CN114915232A - Excitation synchronous motor control system based on Speedgoat - Google Patents
Excitation synchronous motor control system based on Speedgoat Download PDFInfo
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- CN114915232A CN114915232A CN202210503054.4A CN202210503054A CN114915232A CN 114915232 A CN114915232 A CN 114915232A CN 202210503054 A CN202210503054 A CN 202210503054A CN 114915232 A CN114915232 A CN 114915232A
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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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/06—Circuits specially adapted for rendering non-conductive gas discharge tubes or equivalent semiconductor devices, e.g. thyratrons, thyristors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/02—Conversion of ac power input into dc power output without possibility of reversal
- H02M7/04—Conversion of ac power input into dc power output without possibility of reversal by static converters
- H02M7/12—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/145—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a thyratron or thyristor type requiring extinguishing means
- H02M7/155—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a thyratron or thyristor type requiring extinguishing means using semiconductor devices only
- H02M7/162—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a thyratron or thyristor type requiring extinguishing means using semiconductor devices only in a bridge configuration
- H02M7/1623—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a thyratron or thyristor type requiring extinguishing means using semiconductor devices only in a bridge configuration with control circuit
- H02M7/1626—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a thyratron or thyristor type requiring extinguishing means using semiconductor devices only in a bridge configuration with control circuit with automatic control of the output voltage or current
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/505—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a thyratron or thyristor type requiring extinguishing means
- H02M7/515—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a thyratron or thyristor type requiring extinguishing means using semiconductor devices only
- H02M7/521—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a thyratron or thyristor type requiring extinguishing means using semiconductor devices only in a bridge configuration
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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
- H02P25/022—Synchronous motors
- H02P25/024—Synchronous motors controlled by supply frequency
- H02P25/026—Synchronous motors controlled by supply frequency thereby detecting the rotor position
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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
- H02P25/16—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring
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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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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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
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P80/00—Climate change mitigation technologies for sector-wide applications
- Y02P80/10—Efficient use of energy, e.g. using compressed air or pressurized fluid as energy carrier
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- Engineering & Computer Science (AREA)
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- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses a Speedgoat-based excitation synchronous motor control system.A power circuit is adopted to carry out rectification inversion on a three-phase power supply, a data sampling module samples various data from the power circuit, a signal conditioning module conditions the data and then carries out analog-to-digital conversion by an analog-to-digital conversion circuit, and then all digital signals are output to a Speedgoat controller; the upper computer is used for downloading a preset control algorithm to the Speedgoat controller, the Speedgoat controller generates corresponding trigger signals according to the control algorithm according to the digital signals and outputs the trigger signals to the driving circuit, and the driving circuit amplifies the power of the trigger control signals and controls a three-phase SCR rectifier bridge and a three-phase SCR inverter bridge in the power circuit. The invention controls the SCR in the power circuit of the excitation synchronous motor through the Speedgoat controller so as to realize the control of the excitation synchronous motor.
Description
Technical Field
The invention belongs to the technical field of motor control, and particularly relates to a Speedgoat-based excitation synchronous motor control system.
Background
The frequency conversion control system of the motor mainly controls the on-off of Insulated Gate Bipolar Transistors (IGBT) to convert three-phase power frequency voltage (50Hz and 220V) alternating current into three-phase alternating current with variable frequency and voltage. Although the IGBT is widely used in a low-current scene, when a high current and a high voltage are involved, the IGBT is often difficult to be widely used due to its inherent characteristic limitation.
SCR (Silicon Controlled Rectifier) is generally used in a power plant unit due to the tolerance characteristics of large current and high voltage, but due to the semi-Controlled characteristic of SCR, a control system can directly control the on and off of the SCR, and the design and implementation of the control system are very complicated, so that the SCR is rarely used in the frequency conversion control of a motor.
