RU2580823C2 - Servo drive with asynchronous actuating motor - Google Patents

Abstract

FIELD: electrical engineering.

SUBSTANCE: invention relates to electrical engineering and can be used in servo drives with asynchronous actuating motors. Technical result is faster operation of a servo drive with an asynchronous actuating motor. Servo drive (fig. 1) comprises setting units 1 and 2, integral controller 3, proportional controller 4, division unit 5, current controllers 6 and 7, coordinate converter 8, differentiation unit 9, integration unit 10, adder 11, power converter 12, asynchronous electric motor 13 with actuator 14, current sensor 15, position sensor 16 proportional-differential controller 17.

EFFECT: disclosed electric drive increases operating speed of servo systems with asynchronous actuating motors.

1 cl, 3 dwg

Description

The invention relates to the field of electrical engineering and can be used in servo drives with asynchronous actuators.

The closest in technical essence is the Simovert Masterdrives MC servo drive (see Simovert Masterdrives Motion Control: Compendium. - Germany: Siemens AG, 2006. - 1498 p.), Containing the first and second reference blocks, an integral regulator, a proportional regulator, a division block , the first and second current regulators, coordinate converter, differentiation unit, integration unit, adder, power converter, asynchronous electric motor with actuator, current sensor and position sensor.

The disadvantage of the closest in technical essence tracking electric drive with an asynchronous executive motor is its low speed.

The technical result is achieved by the fact that in a servo drive containing the first and second task units, an integral controller, proportional controller, division unit, first and second current controllers, coordinate converter, differentiation unit, integration unit, adder, power converter, asynchronous electric motor with an executive mechanism, a current sensor and a position sensor, and the output of the first task unit is connected to the first input of the integral controller, the second input of which is connected to the output of the sensor As for the position, the output of the second task unit is connected to the first inputs of the first current controller and the division unit, the output of which is connected to the first input of the second current controller, the output of the first current controller is connected to the first input of the coordinate converter, the second input of which is connected to the output of the second current controller, the first the coordinate converter output is connected to the first input of the power converter, the output of which is connected to an asynchronous electric motor kinematically connected to an actuator equipped with a sensor a position, the output of which is connected to the first input of the proportional controller and the input of the differentiation unit, the second output of the power converter is connected to the first input of the current sensor, the second input of which is connected to the output of the integration unit and the first input of the adder, the second output of the coordinate converter is connected to the second input of the adder, the output of which is connected to the second input of the power converter, the first and second outputs of the current sensor are connected respectively to the second inputs of the first and second regulators then ka, and the output of the differentiation unit is connected to the input of the integration unit, a proportional-differential controller is additionally introduced, and the output of the integral controller is connected to the second input of the proportional controller, the output of which is connected to the first input of the proportional-differential controller, the output of the differentiation unit is connected to the second input in proportion differential controller, the output of which is connected to the second input of the division unit.

Significant differences are expressed in a new set of connections between the elements of the device. The specified set of connections can improve the speed of the servo drive with an asynchronous executive motor.

In FIG. 1 is a functional diagram of a servo drive with an asynchronous actuator; in FIG. 2 is a block diagram of a servo drive with an asynchronous actuator; in FIG. 3 - transient control action in a servo drive.

