torque motor output control method of claim 1.
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