An RCP (Rapid Control modeling) system is used as one of semi-physical simulation technologies, a Control algorithm is rapidly verified in a mode of 'a virtual controller + a real controlled object', and the RCP system is widely applied to the field of algorithm test research. A RCP system platform with good design not only can greatly shorten the research and development period, but also can be repeatedly used, thereby reducing the research and development cost and improving the reliability of a control algorithm. The method has a very important significance for the research of the variable frequency starting control algorithm of the motor, particularly for the research of the control algorithm taking the SCR as the controlled object, but the research in the field is less at present, and the industrial application cannot be realized.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a Speedgoat-based excitation synchronous motor control system, wherein a speed controller is used for controlling an SCR (selective catalytic reduction) in a power circuit of an excitation synchronous motor so as to realize control of the excitation synchronous motor.
In order to achieve the above object, the excitation synchronous motor control system based on Speedgoat of the present invention includes a power circuit, a data sampling module, a signal conditioning module, an analog-to-digital conversion module, an upper computer, a Speedgoat controller, and a driving circuit, wherein:
the power circuit is used for rectifying and inverting a three-phase power supply and comprises an isolation transformer, a three-phase SCR rectifier bridge, a smoothing reactor and a three-phase SCR inverter bridge, wherein the isolation transformer is used for connecting the three-phase power supply and the three-phase SCR rectifier bridge and is used for realizing the electrical isolation between a power grid and the power circuit; the three-phase SCR rectifier bridge rectifies the transformed three-phase power supply and outputs direct-current voltage to the direct-current smoothing reactor, and then the direct-current voltage is input into the three-phase SCR inverter bridge to obtain three-phase voltage with adjustable frequency and amplitude and output the three-phase voltage to the excitation synchronous motor;
the data sampling module is used for collecting voltage and current data from a power circuit, and comprises a network side three-phase voltage, a network side three-phase current, a unit stator voltage, a linear bus current and an exciting current, and collecting rotor position angle data from an exciting synchronous motor, wherein collecting points of the network side three-phase voltage and the network side three-phase current are arranged between an isolation transformer and a three-phase SCR rectifier bridge, the collecting point of the direct current bus current is arranged between a three-phase SCR rectifier bridge and a smoothing reactor, the collecting point of the unit stator voltage is arranged between a three-phase SCR inverter bridge and the exciting synchronous motor, the exciting current collecting point is arranged between an excitation control system and an excitation winding of the motor, and the data sampling module outputs each sampled data signal to the signal conditioning module;
the signal conditioning module is used for conditioning the received data signals and outputting the obtained data signals to the analog-to-digital conversion circuit;
the analog-to-digital conversion circuit performs analog-to-digital conversion on each received data and outputs each obtained digital signal to the Speedgoat controller;
the upper computer is used for downloading a preset control algorithm to the speedcoat controller;
the Speedgoat controller is used for receiving each digital signal sent by the analog-to-digital conversion circuit, generating a corresponding trigger signal according to a preset control algorithm and outputting the trigger signal to the drive circuit;
the drive circuit is used for amplifying the power of the trigger control signal output by the Speedgoat controller, realizing the isolation of strong current and weak current, and then respectively outputting the obtained trigger drive signal to the three-phase SCR rectifier bridge and the three-phase SCR inverter bridge to control the work of the SCR.
The invention relates to a Speedgoat-based excitation synchronous motor control system, which adopts a power circuit to carry out rectification inversion on a three-phase power supply, a data sampling module samples various data from the power circuit, a signal conditioning module conditions the data, an analog-to-digital conversion circuit carries out analog-to-digital conversion on the data, and then all digital signals are output to a Speedgoat controller; the upper computer is used for downloading a preset control algorithm to the Speedgoat controller, the Speedgoat controller generates corresponding trigger signals according to the control algorithm according to the digital signals and outputs the trigger signals to the driving circuit, and the driving circuit amplifies the power of the trigger control signals and controls a three-phase SCR rectifier bridge and a three-phase SCR inverter bridge in the power circuit.
The invention has the following beneficial effects:
1) compared with the traditional DSP development system, the Speedgoat controller is adopted, the process of realizing the hand-written control code can be avoided, the model is used for building, the development period is shortened, the difficulty of developing the control algorithm is reduced, and the reliability of theoretical research is improved;
2) the invention improves the control algorithm and improves the accuracy and the effectiveness of the control of the excitation synchronous motor.
