CN1333515C - Controller for soft start control system - Google Patents
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- CN1333515C CN1333515C CNB2005100260315A CN200510026031A CN1333515C CN 1333515 C CN1333515 C CN 1333515C CN B2005100260315 A CNB2005100260315 A CN B2005100260315A CN 200510026031 A CN200510026031 A CN 200510026031A CN 1333515 C CN1333515 C CN 1333515C
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Abstract
The present invention relates to a control device used for a soft-starting control system, which comprises a voltage-stabilizing unit for the supply of power, an input unit, an output unit, a display, a phase control trigger connected with the trigger electrode of the thyristor of a soft-starting control system, a central processing unit connected with the input unit, the output unit, the display and the phase control trigger respectively, a signal processing unit connected with the central processing unit and a memory connected with the central processing unit. The microcontroller of the central processing unit comprises a double closed loop proportional integral derivative controller with an outer closed loop as a speed loop and an inter closed loop as a current loop, a direct ramp controller and a starting mode selector. The control device of the present invention comprises three starting modes to provide a triggering signal for the conduction angle of a thyristor. The present invention has the characteristics of a plurality of functions, rapid response speed, high regulation accuracy which can reach 2/1000, high integration level, small volume and light weight.
Description
Technical field
The present invention relates to a kind of control device, relate in particular to a kind of control device that is used for soft start control system.
Background technology
Soft start control system particularly in the flexible starter for electric motor control system, adopts voltage-regulating technique that the voltage of motor terminal is slowly steadily risen, thereby realizes the effect of soft start.This is to control its output voltage by the angle of flow of control thyristor to realize.The process of the control thyristor angle of flow is a complex process, formerly in the technology, needs the special controller that the angle of flow is calculated, and realizes by thyristor phase control trigger.In this process, also need to obtain three-phase synchronous signal by the three-phase synchrotrans.So cause the soft start control system complex structure, parts are numerous, and are bulky, cause the failure rate height, maintenance difficult, shortcomings such as maintenance cost height have limited the application and the development of flexible starter for electric motor.
Summary of the invention
The present invention is in order to overcome the existing deficiency of above-mentioned flexible starter for electric motor control system; a kind of control device that is used for the flexible starter for electric motor control system is provided; it is integrated in one multiple functions such as two closed loop proportional integral differentials (PID) adjuster, phase control trigger, three-phase synchronous signal processor, motor comprehensive protection, is specifically designed to the control of flexible starter for electric motor.
To achieve the above object, the control device that is used for soft start control system provided by the invention, it comprises:
The voltage regulation unit of power supply, input unit, output unit, display and the phase control trigger that links to each other with thyristor trigger electrode in the soft start control system, also comprise the CPU (CPU) that links to each other with input unit, output unit, display and phase control trigger respectively, respectively signal processing unit and the memory that links to each other with CPU (CPU).
CPU comprises the microcontroller that has house dog, respectively the analog to digital converter that links to each other with microcontroller (A/D), crystal-vibration-chip and analog quantity input reference potential generation circuit.
Comprise direct slope controller and speed setting module that input all links to each other with the analog to digital converter output in the microcontroller, two closed loop proportional integral differentials (PID) adjuster that links to each other with the output of speed setting module, the start mode selector that links to each other with the output of the output of two closed loop proportional integral differentials (PID) adjuster and direct slope controller; Described pair of closed loop proportional integral differential (PID) adjuster comprises proportional plus integral plus derivative controller, fuzzy PID (PID) controller, be connected in the speed comparator between proportional plus integral plus derivative controller and the speed setting module, be connected in the current comparator between proportional plus integral plus derivative controller and the fuzzy PID controller; The feedback speed detector that links to each other with speed comparator, the feedback current detector that links to each other with the fuzzy PID controller with current comparator; Constitute the electric current loop of the interior closed loop of two closed loop proportional integral differential adjusters by current comparator and fuzzy PID controller to start mode selector by the feedback current detector; The speed ring of the outer closed loop of the two closed loop proportional integral differential adjusters that constitute by speed comparator, proportional plus integral plus derivative controller, current comparator and fuzzy PID controller to start mode selector by the feedback speed detector.
Signal processing unit comprises handles voltage processor that obtains three-phase synchronous signal and the current processor of three-phase alternating current being handled the average current value of the three-phase current that obtains with three-phase voltage.
