CN1829059A - Vector control circuit of high-performance transducer and its control method - Google Patents
Vector control circuit of high-performance transducer and its control method Download PDFInfo
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- CN1829059A CN1829059A CNA2005100242232A CN200510024223A CN1829059A CN 1829059 A CN1829059 A CN 1829059A CN A2005100242232 A CNA2005100242232 A CN A2005100242232A CN 200510024223 A CN200510024223 A CN 200510024223A CN 1829059 A CN1829059 A CN 1829059A
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Abstract
The present invention relates to a high performance frequency converter vector control circuit and control method. It contains uncontrollable rectifier, intermediate dc link, current control circuit, and current detecting circuit, speed detecting circuit, current controlling type PWM inverter, and microprocessor. The present invention has advantages of through fast regulating current regulator to ensure systematical quick-response, through current regulator and speed governor double fed control to ensure systematical speed regulation precision an to realize preferable energy-saving effect.
Description
Technical field
The present invention relates to a kind of frequency converter, relate in particular to the precision of realization speed governing in a kind of this frequency converter and the control circuit and the control method thereof of response speed.
Background technology
Variable-frequency governor is a kind of novel speed regulating device, has obtained to use widely in all trades and professions.The speed adjusting performance that it is good, obvious energy-saving effect has obtained embodying fully in industries such as iron and steel, mine, petrochemical industry, electric power, machinery, light industry, building materials.
At present, converter technique mostly adopts open loop V/F control, comprising: speed regulation by constant torque and constant-power speed regulation.Frequency converter based on this technology is used to drive blower fan, water pump, compressor type load, certain energy-saving effect is arranged, but dynamic characteristic is poor, can't satisfy the occasion of high accuracy, high response speed, high energy-conservation requirement, as the Digit Control Machine Tool spindle inverters.
Summary of the invention
The technical issues that need to address of the present invention have provided a kind of vector control circuit and control method thereof of high-performance transducer, are intended to solve above-mentioned defective.
In order to solve the problems of the technologies described above, the present invention is achieved by the following technical solutions:
Control circuit of the present invention comprises: uncontrollable rectifier, intermediate dc link, current control circuit, current detection circuit, velocity checking circuits; Also comprise: a Current Control Mode PWM Switched inverter that is connected with intermediate dc link, current control circuit and current detection circuit; A microprocessor that links to each other with current control circuit, current detection circuit and velocity checking circuits;
Control method of the present invention realizes by following steps:
(TIM) sends interrupt requests by the timing microprocessor device;
Keep the scene intact;
Rotor flux calculates;
Rotor flux minimum amplitude limit;
Rotational speed regulation;
Magnetic linkage is regulated;
Nonlinear state feedback and decoupling zero computing;
i
* STAnd i
* SMAmplitude limit;
Rotation transformation;
2/3 conversion;
Three-phase current output;
Tracking variable output;
Recover on-the-spot;
Open interruption;
Compared with prior art, the invention has the beneficial effects as follows: by the quick adjustment of current regulator, thereby guaranteed the quick response of system,, thereby guaranteed the adjusting speed accuracy of system by the double-fed control of current regulator and speed regulator; Realized better energy-saving effect.
Description of drawings
Fig. 1 is a circuit block diagram of the present invention;
Fig. 2 is a Current Control Mode PWM Switched inverter block diagram among Fig. 1;
Fig. 3 is a current deviation schematic diagram among Fig. 1;
Fig. 4 is the block diagram of microprocessor among Fig. 1;
Fig. 5 is a method flow diagram of the present invention;
Embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is described in further detail:
By Fig. 1, Fig. 2 as seen: control circuit of the present invention comprises: uncontrollable rectifier, intermediate dc link, current control circuit, current detection circuit, velocity checking circuits; Also comprise: a Current Control Mode PWM Switched inverter that is connected with intermediate dc link, current control circuit and current detection circuit; A microprocessor that links to each other with current control circuit, current detection circuit and velocity checking circuits;
Described Current Control Mode PWM Switched inverter comprises (is example mutually with one): stator current set-point i
*, i compares with actual current, keeps through the d type flip flop sampling, as the drive signal of IGBT power component; As set-point i
*During greater than actual value i, last brachium pontis conducting, following brachium pontis blocking-up increases the motor actual current; Otherwise, work as i
*During less than i, last brachium pontis blocking-up, following brachium pontis conducting forces electric current to descend;
Described microprocessor comprises: timer (TIM) sends the interrupt requests module; Module keeps the scene intact; The rotor flux computing module; Rotor flux minimum amplitude limit module; The rotational speed regulation module; The magnetic linkage adjustment module; Nonlinear state feedback and decoupling zero computing module; i
* STAnd i
* SMThe amplitude limit module; Rotation transformation; 2/3 conversion module; The three-phase current output module; The tracking variable output module; Recover field module; Open interrupt module;
High performance Alternating Current Governor System require the support of microprocessor and High Performance PWM inverter fast, otherwise good again control law is of no avail.Consider that real-time control system need carry out computings such as linear regulation, state feedback, coordinate transform, also must rotor flux be calculated that the speed of these computings and precision certainly will influence the control performance of system by the magnetic linkage model.If employing fixed-point calculation, different physical quantitys have different storage coefficients, when carrying out the multiplication and division computing, also must consider the restricting relation between these storage coefficients, be difficult to not only guarantee precision but also avoid data to overflow.Therefore, in system, the method that adopts floating-point operation+fixed-point calculation to combine is converted to the electric current set-point fixed-point number output at last.
