SU1179516A1 - Multimotor electric drive - Google Patents

Description

The invention relates to electrical engineering and can be used to control the speed of interconnected drives.

The purpose of the invention is to improve the accuracy of synchronization speed of interconnected motors.

The drawing shows the scheme of the proposed electric drive.

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The electric drive contains the master 1 and the slave 2 electric motors connected in series with the speed controller 3, the first speed controller 4, the current controller 5, the thyristor converter 6, the output of which is connected to the armature winding of the driving motor 1, the second controller 7 in series, the current regulator 8 and thyristor converter 9, the output of which is connected to the armature winding. the slave motor 2, the sensors 10 and 11 current and sensors 12 and 13 speed, the outputs of which are connected respectively to the inputs of the regulators 5 and 8 current and regulators 4 and 7 speed. In addition, the drive contains voltage sensors 14 and 15, and the inputs of speed regulators 4 and 7 are connected to the outputs of current sensor 10 and voltage sensor 14.

The input of the regulator 7, the speed of the slave motor 2 is connected to the outputs of the current sensor 11, the voltage sensor 15 and the output of the speed motor 12 sensor 1

The drive works as follows.

In the initial position, the master and slave electric motors 1 and 2 are fixed. If there is no difference between the speed reference signal and the actual speed (O, at the input of the relay speed controller 4, this controller is set to one of the stable positions. The appearance of the output voltage C, the relay speed controller 4 is activated by the current regulator 5, the output of which a control voltage and a thyristor converter 6 appear. Increasing the voltage u, t of the power supply causes the output of the driving motor 1 of the signal 55 at the output of the sensor 14 'and which is supplied from the negative th sign of the inputs of the relay controls the speed of 4 and 7. The appearance

15

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thirty

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40

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a negative signal at the input of the relay speed controller 4 leads to switching this controller to another stable position. The output of the relay regulator 4 increases the voltage of the opposite sign, which leads to a decrease in the control voltage DC, · at the output of the current regulator 5, and then to a change in the polarity of this voltage, as well as the voltage of the thyristor converter 6. Thus, the polarity of the voltage at the anchor driving motor 1. The appearance at the input of the relay controller 4 speed is now

about

already positive signal CD, again leads to the switching of this relay controller to the opposite steady state, etc. Practically, in the absence of a 4-speed relay at the input of the signal difference C *) ^ - O), the 4-speed relay control switches from one stable position to another with a high frequency, i.e. running in sliding mode. At the same time, the voltage ratio at the output of the relay speed controller

4 is 0.5. Therefore, the average voltage at the output of the current regulator 5

and the supply voltage of the armature of the leading motor 1 is equal to zero, which ensures the immobility of this motor.

When a difference of signals 6) ^ - ω appears at the output of the relay speed controller, the duty ratio of the voltage at the regulator output changes, which actuates the current regulator 5 and the thyristor converter 6. The driving motor 1 starts to rotate in the direction corresponding to the sign of the signal difference - 60,. In this case, the regulator

5 current maintains the starting current of the leading electric motor 1 at a given level. When the driving motor 1 is running, the inputs of the speed controller 4 also come from the speed sensor 12 and the current sensor 10 signals 6)., And 1 corresponding to the speed and armature current of the driving motor 1 Thus, the leading motor

1 works in accordance with the optimal control algorithm of the relay controller 4 speed

1179516 4

Chip ^δ3 · § ^η Conley! '

- ^ 0.), ³ '

where Kl _l , and K " _t , - the coefficients of the pro portionality.

Implementing this algorithm, electro-

the drive tends to nullify the difference CO. Component '

ensures the operation of the 4-speed relay controller in the sliding mode, and the component K. _Sh1 L ζ ensures stable movement of the driving electric motor 1 when testing a given signal

Even before the movement of the driving motor 1 (i.e.

the presence of the difference of signals Sat) ^ and <d), at the input of the relay regulator 8), the signal appearing at the input of the voltage sensor 14 is fed to the input of the relay regulator 7 at the speed of the driven motor 2.

This signal, as well as the signal 8 "at the input of the relay controller 4. speed provides the appearance with a sliding mode of operation of the relay 25 speed regulator 7 with a stationary driven motor 2.

After the driving motor 1 starts moving, the signal 63, from the speed sensor 12, is fed to the input of the on-off regulator 7 of the speed of the driven motor 2. The operation of the control system of this electric motor is similar to that indicated; as a speed reference signal ₃₅

the speed signal 6) of the driving motor 1 is used. The driven motor 2 operates in accordance with the optimal control algorithm of the relay speed controller 7.

^and 2р ⁼ Shlak ³ ϊ-8 ^η Gy, - ~

- υ _5ΐ ) - - ί0].

By implementing this algorithm, the interconnected electric drive control device tends to reduce to zero the difference ¢ 40 = b), - where < _{2 2} is the signal of the speed of the slave electric motor 2 taken from the speed sensor 13. Component (υ ^ «- provides speed control operation of the relay 7 in sliding mode, and the component Rq _1T2 (1 _ί - _{ί Ζ)} ensures stable movement of the driven motor 2 when applying it to the input signal management tasks ω ,.

Improving the accuracy of synchronization of speed of interconnected electric motors is achieved due to the fact that when the relay speed controllers 4 and 7 are operated in a sliding mode, the control system is provided. large gain. The operation of the drive in the sliding mode in the speed controllers 4 and 7 provides low sensitivity to changes in the parameters of the slave and driving motors 1 and 2, which also contributes to improving the accuracy of synchronizing their speeds.

Claims (1)

MULTI-MOTOR ELECTRIC DRIVE, containing leading and driven electric motors, serially connected speed controller, first speed controller, current controller, thyristor converter, the output of which is connected with the armature winding of the leading electric motor, serially connected second speed controller, current regulator and thyristor converter, the code of which is connected to the armature winding of the slave electric motor, current sensors of electric motor speed, the outputs of which are connected to the inputs of the corresponding regulators, characterized in that, in order to improve accuracy synchronization of the speed of interconnected electric motors; voltage sensors of electric motors are introduced in it; the speed regulators of these electric motors are made They are relay-driven, the inputs of the speed regulator are connected to the outputs of the current and voltage sensors of the output motor, the input of the speed regulator of the slave motor is connected to the codes of the current and voltage sensors of the same electric motor and the output of the speed sensor of the driving motor. -I- 10 % Un l the game eight - ♦ 9 with eight 1179516 7 1 1179516