Voltage processor comprises respectively handles line with A, B, the corresponding A of C three-phase voltage signal, B, three voltage signals of C, every voltage signal is handled line and is all comprised the voltage divider that links to each other with the voltage signal input, the capacitance-resistance filter that links to each other with voltage divider, the comparator that links to each other with filter, the photoisolator that links to each other with comparator.
Current processor comprises the standard resistor that links to each other with A, B, C three-phase alternating current input respectively, an add circuit that links to each other with the standard resistor output, first rectification circuit, second rectification circuit and the 3rd rectification circuit that links to each other with the output of standard resistor and add circuit respectively, the circuit of averaging that input links to each other with the output of first, second, third rectification circuit, the filter circuit that input links to each other with the output of the circuit of averaging.
CPU (CPU) is handled according to input signal and is obtained the three-phase synchronous triggering signal, voltage signal, current signal, tach signal, obtain the controllable silicon trigger angle through the two closed loop PID computings of the inner realization of CPU (CPU), remove to trigger each corresponding thyristor (controllable silicon) by the phase control trigger again, make controllable silicon conducting successively on request, thereby realize soft control.Adopted the current detecting feedback to realize current closed-loop control in the control device control loop of the present invention, control rate adopts fuzzy, the setting electric current of speed regulation output and the electric current difference of feedback are used to regulate, conditioning signal after overregulating acts on each controllable silicon, make and order and the trigger angle work on request of each controllable silicon realize current closed-loop control.Can set two closed loop PID as required and regulate the control start mode, also can adopt direct slope control mode to realize soft start.Deliver to the phase control trigger by direct starting on hill control signal, so just need to set starting voltage, switched voltage and starting time.Load characteristic difference according to the subscriber equipment object can adopt different start modes.Then can adopt direct starting on hill control to realize as the extension set load.
As above-mentioned structure, control device of the present invention has adopted two closed loop PID adjusters, to the rotating speed and the two closed-loop controls of electric current formation of motor.The difference of the rate signal comparison that speed detection feedback signal and initiating signal produce is adopted by PID adjuster subsequently, after PID calculates to the given signal of electric current deliver to current feedback signal and compare, adopt above-mentioned fuzzy current PI D controller to obtain controllable silicon trigger angle signal again.The electric current loop that ring is exceedingly fast for speed responsive in the control device of the present invention.Utilize the maximum current of control device of the present invention to set and parameter such as starting time is revised this pid parameter, improve the stability that PID regulates, the rapidity of encircling in guaranteeing simultaneously and the amplitude limit of electric current.The outer shroud that adopts is a speed closed loop, and realization speed even variation that can be stable makes actual electrical fail to be convened for lack of a quorum and follows the variation of speed setting link, thereby has greatly improved the performance of flexible starter for electric motor control system.
Control device of the present invention is owing to adopt system controlled by computer, circuit in the control device is greatly simplified, peripheral circuit is only realized the processing before the data acquisition, and the relation of not having is each other judged calculating etc., and all work all adopts the central processing unit (CPU) of microcomputer to realize.Because the maturation of microcomputer technology and the raising of function, computed in software realizes convenient and swift, program means is more and more ripe, the equal selective maturation product of integrated circuit that adopts, the stability of whole device improves, so control device overall structure of the present invention is simple, peripheral circuit is few, when integrated level improved, reliability was also effectively improved.
Comprehensive above-mentioned explanation, control device advantage of the present invention is remarkable:
1. control device function of the present invention is many: phase control trigger, three-phase synchronous signal processing unit, the motor comprehensive protection function of two closed loop PID adjusters, thyristor are integrated in one.
2. control device response speed of the present invention is fast: owing to adopted two closed loop PID adjusters, speed of closed loop (high-speed loop) electric current loop is Millisecond in it, has satisfied the requirement that the electric current loop in the starting process is handled, and can respond in real time fast.
3. control device degree of regulation height of the present invention: because the degree of regulation of two closed loop PID adjusters can reach 2 ‰, so can realize accurate control to the flexible starter for electric motor process.
4. control device integrated level height of the present invention: control of soft, motor comprehensive protection are taken all factors into consideration, combined together, can be integrated on the printed substrate of 20cm * 15cm.Whole device all is integrated in the control box, and volume is little, and is in light weight.This is a main feature of the present invention, has overcome numerous, bulky etc. the shortcoming of the complex structure of technology formerly, parts.
