CN2781646Y - Digital intelligent controller for regulating speed of medium voltage motor by low voltage frequency transformer - Google Patents
Digital intelligent controller for regulating speed of medium voltage motor by low voltage frequency transformer Download PDFInfo
- Publication number
- CN2781646Y CN2781646Y CNU2005200058808U CN200520005880U CN2781646Y CN 2781646 Y CN2781646 Y CN 2781646Y CN U2005200058808 U CNU2005200058808 U CN U2005200058808U CN 200520005880 U CN200520005880 U CN 200520005880U CN 2781646 Y CN2781646 Y CN 2781646Y
- Authority
- CN
- China
- Prior art keywords
- voltage
- speed
- control
- speed regulating
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Control Of Ac Motors In General (AREA)
Abstract
The utility model relates to a digital intelligent control device for actualizing speed regulation of a medium-voltage motor by adopting a low-voltage transducer, which comprises a chopped wave type rectifier, an inverter, a power supply transformer, a digital signal processor, an interior ring current controller and a programmable controller, wherein the chopped wave type rectifier is composed of a three-phase uncontrollable rectifier and a chopper, the interior ring current controller and the programmable controller are connected with the digital signal processor, and the control over interior ring current is carried out on a speed regulating system through the interior ring current controller; the exterior ring speed of the speed regulating system is controlled through the digital signal processor, and the program control over the speed regulating system and a motor system are carried out through the programmable controller. The device is suitable for ordinary winding asynchronous motors, internal feedback winding asynchronous motors, winding cage type brushless double-fed motors and winding cage type internal feedback motors, and the utility model has the advantages of simple main loop, few devices and operational errors, good man-machine interface, flexible communication method, simple and convenient operation, actualization of remote monitoring and management, high digitization degree, low cost, energy saving and environmental protection.
Description
Technical field
The utility model relates to ac motor speed control control technology field, particularly a kind of digital intelligent control device that adopts low voltage frequency converter to realize the middle voltage electromotor speed governing.
Background technology
The mesohigh motor is widely used in dragging of blower fan and water pump, if can utilize speed governing to realize that air quantity and the water yield regulate, then can save a large amount of electric energy, so market is very vigorous to the demand of the moderate mesohigh speed regulating device of function admirable, cost.With DSP, single-chip microcomputer etc. is the popularization and application of digital control chip and the promoting the use of of Fuzzy Logic in Intelligent control technology of representative, for the digital intelligent chemical control system of middle pressure AC asynchronous motor speed governing lays the foundation.
In the ac motor speed control control system, existing high-power (＞press that (1～10KV) AC asynchronous motor governing system mainly is divided into stator side frequency control and rotor-side tandem control two big classes in 200KW).All there is weak point separately in they.
The stator side frequency control is regulated rotating speed at motor stator side joint medium voltage frequency converter by changing stator voltage and frequency.The medium voltage frequency converter capacity is big, is motor rated power P
NAbout 1.2, the voltage of transformation height needs many power electronic device series connection, system is huge, complicated, valency is high, reliability is influenced.
In traditional rotor-side cascade adjustable-speed system, uncontrollable rectifier of rotor side joint and thyristor inverter change rotor voltage by changing inverter triggering phase shifting angle, realize speed governing.Rotor voltage is low, and (generally＜1000V), blower fan and load of the pumps require speed adjustable range little (general 40～50%), the speed regulating device low pressure (little (0.4～0.5P of＜600V) converting electric power, and capacity in addition
N), avoided the difficulty of middle pressure speed governing.Tradition cascade speed regulator main circuit is made up of 4 big parts such as uncontrollable rectifier, thyristor, smoothing reactor and rectifier transformers, and its major defect is, the phase shifting control of inverter causes the operate power factor low, and harmonic wave is big.
In the cascade speed regulator of improved inner-feeding motor+thyristor copped wave and inversion, by in motor stator, installing a cover additional supply winding additional, motor is done with transformer be in the same place, reduced equipment; By DC chopped-wave, the inverter capacity is further reduced, the operate power factor improves.The device total power factor is a little less than the power factor of motor own when specified, but descends with rotating speed, influenced by thyristor inverter, and power factor descends many.Motor often is operated in underloading, than under the low velocity, this shortcoming makes motor operation average power factor low, needing 2 huge direct current reactors in the intermediate dc loop is deficiencies of this improvement project.This makes existing chopped mode cascade speed regulator because still have problems, and has influenced chopped mode tandem control broad application greatly.
The utility model content
The purpose of this utility model is to overcome the above-mentioned defective of tandem control, provide a kind of major loop simple, equipment is few, departure is little, have good man-machine interface, flexibly means of communication, easy to use, can realize remote monitoring and management, and digitized degree is high and with low cost, the digital intelligent control device of the employing low voltage frequency converter of energy-conserving and environment-protective realization middle voltage electromotor speed governing.
For achieving the above object, the utility model adopts low voltage frequency converter to realize the digital intelligent control device of middle voltage electromotor speed governing, comprise electronic device and speed regulating device, speed regulating device comprise the chopped mode rectifier that is connected on successively in the main circuit, inverter and power transformer, the chopped mode rectifier is made up of uncontrollable rectifier of three-phase and chopper, also comprise a digital signal processor and the interior circular current controller and the programmable controller that link to each other with digital signal processor, interior circular current controller is used for chopper, the interior circular current control of inverter and speed regulating device, digital signal processor is used for the outer shroud speed control to speed regulating device, can compile process controller and be used for process control speed regulating device and electronic device, interior circular current controller links to each other with speed regulating device, can compile process controller and link to each other respectively with speed regulating device with electronic device; Wherein, interior circular current controller is provided with field programmable gate array, and the sinusoidal wave pulse that the control signal of its output is connected to chopper, generation is connected to inverter.