Drawings
FIG. 1 is a block diagram of an embodiment of a Speedgoat-based control system for an excited synchronous motor according to the present invention;
fig. 2 is a structural diagram of a control model of the excited synchronous machine in the present embodiment;
FIG. 3 is a waveform diagram of the variation of the motor speed in the speed-up test of the excited synchronous motor according to the embodiment;
FIG. 4 is a graph of the voltage waveform at the voltage input of the excited synchronous machine in this embodiment when the machine is operating at 600 r/min.
Detailed Description
The following description of the embodiments of the present invention is provided in order to better understand the present invention for those skilled in the art with reference to the accompanying drawings. It is to be expressly noted that in the following description, a detailed description of known functions and designs will be omitted when it may obscure the subject matter of the present invention.
Examples
Fig. 1 is a structural diagram of an embodiment of a Speedgoat-based excited synchronous motor control system according to the present invention. As shown in fig. 1, the excitation synchronous motor control system based on Speedgoat of the present invention includes a power circuit 11, a data sampling module 12, a signal conditioning module 13, an analog-to-digital conversion module 14, an upper computer 15, a Speedgoat controller 16, and a driving circuit 17. The following describes each module in detail:
the power circuit 11 is used for rectifying and inverting a three-phase power supply, and comprises an isolation transformer 111, a three-phase SCR rectifier bridge 112, a smoothing reactor 113 and a three-phase SCR inverter bridge 114, wherein the isolation transformer 111 is used for connecting the three-phase power supply and the three-phase SCR rectifier bridge 112, and is used for realizing electrical isolation between a power grid and the power circuit and reducing disturbance to the power grid; the three-phase SCR rectifier bridge 112 rectifies the transformed three-phase power supply, outputs a dc voltage to the dc smoothing reactor 113, and then inputs the dc voltage to the three-phase SCR inverter bridge 114 to obtain a three-phase voltage with adjustable frequency and amplitude, and outputs the three-phase voltage to the excited synchronous motor.
The data sampling module 12 is configured to collect voltage and current data from the power circuit 11, including grid-side three-phase voltage, grid-side three-phase current, unit stator voltage, linear bus current, and excitation current, and collect rotor position angle data from the excited synchronous motor, where collection points of the grid-side three-phase voltage and the grid-side three-phase current are set between the isolation transformer 111 and the three-phase SCR rectifier bridge 112, collection points of the direct-current bus current are set between the three-phase SCR rectifier bridge 112 and the smoothing reactor 113, collection points of the unit stator voltage are set between the three-phase SCR inverter bridge 114 and the excited synchronous motor, the excitation current collection points are set between the excitation control system and the excitation winding of the motor, and the data sampling module 12 outputs each sampled data signal to the signal conditioning module 13.
The signal conditioning module 13 is configured to perform signal conditioning on each received data signal, and output each obtained data signal to the analog-to-digital conversion circuit 14. Since the amplitude of each data signal is different, the data signals cannot be directly sent to the analog-to-digital conversion circuit 14 for AD conversion, and the signals need to be subjected to offset and scaling processing, the signal conditioning module 13 is required. In this embodiment, amplitude compression is performed on an input signal, an input signal within a range of ± 5V is converted into a signal within a range of ± 0.5V, and then forward bias is performed on the signal to adjust the range to a signal within a range of 0.5 to 1.5V.
The analog-to-digital conversion circuit 14 performs analog-to-digital conversion on each received data, and outputs each obtained digital signal to the Speedgoat controller 16.
The upper computer 15 is used for downloading a preset control algorithm to the speedcoat controller 16.
The speedgate controller 16 is configured to receive each digital signal sent by the analog-to-digital conversion circuit 14, generate a corresponding trigger control signal according to a preset control algorithm, and output the trigger control signal to the driving circuit 17.
The driving circuit 17 is configured to perform power amplification on the trigger control signal output by the Speedgoat controller 16, implement isolation of strong current and weak current, and then output the obtained trigger drive signal to the three-phase SCR rectifier bridge 112 and the three-phase SCR inverter bridge 114, respectively, so as to control the operation of the SCRs.