5. control device stable performance of the present invention, good reliability, easy to use.
Description of drawings
Fig. 1 is a control device structural representation of the present invention.
Fig. 2 is the structural representation of CPU (CPU).
Fig. 3 is a control device control of soft structural representation of the present invention.
Fig. 4 is the structural representation of voltage processor.
Fig. 5 is the structural representation of current processor.
Fig. 6 is the structural representation of the phase control trigger in the control device of the present invention.
Fig. 7 is the structural representation of the display in the control device of the present invention.
Fig. 8 is the flow chart of control device of the present invention.
Fig. 9 is in two closed-loop regulator in the fuzzy controller, the domain value of linguistic variable E and E ' and the curve synoptic diagram of its membership function.
Figure 10 is a deviation ratio COEFFICIENT K in the fuzzy controller in two closed-loop regulator
PWith the deviation integration COEFFICIENT K
IThe domain value and the curve synoptic diagram of its membership function.
Embodiment
Further specify the structure of control device of the present invention below in conjunction with accompanying drawing.
Fig. 1 is the structural representation of control device of the present invention.As shown in Figure 1, the present invention includes: the voltage regulation unit 1 of power supply, input unit 8, output unit 7, display 2 and the phase control trigger 5 that links to each other with thyristor trigger electrode in the soft start control system, the CPU 3 that links to each other with input unit 8, output unit 7, display 2 and phase controller trigger 5, signal processing unit 6 that links to each other with CPU 3 and memory 4 respectively respectively.
The described memory 4 that is connected on the CPU 3, in the present embodiment, the random asccess memory that it is made up of 2 storage chip 24C08 (EEPROM) is used for preserving at any time data.
Described voltage regulation unit 1, in the present embodiment, it is realized that by Switching Power Supply voltage stabilizing is output as ± 12V, 5V, four groups of 24V, wherein ± and 12V supplies with signal adjustment circuit, and 5V is used for CPU (CPU) loop, and 24V is used for the internal relay output control circuit.
Fig. 2 is the concrete structure schematic diagram of the CPU 3 among Fig. 1.As shown in Figure 2, central processing unit 3 it comprise the microcontroller 302 that has house dog 305.The crystal-vibration-chip 301 that links to each other with microcontroller 302, analog to digital converter (A/D) 304 and analog quantity input reference potential generation circuit 303.In the present embodiment, analog to digital converter adopts 12 A/D of hyper tape (analog-to-digital conversion), adopts the maximum speed of crystal-vibration-chip can reach 40MHz, and the existing speed of using is 20MHz.Because the instruction set Highgrade integration, add CPU and adopt " Harvard " pipelining, can reach each machine cycle can move an instruction.Existing system program operation one-period only needs 0.1mS, and the three-phase alternating current of controlling object is power frequency 50Hz, each alternation is 10mS, promptly can be divided into 100 parts in this 180 degree, reach in per 1.8 radians and can change trigger angle, change in 60 degree than technology formerly a trigger angle require faster.Owing to adopt A/D to be converted to the resolution of 12Bit, with 12 calculating of full scale, can reach the precision of 1/1024 ± 1Bit, promptly error is less than 2 ‰, can be very high to the control precision of motor, thus realize accurately control.
In the present embodiment, used crystal-vibration-chip 301 is 20 megahertzes.The house dog 305 that is used for automatically reseting when system makes mistakes and uses, the CPU that canonical reference potential generating circuit 303 that the analog quantity input need be used and microcontroller 302 are chosen PIC (be the english abbreviation of Peripheral Interface Controller, be called the peripheral interface controller) series is the PIC16F877 chip.Other unit all need to carry out exchanges data with this CPU.
Fig. 3 is the internal structure of the microcontroller 302 in the control device of the present invention and the control system of soft start of the present invention.