The utility model adopts low voltage frequency converter to realize the digital intelligent control device of middle voltage electromotor speed governing, and wherein said interior circular current controller comprises differential amplifier, D/A converter, down counter, comparator and output trigger; Speed regulating device are provided with the rotor current voltage collecting device, lime sensor acquisition rotor rectified current wherein, and resistor voltage divider circuit is gathered the rotor commutating voltage, and voltage sampling circuit obtains dc inversion voltage; Described dc inversion voltage and rotor commutating voltage are connected to described D/A converter respectively through the voltage differential signal and the count signal of digital signal processor clock signal in described down counter of described differential amplifier output, control signal behind the output of described D/A converter and the given signal plus of the electric current of digital signal processor is connected to "-" input of described comparator, rotor rectified current signal is connected to "+" input of described comparator, the reset signal of described comparator output is connected to " R " input of described output trigger, the carry signal that described down counter produces is connected to " S " input of described output trigger, export control signal with the minimum service time and the corresponding pulse signal of minimum turn-off time of chopper through logical circuit in the output signal of described output trigger output " Q " and the described interior circular current controller, and be connected to the control end of described chopper.
The utility model adopts low voltage frequency converter to realize the digital intelligent control device of middle voltage electromotor speed governing, wherein said digital signal processor is provided with by RS232/RS485 communication interface and/or IP interface, and RS232/RS485 communication interface and/or IP interface link to each other by network with the Surveillance center computer.
The utility model adopts low voltage frequency converter to realize the digital intelligent control device of middle voltage electromotor speed governing, and wherein said digital signal processor replaces with single-chip microcomputer.
The utility model adopts low voltage frequency converter to realize the digital intelligent control device of middle voltage electromotor speed governing, and wherein switching device can adopt insulated door bipolar transistor or integrated gate commutated thyristor in chopper and the inverter.
The utility model adopts low voltage frequency converter to realize the digital intelligent control device of middle voltage electromotor speed governing, and wherein said asynchronous motor is middle pressure conventional wound asynchronous motor.
The utility model adopts low voltage frequency converter to realize the digital intelligent control device of middle voltage electromotor speed governing, and wherein said asynchronous motor is middle pressure internal feedback wire wound asynchronous motor.
The utility model adopts low voltage frequency converter to realize the digital intelligent control device of middle voltage electromotor speed governing, and wherein said asynchronous motor is that middle pressure is around the cage brushless double-fed motor.
The utility model adopts low voltage frequency converter to realize the digital intelligent control device of middle voltage electromotor speed governing, and wherein said asynchronous motor is middle pressure cage internal feedback motor.
The utility model adopts low voltage frequency converter to realize the digital intelligent control device of middle voltage electromotor speed governing, and the power of wherein said asynchronous motor is greater than 200KW, and middle pressure is 1～10KV.
The employing low voltage frequency converter that the utility model provides is realized the digital intelligent control device of middle voltage electromotor speed governing, and its beneficial technical effects is: compare with existing stator side medium voltage frequency converter, adopt (20%～50%) P
NGeneral low-voltage Frequency Converter Control 100%P
NMiddle voltage electromotor is realized 40%～50% speed governing requirement of high-power blower and pump, has avoided the difficulty of medium voltage converter.Speed regulating device have saved huge direct current reactor or have only needed very little direct current reactor, and major loop is simple, and equipment is few.All all there are being good current response, power factor height, harmonic wave little, easy to adjust in the range of speeds.Change speed governing operation into from traditional constant speed, can save a large amount of electric energy (average 30%%～40%) and fuel, improve environment, optimize technical process, improve product yield and quality, reduce maintenance and reduced cost, it is with low cost, only is 30% ~ 50% of stator side medium voltage frequency converter price.
Owing in chopper, adopt current peak relatively to realize two point form control in the circular current control, replace current regulator and duty ratio D generator, be not subjected to the boost chopper non-linear effects, error is little, need not to adjust dynamic parameter, and is easy to use.At underloading Dian stream Duan Xu Time, controller endure.Owing to adopt the Fuzzy Logic in Intelligent control technology; DSP and FPGA; the digital Control Technology that PLC combines; the digital intelligent degree height of system; solved the non-linear problem that maybe can't set up precise control model of electric machine speed regulation well; and have good man computer interface and a means of communication flexibly; can select suitable control algolithm and technological parameter according to technological requirement and field condition; realize the communication of speed regulating device and upper managing computer by RS232/RS485; or directly connect with the center monitoring computer by built-in IP interface module; carry out remote monitoring and management; by the rich data acquisition interface, speed governing and electric machine and blower fan and pump class etc. are carried out on-site supervision and protection.
The utility model is elaborated with reference to accompanying drawing below in conjunction with embodiment.
Description of drawings
Fig. 1 is that the utility model adopts low voltage frequency converter to realize the circuit diagram one of the digital intelligent control device of middle voltage electromotor speed governing (being used for pressing the conventional wound asynchronous motor);
Fig. 2 is that the utility model adopts low voltage frequency converter to realize the circuit diagram two of the digital intelligent control device of middle voltage electromotor speed governing (being used for pressing the internal feedback wire wound asynchronous motor);
Fig. 3 is that the utility model adopts low voltage frequency converter to realize the circuit diagram three of the digital intelligent control device of middle voltage electromotor speed governing (being used for pressing around the cage brushless double-fed motor);
Fig. 4 is that the utility model adopts low voltage frequency converter to realize the circuit diagram three of the digital intelligent control device of middle voltage electromotor speed governing (being used for pressing cage internal feedback motor);
Fig. 5 a) and Fig. 5 b) be the chopper of two kinds of switching devices in the utility model speed regulating device and the circuit diagram of inverter;
Fig. 6 is the double-layer structure figure of digital intelligent control device hardware in the utility model speed regulating device;
Fig. 7 is the structure chart of interior circular current controller in the utility model speed regulating device;
Fig. 8 a) and Fig. 8 b) be the oscillogram of current peak two point form control in the utility model speed regulating device;
Fig. 9 is the control chart of inverter in the utility model speed regulating device;
Figure 10 is the schematic diagram of two closed-loop controls in the utility model speed regulating device;
Figure 11 is a communication interface schematic diagram in the utility model speed regulating device;
Figure 12 is the flow chart of main program in the utility model speed regulating device;
Figure 13 a) and Figure 13 b) be the fuzzy control and the fuzzy control figure of the utility model speed regulating device outer shroud speed;
Figure 14 is the flow chart of parameter input-output subprogram in the utility model speed regulating device;
Figure 15 is the flow chart of fault alarm subprogram in the utility model speed regulating device.