The tracking electric drive (Fig. 1) contains units 1 and 2 of the task, an integral controller 3, a proportional controller 4, a division unit 5, current regulators 6 and 7, a coordinate transformer 8, a differentiation unit 9, an integration unit 10, an adder 11, a power converter 12 , asynchronous electric motor 13 with actuator 14, current sensor 15, position sensor 16 and proportional differential controller 17. The output of task unit 1 is connected to the first input of integral controller 3, the second input of which is connected to the output of position sensor 16 . The output of task unit 2 is connected to the first inputs of the current controller 6 and the division unit 5, the output of which is connected to the first input of the current controller 7. The output of the current controller 6 is connected to the first input of the coordinate transformer 8, the second input of which is connected to the output of the current controller 7. The first output of the coordinate converter 8 is connected to the first input of the power converter 12, the first output of which (three-phase voltage) is connected to the stator windings of the asynchronous electric motor 13, kinematically connected to the actuator 14, equipped with a position sensor 16, the output of which is connected to the first (inverse) input of the proportional controller 4 and the input of block 9 differentiation. The second output (current) of the power converter 12 is connected to the first input of the current sensor 15, the second input of which is connected to the output of the integration unit 10 and the first input of the adder 11. The second output of the coordinate transformer 8 is connected to the second input of the adder 11, the output of which is connected to the second input of the power converter 12. The first and second outputs of the current sensor 15 are connected respectively to the second inputs of the current regulators 6 and 7. The output of the differentiation unit 9 is connected to the input of the integration unit 10. The output of the integral controller 3 is connected to the second input of the proportional controller 4, the output of which is connected to the first input of the proportional differential controller 17. The output of the differentiation unit 9 is connected to the second input of the proportional differential controller 17, the output of which is connected to the second input (dividend input) of block 5 divisions.

As an asynchronous electric motor 13, for example, any electric motor of the 1РН7 series can be used. The actuator 14, for example, can be a turntable connected by means of a worm gear and a coupling to the shaft of the electric motor 13. As a position sensor 16, for example, a resolver built into the 1PH7 series electric motor or any photo-optical rotation angle sensor can be used, mounted, for example, on a turntable.

All other blocks and elements of the proposed tracking electric drive, including power converter 12, can be implemented, for example, on a Simovert Masterdrives MC device. In particular, task block 1 can be performed, for example, using the Basic positioner function. The task unit 2, the division unit 5, the current regulators 6 and 7, the coordinate converter 8, the integration unit 10 and the adder 11 can be implemented, for example, using the functions of the Current controller asynchronous motor and Torque limitation. The current sensor 15, for example, can be implemented on current transformers integrated in the power converter 12 and the Actual values and Current controller asynchronous motor functions. The differentiation unit 9, for example, can be implemented using the Set speed values function. Integral controller 3, for example, can be implemented using a standard proportional-integral controller, which is part of the Position control function, in which the transmission coefficient of the proportional part is equal to zero. The proportional controller 4 and the proportional differential controller 17, for example, can be implemented using subtractors, an adder, proportional links and a differential link included in the free blocks of the Simovert Masterdrives MC device, and BICO programming technology.

и угла поворота вектора напряжения относительно оси абсцисс вращающейся системы координат

. В сумматоре 11 происходит сложение угла φ₁ с углом поворота ротора φ_p φ=φ₁+φ_p. По сигналам U₁ и φ на первом выходе силового преобразователя формируется система трехфазного напряжения:Servo drive operates as follows. In accordance with the magnitude of the driving signal coming from the output of the task unit 1 and the signal of the position sensor 16, the integral controller 3, together with the proportional controller 4, the differentiation unit 9 and the proportional differential controller 17, form a signal at the input (input of the dividend) of the division unit 5. At the same time, a signal is proportional to the required value of the stator current component I _1d3 in the coordinate system rotating with the rotor from the task unit 2 to the input of the current regulator 6 and the second input (divider input) of the division unit 5. The result of dividing from the output of block 5 is a signal for setting the current component I _1qz , the stator fed to the input of the current controller 7. The current sensor 15 generates at its outputs the actual values of the projections of the stator current vector I _1d I _1q in a rotating coordinate system, which are obtained by measuring the phase currents at the second output of the power converter 12, a three-phase-two-phase conversion, and switching to the projections through the angle of rotation of the rotor formed on the output of the integration unit 10. In turn, a signal proportional to the rotor speed from the output of the differentiation unit 9 is supplied to the input of the integration unit 10. Current regulators 6 and 7 compare the set values of the projections of the current vector in the rotating coordinate system with the actual values coming from the outputs of the current sensor 15, and in accordance with their transfer functions (in particular, proportional current regulators are used in the Simovert Masterdrives MC, but you can also use traditional proportional-integral regulators) is formed at its outputs projection U _1d and U _1q voltage vector on the rotating axis to be fed to the stator windings of the induction motor 13. Ex projection formation voltage vector in real three-phase voltage in the stator windings is carried out using the coordinate converter 8, the adder 11 and power converter 12 itself, namely in the inverter 8 computes the coordinates of the stator voltage vector module