As shown in Figure 3, comprise speed setting module 3021 and direct slope controller 3026 that input links to each other with analog to digital converter (A/D) 304 in the CPU 3 in the microcontroller 302, two closed loop proportional integral differentials (hereinafter to be referred as the PID) adjuster 3022 that links to each other with the output of speed setting module 3021.With the start mode selector 3023 that the output of two closed loop proportional integral differentials (PID) adjuster 3022 and direct slope controller 3026 links to each other, the output of start mode selector 3023 is connected to the input of phase control trigger 5; Described pair of closed loop PID adjuster 3022 comprises proportion integration differentiation (PID) controller 30221, fuzzy PID (PID) controller 30223, current comparator 30222 between connection and PID controller 30221 and the fuzzy controller 30223, the speed comparator 30220 between connection and PID controller 30221 and the speed setting module 3021.The feedback speed detector 3025 that links to each other with speed comparator 30220, the feedback current detector 3024 that links to each other with current comparator 30222.The input of feedback current detector 3024 is connected on the thyristor 9 and the current transformer 10 between the motor (M) 11 that is connected in the soft start control system, and feedback current detector 3024 is starting currents of gathering motor 11.Feedback speed detector 3025 is connected on the active rotating shaft of motor 11, is the velocity of rotation of gathering motor 11.Constitute the electric current loop of the interior closed loop of two closed loop PID adjusters 3022 by current comparator 30222 and fuzzy controller 30223 to start mode selector 3023 by feedback current detector 3024; Constitute the speed ring of the outer closed loop of two closed loop PID adjusters 3022 by speed comparator 30220, PID controller 30221, current comparator 30222, fuzzy controller 30223 to start mode selector 3023 by feedback speed detector 3025.The output of start mode selector 3023 is received the input of phase control trigger 5, the output of phase control trigger 5 triggers the conducting of the thyristor in the soft start control system, realizes soft start by the motor (M) 11 of 10 pairs of controlling object of current transformer.
Described proportion integration differentiation (PID) controller 30221 is to calculate the control law of output according to the error signal e (t) of setting speed and feedback speed, and the control formula of PID controller is:
K in the formula
PIt is the proportionality coefficient of deviation; K
iThe deviation integration coefficient; K
dIt is integral coefficient; U (t) is the output signal of control.The PID controller architecture is simple, has certain robustness, realize easily, and the stable state floating, the control precision height can satisfy the requirement of most of industrial processs.Therefore, be widely used in industrial process control for a long time, and obtained good control effect.But also exist in various degree exist non-linear, large time delay, to the time become object and adapt to, seldom arrive when object model is uncertain ideal effect not too easily.According to its characteristics, it is the closed-loop control of speed that this PID control is used in the parameter that becomes relatively slowly.
Described fuzzy PID (PID) controller 30223 is to utilize fuzzy logic algorithm and according to certain fuzzy rule ratio, integration, the differential coefficient that PID controls carried out real-time optimization, to reach comparatively ideal control effect.Fuzzy controller in the control device of the present invention is mainly by the PID controller, the fuzzy reasoning unit, and comparator and error rate computing unit are formed.The PID controller is realized the control to system, and its input signal is the control signal u (t) and actual current detected value i (t) error amount e (t) relatively of speed ring output, and computing formula is with the PID control of above-mentioned controller 30221, but COEFFICIENT K
PAnd K
iBecome K by the decision of fuzzy reasoning unit
PAnd K
I, the fuzzy reasoning unit adopts the forms of two inputs, two outputs, promptly with | e| and | e ' | as input, with K
P, K
IAs output.Wherein error rate e ' is adopted the error e realization of differentiating by the error rate computing unit.Fuzzy control is that input e and e ' are converted into linguistic variable E and E ', its domain be 6 ,-5 ,-4 ,-3 ,-2 ,-1,0,1,2,3,4,5,6}, output language variable K
I, K
PDomain be 0,1,2,3,4,5,6} sets up the membership function of E and E ' earlier, as shown in Figure 9, among the figure NB represent negative big, NM represent negative in, ZO represents zero, PM represents the center, PB represents honest, abscissa X numerical value is the domain value of E or E '.Again according to these two function empirical rule tables, as table 1-K
PFuzzy control rule table, the table 2-K
IFuzzy control rule table, obtain K
I, K
PMembership function, as shown in figure 10.Z represents zero among the figure, and S represents little, and during M represented, B represented that greatly abscissa X numerical value is K
POr K
IThe domain value.The rule that the fuzzy control unit adopts obtains K shown in table 1, table 2
PAnd K
IThereby, obtain the required K of PID
I, K
PValue.Realize that the fuzzy reasoning unit is to pid parameter K
P, K
ICarry out on-line tuning, satisfying different error e and the different requirements of error rate e ' to controller parameter, and make controlled device have good dynamically, static properties.With traditional PI D more as can be seen, these two important adjusting parameters be with image parameter change and respective change meeting the needs of, thereby overcome time lag, improve the rapidity of system.