Embodiment
The utility model adopts low voltage frequency converter to realize the digital intelligent control device of middle voltage electromotor speed governing, and with reference to Fig. 1, MD is an electronic device, comprises motor M and auxiliary devices such as start-up control switch and power distribution cabinet.Speed regulating device MSR comprises low-voltage variable frequency speed governing main circuit and DSP digital intelligent control section.In main circuit, CR is the chopped mode rectifier, and DR is the uncontrollable rectifier of three-phase, and IC is for adopting the chopper of IGBT (or other can turn-off power electronic device, as IGCT, GTR etc.); INV is for adopting the inverter of IGBT (or other can turn-off power electronic device, as IGCT, GTR etc.); Wherein, C
DBe INV storage capacitor, I
SBe motor stator currents, I
RBe motor rotor electric current, U
RBe motor rotor voltage, I
DRBe DR output DC stream, U
DRBe DR output dc voltage, I
DBe CR output current, U
DBe CR output voltage, I
AwBe INV output current, U
AwBe the INV output voltage.Digital control part comprises digital signal processor DSP (Digital Signal Processor), interior circular current controller NFC and programmable controller PLC (Programmable Logic Controller), wherein NFC realizes, it is made up of D/A conversion, comparator C P and on-site programmable gate array FPGA (Field Programmable Gate Array).
Since process control technology by the discrete component in past, simple integrated circuit develops into single-chip microcomputer, DSP, on-site programmable gate array FPGA, programmable controller PLC is the Digital Control circuit of core, promptly develop to the digitlization direction.
In the utility model, the structure of FPGA mainly is divided into three parts: configurable logic block CLB (Configurable LogicBlocks), programmable I/O module and interconnector able to programme.FPGA clock frequency height, inner time delay is little; All control logic is finished by hardware, and speed is fast, the efficient height; Composition form is flexible, can integrated peripheral control, decoding and interface circuit.These speed regulating device adopt two closed-loop controls, promptly interior circular current and outer shroud speed.Wherein interior circular current is to realize recently that by the duty of control chopping switch device V1 it is all higher to the speed and the reliability requirement of control circuit.In addition, opening of inverter switching device pipe also all requires control circuit that good antijamming capability is arranged.Therefore the low layer control circuit of these speed regulating device selects FPGA circuit at a high speed to be realized.FPGA can adopt the series of products of the leading Xilinx company in this field, as XC3000, XC4000 to Spartan-II E and VirtexII Pro etc., FPGA can couple together logic array according to the field programming that requires of controlled function, and the logic array scale that FPGA comprised can be selected flexibly.
Single-chip microcomputer needs in the computing to take the more instruction cycle as being Complex Instruction Set Computer (CISC), and execution speed is slow, but single-chip microcomputer has very strong external interface ability.Present 16 single-chip microcomputers of development are enhanced on speed as the 80C196KC of Intel.DSP belongs to Reduced Instruction Set Computing (RISC), and most of instructions can both be finished in one-period, and can pass through parallel processing technique, finishes many instructions in an instruction cycle; Simultaneously, DSP adopts improved Harvard structure, has the program and the data/address bus of separation, allows stored program and data simultaneously; Adopt multi-stage pipeline and built-in high-speed hardware multiplier, make it have data operation ability at a high speed, the chip of representative has TMS320LF24x series.In speed regulation process, carry out the given adjusting of speed according to technological parameter, rate integrating computing in electric motor starting and the moderating process, the fault alarm of speed regulating device, electric machine and controlling object blower fan and pump class etc., these occasions are had relatively high expectations to control strategy and control algolithm, so speed regulating device adopt DSP (or single-chip microcomputer) to cooperate software programming technique to realize above-mentioned control.The DSP that speed regulating device use can select the Motor Control special chip TMS320C24xx of American TI Company or high-end TMS320C28xx, 16 products such as 80C196KC of the optional Intel Company of single-chip microcomputer.
That PLC has is easy, reliable, be easy to advantage such as use, and in speed regulating device, the strict follow procedure of the action need of machinery and electric device cooperates execution, so that control device and PLC are used is very necessary.
With reference to Fig. 5, in chopper and converter main circuit, adopt full controlled tr tube IGBT (Insulated Gate BipolarTransistor) or IGCT (Integrated Gate Commutated Thyristor), IGBT is the insulated door bipolar transistor, IGCT is an integrated gate commutated thyristor, also can adopt other can turn-off power electronic device, as high power transistor GTR etc., make main circuit and control circuit simpler.Since carry out the low-voltage variable frequency speed governing in rotor-side, low to the requirement of withstand voltage of switching tube, can adopt price to hang down the complete common IGBT switching tube of description, for the occasion of bigger speed governing power, can consider the IGCT switching tube that adopts the current/voltage capacity bigger.
With reference to Fig. 6, in the utility model, digital intelligent control device hardware is double-layer structure, and the upper strata is DSP, and lower floor mainly is made up of FPGA and PLC.DSP mainly finishes the control of outer shroud speed, for circular current control in the FPGA offers value data.Jointly speed regulating device and electric machine are directly controlled by FPGA and PLC, wherein FPGA finishes to the adjustment of chopper output voltage U D with for inverter INV three phase sine wave impulse SPWM is provided, PLC finishes the startup to electronic device and speed regulating device, and when speed regulating device break down, the automatic switchover motor is to the full speed running state, at speed regulating device just often, make motor put into speed governing operation fast again.