The PWM inverter is the power amplifying part of Alternating Current Governor System, and its current closed-loop control can suppress the influence of back electromotive force, but also safeguards system is worked safely and reliably.Adopt the method for hardware closed-loop, but simplied system structure reduces the systems soft ware workload.
Based on above 2 points, system is a controller with TMS320F2407 high-speed data processor (DSP), and current-control type IGBT PWM inverter is a power section, and its highest switching frequency can reach 20kHz, makes the fine set-point of following of actual current energy.
Current closed-loop control has the disturbance that suppresses back electromotive force, restriction maximum current to guarantee system safety effect such as work reliably.That the Current Control Mode PWM Switched inverter has is simple in structure, need not complicated advantages such as PWM generating algorithm.Current Control Mode PWM Switched inverter commonly used can be divided into stagnate ring control type and synchronized sampling type, the strict Control current deviation of the former energy, but switching frequency is indefinite; The latter is then opposite, can strictly control it and allow switching frequency, but current deviation changes along with the variation of set-point.System adopts IGBT synchronized sampling Current Control Mode PWM Switched inverter.
Current Control Mode PWM Switched inverter (is example mutually with one), stator current set-point i
*, i compares with actual current, keeps through the d type flip flop sampling, as the drive signal of IGBT power component.As set-point i
*During greater than actual value i, last brachium pontis conducting, following brachium pontis blocking-up increases the motor actual current; Otherwise, work as i
*During less than i, last brachium pontis blocking-up, following brachium pontis conducting forces electric current to descend.Its sample frequency is controlled by d type flip flop, now is designed to 10kHz to adjustable continuously.Because actual motor current is continuous, sampling then is interrupted, and historical facts or anecdotes border electric current fluctuates near set-point.Experimental result (Fig. 3) shows that electric current has good trace performance.
By Fig. 4, Fig. 5 as seen: systems soft ware is the key component that realizes control law, mainly finish the calculating and the functions such as Current Regulation, rotational speed regulation and coordinate transform of nonlinear state feedback and decoupling zero control, rotor flux, also will finish functions such as rotating speed, current detecting, monitoring management simultaneously.In order to improve system's operational precision, avoid data to overflow, Control Software adopts floating-point+fixed-point calculation mode.
In view of Alternating Current Governor System is a rapid system, its sampling and computing frequency must be enough high, otherwise will have influence on the performance of system, even cause the instability of system.Therefore, be controller with TMS320F2407 high-speed data processor (DSP), these subroutine calls are moved at full speed, the contradiction that is pressed for time is alleviated.
Regularly interrupt service routine moves once every 100US, and (TIM) sends interrupt requests by on-chip timer.Regularly interrupt service routine will be finished work such as the calculating of magnetic linkage and adjusting, rotational speed regulation, state feedback and decoupling zero control, coordinate transform, it is the key component in the The whole control software, its operand is big, also occupy the first place more than the function in whole software, and flow chart is referring to Fig. 4.Its medium speed and current regulator are the pi regulator that has integration and output violent change.
In asynchronous motor speed-regulating system, the relatively easy physical quantity that detects is stator voltage, stator current and rotating speed, and the computational methods of various rotor fluxs are utilized the amplitude of partly or entirely calculating rotor flux and the phase angle of these three physical quantitys.System adopts the Current Control Mode PWM Switched inverter, adopts the method for stator current and revolution speed calculating rotor flux, has advantages such as form is simple, operand is little.
The quick response of electric current:
The adjusting time of current regulator is 100US, and adjustment process is as follows:
The output current that the bigger than normal-current regulator of output current appearance reduces output current-motor reduces;
The output current increasing that less than normal-current regulator strengthens output current-motor appears in output current;
By the quick adjustment of current regulator, thereby guaranteed the quick response of system.