Table 1 K
PFuzzy control rule table
Table 2 K
IFuzzy control rule table
Described start mode selector 3023 is can select different start modes according to the load characteristic of controlling object motor (M) 11, if controlling object is the extension set load, then can select direct starting on hill control.As shown in Figure 3, set starting voltage, switched voltage and starting time, directly be input on the phase control trigger 5.Can also select two closed loop PID to regulate the control start mode as required, the start mode of the electric current loop of closed loop in also can selecting.
Described signal processing unit 6 comprises three-phase voltage is handled voltage processor (shown in Figure 4) that obtains three-phase synchronous signal and the current processor (shown in Figure 5) of three-phase alternating current being handled the average current value of the three-phase current that obtains.
Fig. 4 is the structural representation of the voltage processor in the signal processing unit 6.As shown in Figure 4, voltage processor comprises respectively with A, B, the corresponding A of C three-phase voltage signal, B, three voltage signals of C and handles line; Every voltage signal is handled line and is all comprised voltage divider A101, B101, the C101 that links to each other with voltage signal input A, B, C respectively; Capacitance-resistance filter A102, B102, the C102 that links to each other with voltage divider A101, B101, C101 respectively; Comparator A103, B103, the C103 that links to each other with capacitance-resistance filter A102, B102, C102 respectively; Photoisolator A104, B104, the C104 that links to each other with voltage comparator A103, B103, C103 respectively.
Voltage processor as above-mentioned structure is that A, B, C three-phase voltage signal are obtained A, B, C three-phase synchronous signal through its processing.As shown in Figure 4, A, B, C three-phase voltage obtain zero passage synchronizing signal separately respectively behind zero-crossing comparator A103, the B103 of three symmetries, C103.With A is example mutually, the A phase voltage signal is through R2, the voltage divider A101 dividing potential drop that R3 constitutes obtains corresponding voltage signal, deliver to the in-phase end of amplifier after the filter A102 filtering of this signal by resistance R 4 and capacitor C 1 formation, the end of oppisite phase of this amplifier is that three-phase voltage signal passes through resistance R 3, and R7, R11 constitute the central point of symmetrical star load, promptly this amplifier is judged whether zero passage of A phase voltage signal, and provides high or low level.Comparator A103, B103, C103 adopt the LM224 chip of technical grade.Amplifier is exported the synchronous logic signal of high or low logic level control photoelectricity isolation back formation standard and is delivered in the microcontroller (CPU) 302, removes to control corresponding thyristor by CPU according to this signal, and photoisolator A104, B104, C104 adopt the TLP521 chip.
Fig. 5 is the structural representation of the current processor in the signal processing unit 6.As shown in Figure 5, current processor comprises standard resistor R1, the R2 that links to each other with A, B, C three-phase alternating current input respectively.An add circuit 606 that links to each other with standard resistor R1, R2 output.First rectification circuit 601, second rectification circuit 602 and the 3rd rectification circuit 605 that links to each other with the output of standard resistor R1, R2 and add circuit 606 respectively.The circuit 603 of averaging that input links to each other with the output of first, second, third rectification circuit 601,602,605, the filter circuit 604 that input links to each other with the output of the circuit 603 of averaging.As shown in Figure 5, A, B two-phase alternating current are flowed through magnitude of voltage that standard resistor R1, R2 produce through after first, second rectification circuit 601,602 rectifications, send into the circuit 603 of averaging; Simultaneously A, B, C three-phase alternating current through standard resistor R1, R2 after by also sending in the circuit 603 of averaging after add circuit 606 additions.Through trying to achieve mean value behind the circuit 603 of averaging, filter the current signal of interference signal output mean value by filter circuit 604.
In Fig. 5, AAA, BBB, CCC are corresponding A, B, the C phase voltage value that three-phase alternating current produces when flowing through standard resistor R1, R2, and wherein CCC is again by AAA, the current value that the BBB current signal obtains through add circuit 606.Three-phase signal obtains effective value separately respectively behind rectification circuit, rectification circuit is made of amplifier chip LM224, realizes the computing of small-signal.Asking for the current average that obtains three-phase current with averaging circuit then.Obtain available current signal after removing interference signal through the second-order low-pass filter circuit that makes up by capacitance-resistance again.This current signal is delivered to the analog quantity interface of microprocessor (CPU), becomes digital signal in being input into microprocessor (CPU) analog signal conversion by analog to digital converter.