With reference to Fig. 7, in interior circular current control, the generation of the current peak two point form control of chopper IC and the sinusoidal wave SPWM pulse signal of inverter INV selects for use a slice FPGA of appropriate scale to realize.Wherein D/A is a digital to analog converter, and CP is a high-speed comparator, and MC is a down counter.
The generation of the input/output signal of current peak two point form control: the lime transducer LEM among the rotor current voltage collecting device UIM gathers rotor rectified current I
DR, resistor voltage divider circuit is gathered rotor commutating voltage U
DRVoltage sampling circuit obtains the dc inversion voltage U
DDSP provides clock for FPGA, the fuzzy/given I of pid control algorithm among the DSP
DR *After the current peak two point form processing of circuit of above-mentioned signal by D/A, CP and FPGA composition, obtain the pwm control signal of chopper switches pipe IGBT and regulate duty ratio, thereby change the dc inversion voltage U according to the requirement of speed governing
DThe minimum service time t of chopper is provided by DSP
OnWith minimum turn-off time t
Off, produce and these two corresponding pulses of time by pulse generator, and carry out exporting the needed Current limited Control pulse of chopper after the logical operation with normal pulse signal.
The control impuls of inverter INV switching tube produces: by the phase place of detection of grid, produce three phase sine wave impulse SPWM control inverter INV by FPGA, make inverter feedback electrical power.
With reference to Fig. 8, in the oscillogram of current peak two point form control, when rotating speed is low, I
DRThe rate of rise little, and Δ U
cThan higher, U
cThe slope height that descends is like this by I
DRWith
UThe change procedure of c can obtain an intersection point clearly; Opposite rotor voltage U
DRRelatively lower high, I
DRThe rate of rise big, and U
cLower, U
cThe slope that descends is low, like this by I
DRAnd U
cChange procedure equally also can obtain an intersection point clearly.So just can guarantee that no matter speed regulating device are to be in low speed and high speed stage can both guarantee that speed regulation process carries out reliably.
With reference to Fig. 9, in inverter INV control principle figure, AUR is a direct current voltage regulator, i
PBe active current, i
QBe reactive power, I
P *Be given meritorious direct current, i
Q *Be given reactive current, U
D *Be direct voltage after the given copped wave, U
DBe feedback voltage after the copped wave.The control procedure of inverter is: direct voltage U after the given copped wave
D *, feedback voltage U
D, as rotor current I
DRIncrease U
DIncrease the given I of output active current of direct current voltage regulator AUR
P *Increase.Reactive current i
Q *Given is artificially to set as required, by regulating i
P, i
QAdjuster, coordinate transform make the meritorious and reactive power of output equal given, I
P *Increase, active power of output increases, capacitor C
DOn voltage U
DEqual set point again.
With reference to Figure 10, be controlled to be example with the hydraulic pressure of water pump, the speed regulating control process of motor is described.In two loop control theories of speed regulating device, interior ring is a Current Control, adopts the control of current peak two point form to realize by FPGA, and outer shroud speed adopts fuzzy control/pid control algorithm to realize by DSP.Wherein, fuzzy control/pid control algorithm is stored among the DSP in advance, comprises FUZZY ALGORITHMS FOR CONTROL, pid algorithm and self-adjusting parameter fuzzy pid control algorithm, and which kind of control algolithm device adopts according to the technology type and the duty parameter decision of input.Water pump hydraulic pressure control procedure is as follows: (1) is detected relatively by the hydraulic pressure of given hydraulic pressure and feedback, and consider parameters such as other technological parameter such as feedwater flow, steam flow, steam water-level, obtain the hydraulic pressure controlled quentity controlled variable by fuzzy logic, and obtain the given rotating speed of motor by fuzzy control/PID controller.(2) electromotor velocity curve RAMP is slope control, changes at motor speed adjusting process medium velocity and adopts the mode that slowly rises and slowly descend, and makes the rate of change di/dt of motor current and voltage and du/dt all not too large.(3) ASR is an automatic speed regulator, by integral element speed regulation process is steadily carried out, and sets upper current limit.(4) ACR is an automatic current regulator, adopts current peak two point form control method.(5) by the switch I GBT of FPGA output PWM control chopper, adjust the size of chopper output current and voltage, thereby realize speed governing.(6) by the phase place of detection of grid, produce SPWM pulse control inverter INV, make inverter feedback electrical power by FPGA.
With reference to Figure 11, the DSP of speed regulating device possesses communication interface, RS232/RS485 is for to be used to realize the conversion to RS-485 by RS-232 by special industrial control module, can monitor the operation conditions of many speed regulating device simultaneously by industrial computer, can discern each speed regulating device by address code.Can design an IP interface module with the DSP communication, make these speed regulating device possess direct remote communications capability.Intranet is an enterprises lan, can realize the large-scale communication of enterprises by optical fiber and Ethernet technology, so just can directly exchange the state that quick-mounting puts at monitoring system center and carry out remote monitoring.
With reference to Figure 12, adopt low voltage frequency converter to realize among the embodiment of digital intelligent control device of middle voltage electromotor speed governing at the utility model, to implementing chopper by interior circular current controller NFC, the interior circular current control of inverter INV, by the outer shroud speed control of digital signal processor DSP enforcement to device, by the program control of programmable controller PLC enforcement to speed regulating device MSR and electronic device MD, the step of speed regulating device work is described in detail as follows: after the start of (1) speed regulating device powers on, DSP starts initialization subroutine self is carried out initialization, makes control device be in the preparation state.(2) touch-screen is started working, and the user can input operation information.(3) the device program is transferred the parameter input subroutine, input technology type, technological parameter etc., and which kind of control algolithm device adopts by integrated decision-making, as fuzzy control, PID control and fuzzy control.(4) by the entry into service of PLC control electronic device; DSP judges by the digital signal that the A/D change-over circuit collected analog signal, PLC and obtain and the digital signal of other switching device output whether speed regulating device are in normal operating conditions, if undesired then speed regulating device are not worked, motor enters full speed running, in case normally can enter the speed governing state at any time.(5) after entering the speed governing state, control given motor speed I by fuzzy control/PID
*, steadily rise or descend by electromotor velocity curve RAMP control electromotor velocity.(6) ring control device work in, the LEM sensor acquisition rotor current I among the current/voltage harvester UIM
DR, resistor voltage divider circuit is gathered rotor voltage U
DR(or directly test the speed by the pulse code-disc), dc inversion voltage U
D, respectively with I
*With I
DR, U
DRWith U
DCompare, control the PWM of given chopper by current regulator ACR by the peak current two point form.(7) by the phase place of detection of grid, produce SPWM pulse control inverter INV, make inverter feedback electrical power by FPGA.(8) DSP patrols and examines speed regulating device, sees that whether device exists faults such as overcurrent, overvoltage, overheated and phase shortage, then can not proceed speed governing operation if having; If break down, then speed regulating device are protected.(9) DSP also can provide protection to electric machine and environment corollary equipment.