and the angle of rotation of the voltage vector relative to the abscissa axis of the rotating coordinate system

. In the adder 11 is the addition of the angle φ ₁ with the angle of rotation of the rotor φ _p φ = φ ₁ + φ _p . According to the signals U ₁ and φ, a three-phase voltage system is formed at the first output of the power converter:

The resulting three-phase voltage from the first output of the power converter 12 causes the shaft of the induction motor 13 to rotate, which drives the actuator 14. The movement of the actuator 14 is measured by the position sensor 16. The movement continues until the magnitude of the signal from the position sensor 16 is not equal to the magnitude of the reference signal from the output of unit 1 of the job.

The integral controller 3 compensates for the effect of all the interference covered by the sensor 16. The proportional controller 4, the differentiation unit 9 and the proportional-differential controller 17 provide compensation for the basic inertia of the electric motor 13 and the actuator 14.

To confirm the high performance of the proposed tracking electric drive with an asynchronous electric motor, we consider its structural diagram (Fig. 2). It contains two interconnected control systems: a stabilization system for the current component I _1d (and, consequently, a rotor flux ψ ₂ ) and a motion control system × an actuator (in the simplest case, the rotation angle φ _p of the motor shaft). The motion control system includes four loops: a current loop, a speed loop, and two position loops. To organize speed feedback, the signal of an inertial-free position sensor with a transmission coefficient of k _{dp is} differentiated by a link with a transfer function

W _oss (p) = k _oss p,

where k _occ - speed transmission ratio (differentiation time constant).

The stabilization system of the current component I _1d contains only one circuit - the current circuit.

, характеризующие динамические свойства силового преобразователя, и передаточные функции статорной цепи асинхронного электродвигателя $$W_{эст}\left(p\right)=\frac{1}{R_{1э}\left(T_{1э}p+1\right)}$$

. В этих формулах приняты обозначения: $$R_{1э}=R_1+k_2^2{R}_2^{/}$$

; $$T_{1э}=\frac{T_1{R}_1}{R_1+k_2^2{R}_2^{/}}$$

; $$k_2=\frac{L_0}{L_2^{/}}$$

; $$T_1=\frac{\Delta }{R_1{L}_2^{/}}$$

; $$T_2=\frac{\Delta }{R_2^{/}{L}_1}$$

; $$\Delta =L_1{L}_2^{/}-L_0^2$$

; R₁ и L₁ - активное сопротивление и индуктивность цепи статора; $$R_2^{/}$$

и $$L_2^{/}$$

- приведенные активное сопротивление и индуктивность цепи ротора; L₀ - взаимная индуктивность обмоток; k_сп и T_сп - коэффициент передачи и постоянная времени силового преобразователя, соответственно.The current circuits in both systems are identical and contain proportional current regulators with transmission coefficients k _RT , aperiodic links $$W_{\mathrm{from}P}(p)=\frac{k_{\mathrm{from}P}}{T_{\mathrm{from}P}p+\mathrm{one}}$$

characterizing the dynamic properties of a power converter, and the transfer functions of the stator circuit of an induction motor $$W_{\mathrm{uh}\mathrm{from}t}\left(p\right)=\frac{\mathrm{one}}{R_{\mathrm{one}\mathrm{uh}}\left(T_{\mathrm{one}\mathrm{uh}}p+\mathrm{one}\right)}$$