Fig. 6 is the structural representation of the phase control trigger 5 of control device of the present invention.As shown in Figure 6, phase control trigger 5 comprise input D0, D1, D2, D3, D4, D5 respectively with 6 signal processing integrated circuit U1 that triggering signal end DB0, DB1, DB2, DB3, DB4, DB5 are connected of CPU 3 output.The integrated amplifier U2 that input IN1, IN2, IN3, IN4, IN5, IN6 link to each other with 6 signal output part Q0, Q1, Q2, Q3, Q4, the Q5 of signal processing integrated circuit U1 respectively.6 Isolated Pulse Transformer T1, T2, T3, T4, T5, T6 that primary side links to each other with 6 signal output part Q1, Q2, Q3, Q4, Q5, the Q6 of integrated amplifier U2 respectively.6 Isolated Pulse Transformer T1 ..., T6 secondary end be connected on respectively 6 thyristor J1 ..., J6 trigger electrode on.
In the present embodiment, signal processing integrated circuit U1 selects integrated circuit 74365 chips for use.Integrated amplifier U2 adopts integrated circuit ULN2003 chip.As above-mentioned structure, phase control trigger 5 be 6 triggering signal DB0 coming by central processing unit (CPU) ..., DB5 corresponding 6 road thyristors (controllable silicon) respectively.The pulse-width signal PWM processing DB0 that signal processing integrated circuit U1 exports according to CPU 3 ..., obtain corresponding start pulse signal behind the DB5 signal.After start pulse signal amplifies through integrated amplifier U2, Isolated Pulse Transformer T1, T2, T3, T4, T5, the T6 of 6 correspondences of control.The output of Isolated Pulse Transformer is the triggering control signal of thyristor, and this signal is used for the conducting and the control of thyristor.
Fig. 7 is the structural representation of display 2 in the control device of the present invention.As shown in Figure 7, display 2 comprises respectively by the communication data interface DIN on the CPU 3,6 integrated circuits 201,202,203,204,205,206 with serial communication function that interface clock signal CLK is connected with control signal interface CS.Respectively with integrated circuit 201 ..., 5 charactrons 207,208,209,2010,2011 of linking to each other of 206 outputs and comprise the display panel 2012 of 5 indicator lights of display power supply, standby, operation, setting and fault respectively.In the present embodiment, the integrated circuit 201,202,203,204,205,206 with serial communication function is selected the 74LS595 chip for use.Charactron 207,208,209,2010,2011 is selected 7 sections charactrons for use.Indicator light is selected light-emitting diode for use.
Structure as shown in Figure 7, DIN is the data input of communication among the figure, CLK is the clock signal that CPU provides, CS is the control signal input that control shows output, integrated circuit 201 ..., 206 read its data-signal (SER) (being the data-signal that CPU or upper chip provide) and be converted into 8 bit data according to the CLK signal and be stored in its inner register, when receiving the CS control signal, the data of register are exported to charactron or indicator light shows.