The purpose of using the driver circuit 17 is for two important factors: on one hand, in order to avoid the overload of the controller, the speedgate is used as the controller mainly for data processing and logic generation, the power of the control signal output internally is not large, and if the gate of the SCR is directly driven, the overload of the speedgate controller 16 is easily caused; on the other hand, the Speedgoat controller 16 has a low internal circuit voltage, belongs to the weak current application range, and is mainly used for processing digital signals, while the power circuit 11 is used for rectifying and inverting a three-phase power supply and processing strong current analog signals, and if the power circuit and the power circuit are directly connected, ripple interference of the three-phase power will affect the Speedgoat controller 16, even cause damage to the Speedgoat controller 16.
In this embodiment, the driving circuit uses an optical coupling isolation element to realize photoelectric isolation between the trigger control signal and the trigger driving signal. Considering that the optocoupler has a power supply requirement, the actual conduction of the driving of the current-phase silicon controlled rectifier needs enough current, and in the embodiment, the primary side of each SCR driving circuit is directly connected in parallel to two ends of each driven SCR, so that the power supply structure of the system is simplified. And the drive modules of the SCRs are integrated into one drive board by combining the modularization idea to form a functional drive circuit, so that the hardware is convenient to realize and arrange.
According to the specific structure of the excitation synchronous motor control system based on Speedgoat, the control algorithm is very critical to the control effect of the excitation synchronous motor, so that the embodiment also provides an excitation synchronous motor control model, which mainly aims to restore the sampling signal, construct a relevant model according to the sampling signal and finally realize the output of the trigger control signal. Fig. 2 is a structural diagram of an excited synchronous machine control model in the present embodiment. As shown in fig. 2, the excitation synchronous machine control model in this embodiment includes a human-computer interaction module 21, a data processing module 22, a commutation switching module 23, a clock trigger signal generating module 24, a trigger angle signal generating module 25, a rectifier bridge control module 26, and an inverter bridge control module 27, where:
the man-machine interaction module 21 is used for connecting the upper computer 15, receiving a conduction trigger angle, a reference rotating speed, a control mode and a phase change mode under closed-loop control, wherein the control mode comprises open-loop control and closed-loop control, the phase change mode comprises a natural phase change mode and an intermittent phase change mode, the conduction trigger angle is sent to the trigger angle signal generation module 25, the reference rotating speed is sent to the phase change switching module 23, and the control mode and the phase change mode are sent to the inverter bridge control module 27.
The data processing module 22 is configured to process each digital signal output by the analog-to-digital conversion circuit 14, and restore the digital signal to obtain original data, which includes grid-side three-phase voltage, grid-side three-phase current, unit stator voltage, linear bus current, exciting current, and rotor position angle data. For example, in practical applications, each digital signal output by the analog-to-digital conversion circuit includes sixteen-bit data information, and is divided into two parts, namely, upper eight bits and lower eight bits, which are transmitted separately, so that the speedgate controller needs to recombine the upper eight bits and the lower eight bits into sixteen-bit data after receiving the digital signal, and multiply the sixteen-bit data by a corresponding scaling coefficient to restore the original data.
In addition, the data processing module 22 further needs to obtain the rotation speed data according to the rotor position angle data, and the specific method is as follows: since the rotor position angle data is periodically changed, it is necessary to perform a periodic normalization process on the current rotor position angle according to the rotor initial position angle to obtain an electrical angle of each rotor position angle, and then calculate the rotational speed data by using an accumulation manner of the rotor position angle according to a time represented by a relational expression θ ═ ω t, t between the rotational speed θ and the electrical angle ω.
After the data processing is finished, all data are sent to the man-machine interaction module 21 to be displayed, then the network side three-phase voltage is sent to the rectifier bridge control module 26, and the rotating speed data is sent to the phase change switching module 23 and the trigger angle signal generation module 25.
The commutation switching module 23 is configured to monitor a commutation mode of the inverter bridge control module 27, and switch the commutation mode of the inverter bridge control module 27 to natural commutation when the commutation mode of the inverter bridge control module 27 is discontinuous commutation and the rotation speed received from the data processing module 22 is greater than a preset reference rotation speed. In this embodiment, the reference rotation speed is set to 10% of the credit rotation speed.