Adopt low voltage frequency converter to realize that speed regulating device outer shroud speed control can adopt fuzzy control, PID control and self-adjusting parameter fuzzy PID controller among the embodiment of digital intelligent control device of middle voltage electromotor speed governing at the utility model.To be fuzzy control that dynamic response characteristic is good combine with the good PID control of steady-state response characteristic fuzzy controller, can give full play to advantage separately.Utilize Fuzzy parameter optimization technology, to the proportional gain k of PID controller
p, integration time constant k
1With derivative time constant k
dCarry out online adjustment, thereby realize the Optimal Control of electric machine speed regulation process.With reference to Figure 13 a) and Figure 13 b), be controlled at the example that is applied as on the water pump hydraulic pressure with self-adjusting parameter fuzzy PID, these speed regulating device control principle and software flow have been described.Can import technological parameter and select fuzzy controller by touch-screen; By the given motor speed curve of integrator Ramp, make motor realize slow the liter or slow falling; Measure rotating speed of motor or electric resistance partial pressure detection rotor voltage and extrapolate the actual speed of rotor by the pulse code-disc; Relatively give stator and rotor current by speed regulator ASR in the back with given rotating speed and actual speed, record the rotor actual current by the LEM transducer, by relatively drawing the rotor current regulated quantity.Here mainly utilize the parameter of the online adjustment of fuzzy controller PID, can give full play to fuzzy control and PID control advantage separately.
The utility model adopts low voltage frequency converter to realize that the embodiment of the digital intelligent control device of middle voltage electromotor speed governing has made full use of the powerful internal memory extended capability of DSP, and the fuzzy controller and the parameter of passing through the relevant controlled device of technological experiment acquisition is stored in the ROM program area.As to blower fan, pump class etc. by the research that experimentizes of different size capacity, can obtain fuzzy controller and parameter under the different technology conditions, can select suitable controller and parameter according to the Be Controlled object in the control at the scene, make device can enter running status more stably at the very start.
With reference to Figure 14, in the parameter input-output subprogram of these speed regulating device, can realize man-machine interaction by touch-screen, carry out the operations such as setting, selection control type, preservation and modification technological parameter of technological parameter.
With reference to Figure 15, in the fault alarm subprogram of these speed regulating device, fault such as the overcurrent of speed regulating device, overvoltage, overheated and phase shortage and the fault of handling motor and servicing unit are handled, and demonstrated warning message.
Adopt low voltage frequency converter to realize that wherein digital signal processor DSP is replaceable is single-chip microcomputer among other embodiment of digital intelligent control device of middle voltage electromotor speed governing at the utility model.
Below, embodiment of the present utility model is described in further details.
Be suitable for the utility model and with the drive motor of speed regulating device four classes arranged: middle pressure conventional wound asynchronous motor, middle pressure internal feedback wire wound asynchronous motor, middle pressure are around cage brushless double-fed motor and middle pressure cage internal feedback motor.
Embodiment 1:
With reference to Fig. 1, in the present embodiment, motor M is middle pressure conventional wound asynchronous motor.In main circuit, the additional winding AW of a cover three-phase is arranged, output 50Hz fixed voltage U in the internal feedback wire wound asynchronous motor stator
Aw,, accept the feedback electric current I for inverter INV usefulness
Aw, the no-reverse change power transformer.The internal feedback wire wound asynchronous motor does not need power transformer T, and major loop is the simplest, is that the utility model is recommended preferred version.Wherein, CR is the chopped mode rectifier, and DR is the uncontrollable rectifier of three-phase, and IC is for adopting the chopper of IGBT (or other can turn-off power electronic device, as IGCT, GTR etc.); INV is for adopting the inverter of IGBT (or other can turn-off power electronic device, as IGCT, GTR etc.); Wherein, C
DBe the INV storage capacitor, IS is a motor stator currents, I
RBe motor rotor electric current, U
RBe motor rotor voltage, I
DRBe DR output DC stream, U
DRBe DR output dc voltage, I
DBe CR output current, U
DBe CR output voltage, I
AwBe INV output current, U
AwBe the INV output voltage.
Cascade speed regulator is connected on rotor side, rotor voltage
U
R＝sU
R0
In the formula: s=(n
0-n)/n
0----slippage; U
R0For motor does not change, the rotor voltage of s=1 Time.
Piezoelectricity machine U in existing
R0＜1000V is when speed adjustable range is restricted to 50% (s≤0.5) Time, U
R.max≤ 500V is so speed regulating device are low pressure.
The cascade speed regulator main circuit is by a cover low voltage frequency converter, and frequency converter is sinusoidal wave friendship of voltage-type-straight-ac frequency converter of being made up of copped wave rectifier CR and general IGBT (or other can turn-off power electronic device, as IGCT, GTR etc.) inverter INV.CR is made up of a uncontrollable rectifier module D R of three-phase and cover IGBT (or other can turn-off power electronic device, as IGCT, GTR an etc.) copped wave module I C.The IC switching frequency is about industry 2kHz commonly used, can utilize the rotor leakage inductance to realize copped wave, does not need to add in addition or only need add very little direct current reactance.INV is a voltage source inverter, does not have reactance on dc bus, so this device has saved huge direct current reactor.The required energy storage electric energy of voltage source inverter is a dc capacitor, and volume is little, capacity is big, is contained in the general inverter.