Fig. 8 is the flow chart of control device control of soft of the present invention.The control of soft of control device of the present invention as shown in Figure 8.When control device of the present invention places soft start control system, control device brings into operation, at first by the microcontroller in the CPU 3 (CPU) with register, memory, peripheral signal is carried out initialization process, promptly places 0.Operate the control of peripheral button command, key commands, control output, demonstration output etc.Can revise the parameter of input according to the parameter button, but the parameter after the affirmation is stored in the memory of dead electricity memory.Can show on the display this moment power supply, initially, operation, fault, the basic status of setting and the parameter value of corresponding states.The soft start of instruction microcontroller brings into operation, and carries out voltage detecting and synchronization signal detection, and promptly feedback current detector and feedback speed detector begin to detect collection current feedback signal Kc and feedback speed signal Kn.Become data-signal to be input in the microcontroller analog signal conversion by modulus converter A/D.Microcontroller is according to the rotating speed Kn that reads and electric current Kc realizes two closed-loop adjustment controls or adopt simple directly slope to control the closed-loop control that realizes soft start according to the parameter select command.Show motor operating state on the display.Be as the criterion after the said procedure groundwork the is finished collection and the fault judgement of the capable voltage signal that carries out of received shipment mainly are to obtain the control that three-phase synchronous signal is used for the controllable silicon trigger angle.Regulate and Current Regulation according to two closed loop PID adjuster computational speeds, the result who obtains is carried out the conducting and the control of trigger angle by the synchronizing signal of voltage, and the result that will obtain sends six control trigger impulses by 6 controllable silicons of corresponding three-phase, the control of realization Soft Start-up Process.If motor has started success, switched to direct running status, this moment, controllable silicon was by short circuit and stopped triggering work.When the voltage that collects, current signal, whether the judgment device object exists fault, as overcurrent, short circuit, the electric current phase shortage, voltage phase shortages etc. show fault on the display, then control device is out of service, thereby motor is realized protection control.As not having above-mentioned fault, control device control motor continues normal operation.As an appearance is arranged in the above-mentioned fault, then control motor immediately and quit work, and send fault show label position to the demonstration memory block, wait for the appearance of reseting mark, get back to the input that loop head continues to wait for reset command after the troubleshooting.The process of above-mentioned concrete operation and control in Soft Start-up Process is as shown in Figure 8: enter different given links according to the mode of operation of selecting during the starting beginning, as select closed-loop control, provide the comparator that this signal of speed ramp signal is delivered to speed ring by the velocity setting link, as select direct starting on hill, then set the ramp signal provide the angle of flow that begins from starting voltage, and directly export to phase place and trigger controlling unit according to starting voltage.The slope on two slopes all depends on the setting of starting time, and the starting time is long, and then the slope is mild.In the closed loop control mode, can select whether to adopt speed ring according to the parameter of speed ring, as adopt speed ring, then given rate signal and the actual feedback speed signal difference after is relatively calculated by the speed by PID adjuster, result calculated is the given of needed current value under this deviation situation, as not adopting speed ring, then program directly is converted to the given signal of electric current according to the velocity setting signal and gives electric current loop.The control of same electric current loop also can be in addition different according to the selection of parameter control mode, as adopt speed closed loop to regulate, then the electric current that a last output element is provided given with actual samples to current signal relatively obtain deviation signal, press PID according to this deviation signal and regulate rule, add another parameter " starting current times " and limit maximum current, together provide the triggering and conducting angle control signal of thyristor.As do not adopt electric current loop, then the given current signal of electric current loop is changed into triggering signal by the triggering and conducting angle and the current relationship rule of thyristor.The trigger angle signal that above-mentioned three kinds of situations obtain is all delivered to the phase control link, is realized the conducting control of thyristor by phase control triggered time and the order of CPU.As seen two closed loop medium velocity rings are outer shroud, and electric current loop is interior ring, and the output of speed ring is the given of electric current loop.Can set mode of operation according to actual condition in actual the use.For guaranteeing precision, program adopts floating point arithmetic in calculating, and a floating number takies 4 each register, 32.The response that requires owing to electric current loop is exceedingly fast, and the PID of electric current loop adopts fuzzy control, and the control requirement is satisfied in satisfied on the one hand response requirement on the one hand, promptly can not be by significantly electric current overshoot appearance.Operating protection mainly is relatively to calculate realization according to motor rated current of setting and actual current sample; as actual electric current is 8 times below the rated current; what then adopt is inverse time lag rule control; be that electric current is big more, protect needed delay time short more, as 8 times of electric currents more than the rated current occur; control device provided the protection relay action in 0.2 second; the major loop that goes to control motor disconnects, and as below 1.05 times, then can work for a long time by assurance device.