. In these formulas, the notation: $$R_{\mathrm{one}\mathrm{uh}}=R_{\mathrm{one}}+{\mathrm{<figure-callout\; id="2"\; label="k"\; filenames="00000021.png"\; state="\{\{state\}\}">k</figure-callout>}}_2^2{\mathrm{<figure-callout\; id="2"\; label="R"\; filenames="00000021.png"\; state="\{\{state\}\}">R</figure-callout>}}_2^{/}$$

; $$T_{\mathrm{one}\mathrm{uh}}=\frac{T_{\mathrm{one}}{R}_{\mathrm{one}}}{R_{\mathrm{one}}+{\mathrm{<figure-callout\; id="2"\; label="k"\; filenames="00000021.png"\; state="\{\{state\}\}">k</figure-callout>}}_2^2{\mathrm{<figure-callout\; id="2"\; label="R"\; filenames="00000021.png"\; state="\{\{state\}\}">R</figure-callout>}}_2^{/}}$$

; $${\mathrm{<figure-callout\; id="2"\; label="k"\; filenames="00000021.png"\; state="\{\{state\}\}">k</figure-callout>}}_2=\frac{L_0}{{\mathrm{<figure-callout\; id="2"\; label="L"\; filenames="00000021.png"\; state="\{\{state\}\}">L</figure-callout>}}_2^{/}}$$

; $$T_{\mathrm{one}}=\frac{\Delta }{R_{\mathrm{one}}{\mathrm{<figure-callout\; id="2"\; label="L"\; filenames="00000021.png"\; state="\{\{state\}\}">L</figure-callout>}}_2^{/}}$$

; $${\mathrm{<figure-callout\; id="2"\; label="T"\; filenames="00000021.png"\; state="\{\{state\}\}">T</figure-callout>}}_2=\frac{\mathrm{<figure-callout\; id="2"\; label="\Delta \; R"\; filenames="00000021.png"\; state="\{\{state\}\}">\Delta \; </figure-callout>}}{R_{}^{}}$$

; $$\Delta =L_{\mathrm{one}}{\mathrm{<figure-callout\; id="2"\; label="L"\; filenames="00000021.png"\; state="\{\{state\}\}">L</figure-callout>}}_2^{/}-L_0^2$$

; R ₁ and L ₁ - resistance and inductance of the stator circuit; $${\mathrm{<figure-callout\; id="2"\; label="R"\; filenames="00000021.png"\; state="\{\{state\}\}">R</figure-callout>}}_2^{/}$$

and $${\mathrm{<figure-callout\; id="2"\; label="L"\; filenames="00000021.png"\; state="\{\{state\}\}">L</figure-callout>}}_2^{/}$$

- reduced resistance and inductance of the rotor circuit; L ₀ is the mutual inductance of the windings; k _sp and T _sp - gear ratio and time constant of the power converter, respectively.

и передаточная функция исполнительного механизма $$W_{им}\left(p\right)=\frac{k_{им}}{p}$$

. Здесь приняты обозначения: Z_п - число пар полюсов асинхронного электродвигателя; J_пр - приведенный момент инерции вала двигателя; k_им - коэффициент передачи исполнительного механизма. Делительное и множительное звенья осуществляют взаимосвязь системы стабилизации тока возбуждения с системой управления перемещением через потокосцепление ψ₂ ротора, причем потокосцепление связано с проекцией тока I_1d посредством передаточной функции $$W_{\psi }\left(p\right)=\frac{k_2{L}_2^{/}}{T_{2}p+1}$$

.The speed control loop includes a proportional-differential controller, a dividing link, a closed current loop, a multiplier link, an integral link $$W_{\mathrm{uh}m}\left(p\right)=\frac{3{\mathrm{<figure-callout\; id="2"\; label="Z\; n\; k"\; filenames="00000021.png"\; state="\{\{state\}\}">Z\; </figure-callout>}}_n{k}_{}{}_2}{2J_{PR}p}$$

and transfer function of the actuator $$W_{\mathrm{and}m}\left(p\right)=\frac{k_{\mathrm{and}m}}{p}$$