The clock trigger signal generation module 24 is configured to simulate a stator voltage to generate a phase signal, input the phase signal to the pulse generation module, use the obtained control pulse as a clock trigger signal, and send the clock trigger signal to the firing angle signal generation module 25.
The trigger angle signal generating module 25 is configured to generate a trigger angle signal according to the set conduction trigger angle, the clock trigger signal received from the inverter bridge control module 27 and the three-phase SCR inverter bridge trigger signal received from the clock trigger signal generating module 24, and in combination with the rotational speed data, and send the trigger angle signal to the rectifier bridge control module 26, where the specific method for generating the trigger angle signal includes the following steps:
1) judging the currently selected control mode, if the currently selected control mode is closed-loop control, entering step 2), and if the currently selected control mode is open-loop control, entering step 3).
2) And (4) judging the current closed-loop control mode, if the current closed-loop control mode is manual control, receiving a conduction trigger angle set by a user from a human-computer interaction module, if the current closed-loop control mode is automatic, generating the conduction trigger angle through PID (proportion integration differentiation) regulation according to a current rotating speed signal, and entering the step 4).
3) And receiving the conduction trigger angle set by the user from the man-machine interaction module 21, and entering the step 4).
4) And (4) judging the current phase change mode, and if the current phase change mode is a natural phase change mode, entering the step 5), and if the current phase change mode is an intermittent phase change mode, entering the step 6).
5) And generating a trigger angle signal according to the size of the conduction trigger angle.
6) And (2) using a finite-state machine mode, taking a trigger signal of a three-phase SCR inverter bridge and a clock trigger signal as a judgment logic of the finite-state machine, directly generating a trigger angle signal output according to the size of a conduction trigger angle when the trigger angle and the clock trigger signal are simultaneously '1', and if the trigger angle and the conduction trigger angle are not simultaneously '1', enabling the trigger angle to be a preset trigger angle default value (the value range of the default value is more than 120 degrees, and the value range is 150 degrees), and generating a trigger angle signal output. In other words, in the discontinuous commutation mode, the output trigger control angle signal is switched between the trigger angle default value and the on trigger angle, and discontinuous output of the trigger signal is realized.
The rectifier bridge control module 26 is configured to generate a trigger control signal of the three-phase SCR rectifier bridge 112 according to the grid-side three-phase voltage signal and the trigger angle signal, and the specific method includes: according to the three-phase line voltage vector being zero, i.e. u a +u b +u c Converting the three-phase voltage of the network side into a bridge phase voltage, obtaining an electrical angle according to the bridge phase voltage by adopting a phase-locked loop, inputting the electrical angle and a trigger angle signal into a control pulse generation module, and directly generating the trigger of the three-phase SCR rectifier bridge 112A control signal.
The inverter bridge control module 27 is configured to generate a trigger control signal of the three-phase SCR inverter bridge 114 according to the set control manner, and the specific method is as follows:
1) and if the set control mode is open-loop control, entering step 2), and if the set control mode is closed-loop control, entering step 3).
2) And according to a preset gating logic table of three-phase SCR in the three-phase SCR inverter bridge 114, each gating logic comprises a rotor position and a corresponding conduction three-phase SCR number, the conduction three-phase SCR number is determined according to the current rotor position, then a corresponding angular velocity signal is output according to the set open-loop frequency, and then the pulse generation module is controlled to obtain a trigger signal of the three-phase SCR inverter bridge 114 in an open-loop control mode.
3) And judging whether the current commutation mode is natural commutation or not, if so, entering the step 4), and if not, entering the step 5).
4) A two-phase six-pulse control method is adopted in advance, SCR conduction logics in the three-phase SCR inverter bridge 114 in a natural phase conversion mode are obtained by combining the pole pair number of the excitation synchronous motor, an SCR conduction number is determined according to the current rotor position, and a trigger signal of the three-phase SCR inverter bridge 114 is generated.
5) A two-phase six-pulse control method is adopted in advance, SCR conduction logics in the three-phase SCR inverter bridge 114 in an intermittent commutation mode are obtained by combining the pole pair number of the excitation synchronous motor, an SCR conduction number is determined according to the current rotor position, and a trigger signal of the three-phase SCR inverter bridge 114 is generated.