Inverter INV is in order to the dc bus power P
D=U
DI
DBe recycled to motor stator and keep DC bus-bar voltage U
DFixing, rotor voltage after the DR rectification:
U
DR＝(1-D)U
D
D in the formula---copped wave duty ratio just can change rotor voltage U by changing D
R, realize speed governing.
Inverter and additional coil volume are pressed
Calculate.Most blower fans and load of the pumps are the quadratic form loads, I
R∝ n
2, when rotation speed n is high, I
RGreatly, U
RLittle, P
DNot quite; When n hangs down, I
RLittle, U
RGreatly, P
DAlso little; Maximum P
DAppear at
The time, P
Dmax=0.15P
N, consider that load is not strict secondary relation, equipment stays certain allowance, gets P
INV=(0.2 ~ 0.5) P
N, with (20% ~ 50%) P
NThe P of the inverter control 100% of power
NThe power motor speed governing.
INV is the PWM sinewave inverter, output current I
AwNear sinusoidal wave, INV power is little in addition, and harmonic wave is very little in the motor stator current IS, basically electrical network is not had influence.The idle of INV output can adjusted (comprising zero) arbitrarily between from the perception to the capacitive under the capacity enabled condition.At n=n
NThe time, U
R≈ 0, P
D≈ 0, and INV can provide the capacitive reactive power electric current of full capacity, and it is perceptual idle that part small electromotor excitation and rotor rectifying and changing phase produce, and makes total power factor be higher than the power factor of motor itself.At P
D=P
DmaxThe time, the idle of INV is zero, guarantees that operation is required meritorious.Because it is idle that INV does not produce perception, thus the power factor under all operating modes all than usefulness thyristor inversion height, harmonic wave is little.
Because U
DWith U
RmaxCan change by changing minimum duty cycle Dmin, and U
DSize does not influence INV capacity (U
DHigh, I
DLittle, P
DConstant), choose additional winding voltage and rotor voltage for design of electrical motor convenience (this two umber of turn seldom, difficult coupling) is provided.
In realizing speed closed loop control, the control of boost chopper is by speed outer shroud and electric current I
DRInterior ring two parts constitute.Because at different rotating speeds (different U
DR) under, the duty ratio D of boost chopper and dc inversion voltage U
DBetween relation be non-linear, usually, adopt current regulator to realize current inner loop control, cause the current response difference of the fast Time of different commentaries on classics, regulator parameter is adjusted difficult.If adopt the current hysteresis ring bang-bang controller realizes current inner loop control, can overcome non-linear effects, but the chopper switches frequency will change with rotation speed change, and underloading Dian stream Duan Xu Time bang-bang controller cisco unity malfunction.In embodiment of the present utility model, then adopt a kind of new Dian Liu Mine value two point form controller to realize electric current I
DRInterior ring control, it both can overcome the non-linear effects of boost chopper, need not to adjust dynamic parameter, and switching frequency is fixed, and Dian stream Duan Xu Time also can work.
With reference to Fig. 7 and Fig. 8, control in the oscillogram of k switch periods at the current peak two point form, each switch periods Kai Shi Time carves, and the triggering input S of R-S trigger FF receives a pulse signal, and R-S trigger FF output Q exports high level, copped wave pipe V
1Conducting, rectified current I
DRIncrease it and control voltage U
cAt comparator C P
1In compare,
U
c＝I
*+ΔU
c
In the formula: U
DRAnd U
DBe respectively commutating voltage and dc inversion voltage
L
DRIt is rectifying and wave-filtering inductance value (containing the motor leakage inductance)
I
*It is the electric current set-point
T is a switch periods
τ is Zhong the k switch periods between De Time, as t=kT Time, and τ=0; As t=(k+1) T Time, τ=T.Work as I
DRIncrease to I
DR=U
cTime, comparator C P exports high level, delivers to the RESET input R of R-S trigger FF, and R-S trigger FF resets, copped wave pipe V
1Turn-off, finish until this switch periods.By this method control, electric current I in a switch periods
DRMean value equal electric current set-point I
*
With reference to Fig. 7, voltage differential signal U
D-U
DRFrom differential amplifier DA.Time clock signal clock delivers to down counter MC, and then the number in counter is 1-τ/T.After the number among the MC reduced to zero, its carry end sent a carry signal, and with its triggering input signal st as R-S trigger FF, MC is back to full position simultaneously, prepares the counting of the next switch periods of beginning.Number among the down counter MC and voltage difference analog signal U
D-U
DRMultiply each other in the D/A converter, D/A exports through the potentiometer dividing potential drop, if the dividing potential drop coefficient is T/2L
DR, then potentiometer is output as signal delta U
cΔ U
cWith the given signal I of electric current
*Addition gets control signal U
c, with U
cDeliver to comparator C P and current signal I
DRRelatively, comparator C P output reseting input signal rst to R-S trigger FF.
Embodiment 2:
With reference to Fig. 2, in the present embodiment, motor M is middle pressure internal feedback wire wound asynchronous motor.Adopt this scheme to need a power transformer T, its speed regulating device are identical with embodiment 1.
Embodiment 3:
With reference to Fig. 3, in the present embodiment, motor M is that middle pressure is around the cage brushless double-fed motor.The rotor winding of this motor is not drawn, brushless and slip ring, and two cover stator winding, a cover gets access to grid, and another set of function is equivalent to coiling electric motor rotor winding, meets the uncontrollable rectifier DR of speed regulating device.Inverter INV gets access to grid by transformer T.Its speed regulating device are identical with embodiment 1.
Embodiment 4:
With reference to Fig. 4, in the present embodiment, motor M is middle pressure cage internal feedback motor.The rotor winding of this motor is not drawn, and brushless and slip ring, stator are provided with internal feedback winding winding, two cover stator winding are arranged, draw the slip power of motor from a cover winding wherein, be rectified into direct current through the uncontrollable rectifier DR of governing system, inverter INV becomes to exchange and is connected with electrical network.Its governing system is identical with embodiment 1.