The precision of speed governing:
The adjusting time of speed pi regulator is 1MS, and the adjusting time of current regulator is 100US, and adjustment process is as follows:
Bigger than normal-speed pi regulator occurring in output speed at first reduces the output speed that target moment-current regulator reduces output torque electric current-motor and reduces;
Output speed less than normal-speed pi regulator occurs and at first strengthens the output speed increasing that target moment-current regulator strengthens output torque electric current-motor;
Double-fed by current regulator and speed regulator is controlled, thereby has guaranteed the adjusting speed accuracy of system.
The energy saving of system effect:
Because the doubly-fed control of current regulator and speed regulator, system is according to the big or small dynamic adjustments power output of load, thereby reaches efficient energy-saving effect, and adjustment process is as follows:
Reduce in load-〉 feedback speed increasing-〉 speed pi regulator at first reduces target moment-〉 electric current The output speed that adjuster reduces output torque electric current-〉 motor reduces-〉 and the power output of motor reduces;
Reduce at load increasing-〉 feedback speed-〉 the speed pi regulator at first strengthens target moment-〉 electric current The power output that adjuster strengthens the output speed increasing-〉 motor of output torque electric current-〉 motor strengthens.
Claims (3)
1. the vector control circuit of a high-performance transducer comprises: uncontrollable rectifier, intermediate dc link, current control circuit, current detection circuit, velocity checking circuits; It is characterized in that: also comprise: a Current Control Mode PWM Switched inverter that is connected with intermediate dc link, current control circuit and current detection circuit; A microprocessor that links to each other with current control circuit, current detection circuit and velocity checking circuits.
2. the vector control circuit of high-performance transducer according to claim 1, it is characterized in that: described Current Control Mode PWM Switched inverter comprises (is example mutually with one): stator current set-point i
*, i compares with actual current, keeps through the d type flip flop sampling, as the drive signal of IGBT power component; As set-point i
*During greater than actual value i, last brachium pontis conducting, following brachium pontis blocking-up increases the motor actual current; Otherwise, work as i
*During less than i, last brachium pontis blocking-up, following brachium pontis conducting forces electric current to descend; Described microprocessor comprises: timer (TIM) sends the interrupt requests module; Module keeps the scene intact; The rotor flux computing module; Rotor flux minimum amplitude limit module; The rotational speed regulation module; The magnetic linkage adjustment module; Nonlinear state feedback and decoupling zero computing module; i
* STAnd i
* SMThe amplitude limit module; Rotation transformation; 2/3 conversion module; The three-phase current output module; The tracking variable output module; Recover field module; Open interrupt module.
3. method as claimed in claim 1: realize by following steps:
(TIM) sends interrupt requests by the timing microprocessor device;
Keep the scene intact;
Rotor flux calculates;
Rotor flux minimum amplitude limit;
Rotational speed regulation;
Magnetic linkage is regulated;
Nonlinear state feedback and decoupling zero computing;
i
* STAnd i
* SMAmplitude limit;
Rotation transformation;
2/3 conversion;
Three-phase current output;
Tracking variable output;
Recover on-the-spot;
Open interruption.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2005100242232A CN1829059A (en) | 2005-03-04 | 2005-03-04 | Vector control circuit of high-performance transducer and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2005100242232A CN1829059A (en) | 2005-03-04 | 2005-03-04 | Vector control circuit of high-performance transducer and its control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1829059A true CN1829059A (en) | 2006-09-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNA2005100242232A Pending CN1829059A (en) | 2005-03-04 | 2005-03-04 | Vector control circuit of high-performance transducer and its control method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103452883A (en) * | 2012-05-31 | 2013-12-18 | 中山大洋电机股份有限公司 | Variable-speed fan system and control method thereof |
-
2005
- 2005-03-04 CN CNA2005100242232A patent/CN1829059A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103452883A (en) * | 2012-05-31 | 2013-12-18 | 中山大洋电机股份有限公司 | Variable-speed fan system and control method thereof |
| CN105179289A (en) * | 2012-05-31 | 2015-12-23 | 中山大洋电机股份有限公司 | Method for controlling variable-speed fan system |
| CN103452883B (en) * | 2012-05-31 | 2016-03-30 | 中山大洋电机股份有限公司 | A kind of controlling method of variable speed wind turbine system |
| USRE48231E1 (en) | 2012-05-31 | 2020-09-29 | Zhongshan Broad-Ocean Motor Co., Ltd. | Blower system and method for controlling the same |
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