In the embodiment, the excitation synchronous motor is assumed to be a 4-pole motor, so that the three-phase SCR needs to be switched to be conducted once when the rotor rotates by a physical angle of 30 degrees, and the conduction relation of the three-phase SCR can be obtained based on the relation between the initial position of the rotor and the conduction angle. Table 1 is a gating logic table of the rotor position and the SCR conduction condition in the natural commutation state in this embodiment.
TABLE 1
In the intermittent commutation mode, the generation principle of an original trigger signal is similar to that of a natural commutation mode, but the trigger time of each SCR needs to be shifted forward by 60 electrical angles, so that the SCR can be ensured to be conducted by utilizing potential difference. Table 2 is a gating logic table of the rotor position and the SCR conduction condition in the interrupted commutation state of the present embodiment.
TABLE 2
In order to ensure the safe and stable operation of the control model, a system protection module is further arranged in the control model in the embodiment to detect the real-time condition of hardware equipment and ensure the smooth and orderly execution of the control model. The system protection module comprises a communication fault protection submodule, a commutation signal locking module and a trigger signal output protection submodule, wherein:
the communication fault protection submodule is used for monitoring communication between the Speedgoat controller and an upper computer, and when a communication fault occurs, the communication fault protection submodule outputs a communication fault signal and simultaneously sends a locking signal to the rectifier bridge control module 26 and the inverter bridge control module 27 to lock the output of the control signal.
The commutation signal locking module is used for receiving commutation signals sent by the commutation switching module, and the mode of combining the S-R latch and the logic AND gate is adopted to ensure that the commutation signals cannot be triggered by mistake.
The trigger signal output protection sub-module is used for sending a locking signal to the rectifier bridge control module 26 and the inverter bridge control module 27 in the self-checking process when the excitation synchronous motor control system is started, and locking the output of the control signal, so that the excitation synchronous motor control system is ensured to operate in a stable state all the time.
In order to illustrate the technical effects of the present invention, the present invention is experimentally verified by using an excitation synchronous motor speed-up experiment in the present embodiment. Fig. 3 is a waveform diagram of the change in the motor rotation speed in the speed-up experiment of the excited synchronous motor according to the embodiment. As shown in fig. 3, the reason why the former small segment of the rotation speed fluctuates is that the control model performs self-correction on the position of the rotor of the motor, the speed is gradually increased after about 10s, when the rotation speed reaches 200r/min, the rotation speed fluctuates again, the reason is that the three-phase SCR of the inverter circuit changes from intermittent commutation to natural commutation, and when the time reaches about 105s, the rotation speed basically reaches the set target speed. FIG. 4 is a graph of the voltage waveform at the voltage input of the excited synchronous machine in this embodiment when the machine is operating at 600 r/min. As can be seen from fig. 4, the voltage waveform is a stable sine wave, which illustrates that the motor can operate smoothly. The starting time of the motor is about 100s, and the actual requirement is met. Therefore, the excitation synchronous motor control system provided by the invention can effectively realize the control of the excitation synchronous motor.
Although illustrative embodiments of the present invention have been described above to facilitate the understanding of the present invention by those skilled in the art, it should be understood that the present invention is not limited to the scope of the embodiments, and various changes may be made apparent to those skilled in the art as long as they are within the spirit and scope of the present invention as defined and defined by the appended claims, and all matters of the invention which utilize the inventive concepts are protected.