The employing low voltage frequency converter that the utility model provides realizes that the advantage of the digital intelligent controller of middle voltage electromotor speed governing is:
● compare with existing stator side medium voltage frequency converter serial regulator device, adopt (20%～50%) PNGeneral low-voltage Frequency Converter Control 100%PNMiddle voltage electromotor is realized 40%～50% speed governing requirement of high-power blower and pump, has avoided medium voltage converter Difficulty, equipment is few, low price, its price only is 30%～50% of stator side medium voltage frequency converter price.
● compare with existing rotor-side IGCT inversion serial regulator device, saved huge direct current reactor or only needed very little direct current Anti-device, major loop is simple, the power factor height, harmonic wave is little.
● China's annual electricity generating capacity nearly 50% is used for blower fan and pump drives, they particularly the driving of high-power blower and pump from tradition Full speed change speed governing operation into, can save a large amount of electric energy (average 30%～40%) and fuel, improve environment, optimize Technical process improves product yield and quality and reduces maintenance, produces huge economic results in society.
● new current peak two point form controller is adopted in circular current control in the chopper, is characterized in:
Realize two point form control with the electric current peakedness ratio, replace current regulator and dutycycle D generator, do not boosted and cut The ripple non-linear effects need not to adjust dynamic parameter, and is easy to use. Electric current I in a switch periodsDRMean value equal given value of current value I* In the underloading electric current IDRDuan Xu Time, the controller endure. With zigzag control signal UcAnd IDRRelatively, all intersection point is clear and definite in whole ranges of speeds, and error is little.
● adopt the Fuzzy Logic in Intelligent control technology, and the digitizing technique that combines with FPGA, PLC of DSP, it is dashed forward Going out characteristics is: built-in Fuzzy Logic in Intelligent control algolithm can solve well the non-linear of electric machine speed regulation and maybe can't set up The problem of precise control model; Have good man-machine interface, can be suitable according to technological requirement and field condition selection Control algolithm and technological parameter; Have flexibly means of communication, can realize arrangements for speed regulation and upper by RS232/RS485 The communication of position supervisor, or directly connect remote monitoring with the center monitoring computer by built-in IP interface module And management; Have perfect defencive function, can be by abundant data acquisition interface, to speed governing and electric machine and Blower fan and pump class etc. are carried out on-site supervision and protection.
Claims (10)
1. adopt low voltage frequency converter to realize the digital intelligent control device of middle voltage electromotor speed governing, comprise electronic device (MD) and speed regulating device (MSR), it is characterized in that: described speed regulating device (MSR) comprise the chopped mode rectifier (CR) that is connected on successively in the main circuit, inverter (INV) and power transformer (T), chopped mode rectifier (CR) is made up of uncontrollable rectifier of three-phase (DR) and chopper (IC), also comprise a digital signal processor (DSP) and interior circular current controller (NFC) that links to each other with described digital signal processor (DSP) and programmable controller (PLC), interior circular current controller (NFC) is used for the interior circular current control to inverter (INV) and speed regulating device (MSR), digital signal processor (DSP) is used for the outer shroud speed control to speed regulating device (MSR), can compile process controller (PLC) and be used for process control speed regulating device (MSR) and electronic device (MD), circular current controller (NFC) links to each other with speed regulating device (MSR) in described, can compile process controller (PLC) and link to each other respectively with speed regulating device (MSR) with electronic device (MD); Wherein, described interior circular current controller (NFC) is provided with field programmable gate array (FPGA), and the sinusoidal wave pulse (SPWM) that the control signal of its output (PWM) is connected to chopper (IC), generation is connected to inverter (INV).
2. employing low voltage frequency converter according to claim 1 is realized the digital intelligent control device of middle voltage electromotor speed governing, and wherein said interior circular current controller (NFC) comprises differential amplifier (DA), D/A converter, down counter (MC), comparator (CP) and output trigger (FF); Speed regulating device (MSR) are provided with rotor current voltage collecting device (UIM), and lime transducer (LEM) is wherein gathered rotor rectified current (I
DR)), resistor voltage divider circuit is gathered rotor commutating voltage (U
DR), voltage sampling circuit obtains dc inversion voltage (U
D); Described dc inversion voltage (U
D) and rotor commutating voltage (U
DR) through the voltage differential signal (U of described differential amplifier (DA) output
D-U
DR) and the count signal of digital signal processor (DSP) clock signal in described down counter (MC) (1-τ/T) is connected to described D/A converter, the output of described D/A converter (Δ U respectively
c) with the given signal (I of electric current of digital signal processor (DSP)
*) control signal (U after the addition
C) be connected to "-" input of described comparator (CP), rotor rectified current signal (I
DR) be connected to "+" input of described comparator (CP), the reset signal (rst) of described comparator (CP) output is connected to " R " input of described output trigger (FF), the carry signal (st) that described down counter (MC) produces is connected to " S " input of described output trigger (FF), the output signal of described output trigger (FF) output " Q " and described in the circular current controller (NFC) with the minimum service time (t of chopper
On) and minimum turn-off time (t
Off) corresponding pulse signal exports control signal (PWM) through logical circuit, and be connected to the control end of described chopper (IC).
3. employing low voltage frequency converter according to claim 1 and 2 is realized the digital intelligent control device of middle voltage electromotor speed governing, wherein said digital signal processor (DSP) is provided with by RS232/RS485 communication interface and/or IP interface, and RS232/RS485 communication interface and/or IP interface link to each other by network with the Surveillance center computer.
4. employing low voltage frequency converter according to claim 3 is realized the digital intelligent control device of middle voltage electromotor speed governing, and wherein said digital signal processor (DSP) replaces with single-chip microcomputer.