. Here, the notation is used: Z _p - the number of pairs of poles of the induction motor; J _CR - reduced moment of inertia of the motor shaft; k _them - the gear ratio of the actuator. The dividing and multiplying links interconnect the stabilization system of the excitation current with the motion control system through the rotor flux link ψ ₂ , and the flux link is connected with the current projection I _1d through the transfer function $$W_{\psi }\left(p\right)=\frac{k_2{\mathrm{<figure-callout\; id="2"\; label="L"\; filenames="00000021.png"\; state="\{\{state\}\}">L</figure-callout>}}_2^{/}}{T_{2}p+\mathrm{one}}$$

.

The proportional-differential controller is represented by the transfer function

W _PD (p) = k _PD (T _PD p + 1),

where k _PD is the transmission coefficient, and T _PD is the controller time constant.

The proportional controller of the internal position loop has a gear ratio k _P. The integral controller of the external position loop is represented by the transfer function

, $$W_{\mathrm{AND}}\left(p\right)=\frac{\mathrm{one}}{T_{\mathrm{AND}}p}$$

,

where T _And is the time constant.

We model the servo drive under consideration in the MATLAB SIMULINK environment for a specific technical implementation, when k _dp = 1, k _im = 326 discrete / rad; k _sp = 0.0067 B / discrete; T _sp = 0.0016 s; R _1e = 13.53 ohms; T _1e = 0.0157 s; T ₂ = 0.0273 s; Z _p = 1; J _ol = 0.001 kg · m ² ; k _ost = 6826 discrete / A; k _oss = 0.0128 s; T _PD = 0.4 s; k _PD = 4; k _P = 4; T _And = 0.02 s. The graph of the transition process (Fig. 3) shows that the time of the transition process for control in the proposed tracking electric drive is t _pp = 0.0552 s, and overshoot is σ = 0.16%. For comparison, I must say that the transient time in the device, taken as a prototype, with standard settings of the regulators is 2.5 s.

It follows that the proposed tracking electric drive with an asynchronous executive motor is more than 10 times faster than the device taken as a prototype.

Thus, the proposed electric drive improves the performance of servo systems with asynchronous actuators.

Claims (1)

A servo drive containing the first and second reference blocks, an integral controller, a proportional controller, a division unit, a first and second current controller, a coordinate converter, a differentiation unit, an integration unit, an adder, a power converter, an asynchronous electric motor with an actuator, a current sensor and a position sensor moreover, the output of the first task unit is connected to the first input of the integral controller, the second input of which is connected to the output of the position sensor, the output of the second task unit is is dined with the first inputs of the first current controller and the division unit, the output of which is connected to the first input of the second current controller, the output of the first current controller is connected to the first input of the coordinate converter, the second input of which is connected to the output of the second current controller, the first output of the coordinate converter is connected to the first input a power converter, the output of which is connected to an induction motor kinematically connected to an actuator equipped with a position sensor, the output of which is connected to a by the input of the proportional controller and the input of the differentiation unit, the second output of the power converter is connected to the first input of the current sensor, the second input of which is connected to the output of the integration unit and the first input of the adder, the second output of the coordinate converter is connected to the second input of the adder, the output of which is connected to the second input of the power the converter, the first and second outputs of the current sensor are connected respectively to the second inputs of the first and second current regulators, and the output of the differentiation unit is connected to the input of the integration unit, characterized in that a proportional differential controller is additionally introduced into it, the output of the integral controller connected to the second input of the proportional controller, the output of which is connected to the first input of the proportional differential controller, the output of the differentiation unit is connected to the second input of the proportional differential controller whose output is connected to the second input of the division unit.

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