Claims (3)
1. The utility model provides an excitation synchronous machine control system based on Speedgoat which characterized in that includes power circuit, data sampling module, signal conditioning module, analog-to-digital conversion module, host computer, Speedgoat controller, drive circuit, wherein:
the power circuit is used for rectifying and inverting a three-phase power supply and comprises an isolation transformer, a three-phase SCR rectifier bridge, a smoothing reactor and a three-phase SCR inverter bridge, wherein the isolation transformer is used for connecting the three-phase power supply and the three-phase SCR rectifier bridge and is used for realizing the electrical isolation between a power grid and the power circuit; the three-phase SCR rectifier bridge rectifies the transformed three-phase power supply and outputs direct-current voltage to the direct-current smoothing reactor, and then the direct-current voltage is input into the three-phase SCR inverter bridge to obtain three-phase voltage with adjustable frequency and amplitude and output the three-phase voltage to the excitation synchronous motor;
the data sampling module is used for collecting voltage and current data from a power circuit, and comprises a network side three-phase voltage, a network side three-phase current, a unit stator voltage, a linear bus current and an exciting current, and collecting rotor position angle data from an exciting synchronous motor, wherein collecting points of the network side three-phase voltage and the network side three-phase current are arranged between an isolation transformer and a three-phase SCR rectifier bridge, the collecting point of the direct current bus current is arranged between a three-phase SCR rectifier bridge and a smoothing reactor, the collecting point of the unit stator voltage is arranged between a three-phase SCR inverter bridge and the exciting synchronous motor, the exciting current collecting point is arranged between an excitation control system and an excitation winding of the motor, and the data sampling module outputs each sampled data signal to the signal conditioning module;
the signal conditioning module is used for conditioning the received data signals and outputting the obtained data signals to the analog-to-digital conversion circuit;
the analog-to-digital conversion circuit performs analog-to-digital conversion on each received data and outputs each obtained digital signal to the Speedgoat controller;
the upper computer is used for downloading a preset control algorithm to the speedcoat controller;
the Speedgoat controller is used for receiving each digital signal sent by the analog-to-digital conversion circuit, generating a corresponding trigger signal according to a preset control algorithm and outputting the trigger signal to the drive circuit;
the drive circuit is used for amplifying the power of the trigger control signal output by the Speedgoat controller, realizing the isolation of strong current and weak current, and then respectively outputting the obtained trigger drive signal to the three-phase SCR rectifier bridge and the three-phase SCR inverter bridge to control the work of the SCR.
2. The excited synchronous machine control system according to claim 1, wherein the control algorithm adopts an excited synchronous machine control model comprising a human-computer interaction module, a data processing module, a commutation switching module, a clock trigger signal generation module, a trigger angle signal generation module, a rectifier bridge control module and an inverter bridge control module, wherein:
the human-computer interaction module is used for connecting an upper computer, receiving a conduction trigger angle, a reference rotating speed, a control mode and a phase change mode under closed-loop control, wherein the control mode comprises open-loop control and closed-loop control, the phase change mode comprises a natural phase change mode and an intermittent phase change mode, the conduction trigger angle is sent to the trigger angle signal generation module, the reference rotating speed is sent to the phase change switching module, and the control mode and the phase change mode are sent to the inverter bridge control module;
the data processing module is used for processing each digital signal output by the analog-to-digital conversion circuit and restoring to obtain original data, wherein the original data comprises network side three-phase voltage, network side three-phase current, unit stator voltage, linear bus current, exciting current and rotor position angle data; the method for acquiring the rotating speed data according to the rotor position angle data comprises the following steps: carrying out periodic normalization processing on the current rotor position angle according to the rotor initial position angle to obtain the electrical angle of each rotor position angle, and then calculating to obtain rotation speed data by using an accumulation mode of the rotor position angle according to a relational expression theta of the rotation speed theta and the electrical angle omega, wherein the relational expression theta is omegat, and t represents time; after data processing is finished, various data are sent to a man-machine interaction module to be displayed, then network side three-phase voltage is sent to a rectifier bridge control module, and rotating speed data are sent to a phase change switching module and a trigger angle signal generation module;
the phase-change switching module is used for monitoring the phase-change mode of the inverter bridge control module, and when the phase-change mode of the inverter bridge control module is intermittent phase-change and the rotating speed received from the data processing module is greater than a preset reference rotating speed, the phase-change mode of the inverter bridge control module is switched to natural phase-change;