5. employing low voltage frequency converter according to claim 4 is realized the digital intelligent control device of middle voltage electromotor speed governing, and wherein the switching device in chopper (IC) and the inverter (INV) adopts insulated door bipolar transistor or integrated gate commutated thyristor.
6. employing low voltage frequency converter according to claim 5 is realized the digital intelligent control device of middle voltage electromotor speed governing, and wherein said asynchronous motor is middle pressure conventional wound asynchronous motor.
7. employing low voltage frequency converter according to claim 5 is realized the digital intelligent control device of middle voltage electromotor speed governing, and wherein said asynchronous motor is middle pressure internal feedback wire wound asynchronous motor.
8. employing low voltage frequency converter according to claim 5 is realized the digital intelligent control device of middle voltage electromotor speed governing, and wherein said asynchronous motor is that middle pressure is around the cage brushless double-fed motor.
9. employing low voltage frequency converter according to claim 5 is realized the digital intelligent control device of middle voltage electromotor speed governing, and wherein said asynchronous motor is middle pressure cage internal feedback motor.
10. according to the digital intelligent control device of claim 6 or 7 or 8 or 9 described employing low voltage frequency converters realization middle voltage electromotor speed governing, the power of wherein said asynchronous motor is greater than 200KW, and middle pressure is 1～10KV.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2005200058808U CN2781646Y (en) | 2005-03-15 | 2005-03-15 | Digital intelligent controller for regulating speed of medium voltage motor by low voltage frequency transformer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2005200058808U CN2781646Y (en) | 2005-03-15 | 2005-03-15 | Digital intelligent controller for regulating speed of medium voltage motor by low voltage frequency transformer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2781646Y true CN2781646Y (en) | 2006-05-17 |
Family
ID=36762844
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2005200058808U Expired - Fee Related CN2781646Y (en) | 2005-03-15 | 2005-03-15 | Digital intelligent controller for regulating speed of medium voltage motor by low voltage frequency transformer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2781646Y (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100405715C (en) * | 2006-07-03 | 2008-07-23 | 东北电力大学 | Double pulse width modulation controller for back to back structure voltage type current changing device |
| CN101471623B (en) * | 2008-06-03 | 2010-12-08 | 广东华拿东方能源有限公司 | Chopping type bumpless switching bis-PLC intelligent speed-governing system of medium-pressure motor |
-
2005
- 2005-03-15 CN CNU2005200058808U patent/CN2781646Y/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100405715C (en) * | 2006-07-03 | 2008-07-23 | 东北电力大学 | Double pulse width modulation controller for back to back structure voltage type current changing device |
| CN101471623B (en) * | 2008-06-03 | 2010-12-08 | 广东华拿东方能源有限公司 | Chopping type bumpless switching bis-PLC intelligent speed-governing system of medium-pressure motor |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100358236C (en) | Digital intelligent control system of adopting low voltage converter to realize medium-voltage motor speed regulation | |
| CN100505513C (en) | Middle voltage electromotor cutting wave dual DSP digital speed adjusting system for IGBT reverser | |
| CN100355197C (en) | Medium-voltage motor chopper speed governing digital intelligent controlling system having stalling protection | |
| CN104283212B (en) | A kind of double-fed wind power generator group Physical Simulation Platform based on CompactRIO | |
| CN201388064Y (en) | Megawatt variable-speed wind turbine generator system employing polyphase generators and multilevel convertors | |
| CN111628660B (en) | Compressor variable frequency speed regulating system and control method of direct current bus voltage | |
| CN102075138B (en) | Charging and discharging control system and method of flywheel battery | |
| CN101217260A (en) | A slip control digital intelligent speed regulation and system of motor without speed transducer | |
| CN101814765A (en) | Power supply control system of bidirectional electric automobile charger | |
| CN101635466A (en) | Megawatt-level variable-speed wind-power unit adopting multiphase generator and multilevel converter | |
| CN102810976A (en) | Comprehensive power saver | |
| CN2781646Y (en) | Digital intelligent controller for regulating speed of medium voltage motor by low voltage frequency transformer | |
| CN104213597A (en) | Alternating-current variable-frequency speed-regulating control system for electro-hydraulic excavator | |
| CN101471623B (en) | Chopping type bumpless switching bis-PLC intelligent speed-governing system of medium-pressure motor | |
| CN201222718Y (en) | Intelligent double-control chopping type medium-pressure motor speed-regulating device | |
| CN1889350A (en) | Frequency transformer capable of continuously operating during power-off | |
| CN105846728B (en) | A kind of intelligent AC regulating fan method for controlling number of revolution | |
| CN201388185Y (en) | Inner-feed chopper cascade speed control device | |
| CN201312255Y (en) | Low harmonic intelligent electricity economizer | |
| CN2777851Y (en) | Medium voltage motor copper speed-regulating digitalized intelligent apparatus with disturbing protection | |
| CN201146481Y (en) | Medium-voltage motor slip-control digital intelligence speed-regulating device without speed sensor | |
| CN104124709B (en) | A kind of wind-electricity integration based on power prediction runs system | |
| Kar et al. | Grid-connected solar photovoltaic-fed brushless DC motor drive for water pumping system using colliding body optimization technique | |
| CN103715914A (en) | Controllable rectifier/inverter control method with power feed-forward, controllable rectifier/inverter control device with power feed-forward and high-voltage frequency converter | |
| CN102255516A (en) | High-voltage converter and fan and water pump application system thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: GUANGDONG HONOR EAST ENERGY CO., LTD. Free format text: FORMER OWNER: BEIJING HUANA ORIENTAL ENERGY TECHNOLOGY CO., LTD. Effective date: 20081017 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20081017 Address after: D101 unit, 11 color road, Guangzhou Science City, Guangdong Province, China: 510663 Patentee after: Guangdong Honor East Power Co., Ltd. Address before: Beijing, Haidian District Qinghe Yongtai District, East China Beijing East CNC Frequency Conversion Technology Co., Ltd., zip code: 100000 Patentee before: Huana Dongfang Energy Tech Co., Ltd., Beijing |
|
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20060517 Termination date: 20140315 |