Claims (3)
1. control device that is used for soft start control system, it comprises: the voltage regulation unit of power supply, input unit, output unit, display and the phase control trigger that links to each other with thyristor trigger electrode in the soft start control system, the CPU that links to each other with input unit, output unit, display and phase control trigger, signal processing unit that links to each other with CPU and memory respectively respectively;
Described CPU comprises the microcontroller that has house dog, respectively the analog to digital converter that links to each other with microcontroller, crystal-vibration-chip and analog quantity input reference potential generation circuit;
It is characterized in that comprising in the described microcontroller direct slope controller and the speed setting module that input links to each other with the analog to digital converter output, the two closed loop proportional integral differential adjusters that link to each other with the output of speed setting module, the start mode selector that links to each other with the output of the output of two closed loop proportional integral differential adjusters and direct slope controller; Described pair of closed loop proportional integral differential adjuster comprises proportional plus integral plus derivative controller, fuzzy PID controller, be connected in the speed comparator between proportional plus integral plus derivative controller and the speed setting module, be connected in the current comparator between proportional plus integral plus derivative controller and the fuzzy PID controller; The feedback speed detector that links to each other with speed comparator, the feedback current detector that links to each other with the fuzzy PID controller with current comparator; Constitute the electric current loop of the interior closed loop of two closed loop proportional integral differential adjusters by current comparator and fuzzy PID controller to start mode selector by the feedback current detector; The speed ring of the outer closed loop of the two closed loop proportional integral differential adjusters that constitute by speed comparator, proportional plus integral plus derivative controller, current comparator and fuzzy PID controller to start mode selector by the feedback speed detector.
2. the control device that is used for soft start control system according to claim 1 is characterized in that described signal processing unit comprises three-phase voltage is handled the voltage processor obtain three-phase synchronous signal and the current processor of three-phase alternating current being handled the average current value of the three-phase current that obtains; Described current processor comprises two standard resistor R1, R2, an add circuit, first rectification circuit, second rectification circuit, the 3rd rectification circuit, average circuit and filter circuit; The end of described standard resistor R1 connects A cross streams electrical input, and the other end connects C cross streams electrical input; The end of standard resistor R2 connects B cross streams electrical input, and the other end connects C cross streams electrical input; Add circuit one end connects A cross streams electrical input, and the other end connects B cross streams electrical input; The input of first rectification circuit connects A cross streams electrical input, and the input of second rectification circuit connects B cross streams electrical input, and the input of the 3rd rectification circuit connects the output of add circuit; The input of circuit of averaging connects the output of first, second and the 3rd rectification circuit; The input of filter circuit connects the output of the circuit of averaging, the output output average current value of filter circuit.
3. the control device that is used for soft start control system according to claim 1, it is characterized in that described phase control trigger comprises 6 signal processing integrated circuits that the triggering signal end is connected of input and CPU output, the integrated amplifier that links to each other with the signal processing integrated circuit output, 6 Isolated Pulse Transformer that primary side links to each other with 6 signal output parts of integrated amplifier respectively, the output of Isolated Pulse Transformer secondary end is connected on the trigger electrode of thyristor.
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| CNB2005100260315A CN1333515C (en) | 2005-05-20 | 2005-05-20 | Controller for soft start control system |
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2005100260315A CN1333515C (en) | 2005-05-20 | 2005-05-20 | Controller for soft start control system |
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| CN1694343A CN1694343A (en) | 2005-11-09 |
| CN1333515C true CN1333515C (en) | 2007-08-22 |
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| CNB2005100260315A Expired - Fee Related CN1333515C (en) | 2005-05-20 | 2005-05-20 | Controller for soft start control system |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100384080C (en) * | 2006-01-06 | 2008-04-23 | 上海微电子装备有限公司 | Digital adjustable double-ring motor controller for photoetching machine and digital adjusting method |
| CN102088263B (en) * | 2011-01-20 | 2013-05-29 | 杭州华光电气有限公司 | Soft starter with waveform analysis function |
| CN102361424B (en) * | 2011-10-21 | 2014-05-21 | 河海大学常州校区 | Fuzzy control strategy-based asynchronous motor soft starter |
| CN102562402B (en) * | 2012-02-23 | 2014-01-15 | 泉州开普勒车用电机有限公司 | Intelligent starting protection system for starters |
| CN103757609B (en) * | 2014-01-29 | 2016-01-27 | 北京七星华创电子股份有限公司 | A kind of microenvironment pressure dispatching method based on serials control |
| EP3758214B1 (en) * | 2019-06-25 | 2022-09-21 | Siemens Aktiengesellschaft | Motor starter and method for starting an electric motor |
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| US6531940B1 (en) * | 1999-08-12 | 2003-03-11 | Siemens Aktiengesellschaft | Combined contactor/soft starter |
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| US6531940B1 (en) * | 1999-08-12 | 2003-03-11 | Siemens Aktiengesellschaft | Combined contactor/soft starter |
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