the clock trigger signal generation module is used for simulating stator voltage to generate a phase signal, inputting the phase signal into the pulse generation module, using the obtained control pulse as a clock trigger signal, and sending the clock trigger signal to the trigger angle signal generation module;
the trigger angle signal generation module is used for generating a trigger angle signal according to a set conduction trigger angle, a clock trigger signal received by the inverter bridge control module and a clock trigger signal received by the clock trigger signal generation module, and the trigger angle signal is combined with rotating speed information and sent to the rectifier bridge control module, and the specific method for generating the trigger angle signal comprises the following steps:
1) judging the currently selected control mode, if closed-loop control is adopted, entering the step 2), and if open-loop control is adopted, entering the step 3);
2) judging the current closed-loop control mode, if the current closed-loop control mode is manual control, receiving a conduction trigger angle set by a user from a human-computer interaction module, if the current closed-loop control mode is automatic, generating the conduction trigger angle through PID (proportion integration differentiation) regulation according to a current rotating speed signal, and entering the step 4);
3) receiving a conduction trigger angle set by a user from the man-machine interaction module 21, and entering the step 4);
4) judging the current commutation mode, if the current commutation mode is a natural commutation mode, entering step 5), and if the current commutation mode is an intermittent commutation mode, entering step 6);
5) generating a trigger angle signal according to the size of the conduction trigger angle;
6) using a finite-state machine mode, taking a three-phase SCR inverter bridge trigger signal and a clock trigger signal as the decision logic of the finite-state machine, and directly generating a trigger angle signal output according to the size of a conduction trigger angle when the two are simultaneously 1, and if the two are not simultaneously 1, making the size of the trigger angle be a preset trigger angle default value to generate the trigger angle signal output;
the rectifier bridge control module is used for generating a trigger control signal of the three-phase SCR rectifier bridge according to the three-phase voltage signal and the trigger angle signal at the network side, and the specific method comprises the following steps: according to the three-phase line voltage vector being zero, i.e. u a +u b +u c When the voltage is equal to 0, converting the three-phase voltage of the network side into a bridge phase voltage, obtaining an electrical angle by adopting a phase-locked loop according to the bridge phase voltage, and inputting the electrical angle and a trigger angle signal into a control pulse generation module to directly generate a trigger control signal of a three-phase SCR rectifier bridge;
the inverter bridge control module is used for generating a trigger control signal of the three-phase SCR inverter bridge according to the set control mode, and the specific method comprises the following steps:
1) if the set control mode is open-loop control, entering the step 2), and if the set control mode is closed-loop control, entering the step 3);
2) according to a preset gating logic table of three-phase SCR (silicon controlled rectifier) in the three-phase SCR inverter bridge, determining the number of a conducted three-phase SCR according to the current rotor position, outputting a corresponding angular speed signal according to the set open-loop frequency, and controlling a pulse generation module to obtain a trigger signal of the three-phase SCR inverter bridge in an open-loop control mode;
3) judging whether the current commutation mode is natural commutation or not, if so, entering the step 4), and if not, entering the step 5);
4) a two-phase six-pulse control method is adopted in advance, the SCR conduction logic in a three-phase SCR inverter bridge in a natural phase conversion mode is obtained by combining the pole pair number of an excitation synchronous motor, the SCR conduction number is determined according to the current rotor position, and a three-phase SCR inverter bridge trigger signal is generated;
5) a two-phase six-pulse control method is adopted in advance, SCR conduction logics in a three-phase SCR inverter bridge in an intermittent commutation mode are obtained by combining the pole pair number of an excitation synchronous motor, an SCR conduction number is determined according to the current rotor position, and a three-phase SCR inverter bridge trigger signal is generated.
3. The excited synchronous machine control system of claim 2, further comprising a system protection module comprising a communication fault protection sub-module, a commutation signal lockout module and a trigger signal output protection sub-module, wherein:
the communication fault protection submodule is used for monitoring communication between the Speedgoat controller and an upper computer, and when a communication fault occurs, the communication fault protection submodule outputs a communication fault signal, and simultaneously sends a locking signal to the rectifier bridge control module and the inverter bridge control module to lock the output of the control signal;
the commutation signal locking module is used for receiving commutation signals sent by the commutation switching module, and ensures that the commutation signals cannot be triggered by mistake by adopting a mode of combining an S-R latch and a logic AND gate;
the trigger signal output protection sub-module is used for sending locking signals to the rectifier bridge control module and the inverter bridge control module in the self-checking process when the excitation synchronous motor control system is started, and outputting the locking control signals.
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