201006119 九、發明說明： 【發明所屬之技術領域】 本發明有關-種馬達轉子_調速_，_是—觀反向器拖 動多台馬達異步同時實現轉子變頻調速系統。 【先前技術】 =達是起重機、電顯和水幫浦各卫作機構t的原動機，201006119 IX. Description of the invention: [Technical field to which the invention pertains] The present invention relates to a motor rotor _ speed regulation _, _ is - an inverter towed multiple motors asynchronously to achieve a rotor frequency conversion speed control system. [Prior technology] = is the prime mover of the crane, electric display and water pump.
匕將電能轉化為機械能。就起重機為例’它可以拖動起重機執行 提升（或下降）、變幅、回轉和行走等多種不 起重機現場作業任務。 傅聊錢 圖1給出了習知的起重機用不同工作的馬達變頻調速 原理圖。倾®巾可以看出：齡献麵電力魏提供的定壓 定頻交流電源，經整流橋轉換成直流，繼而透過 經反向器又㈣成關工作辭的交絲_馬料動工作流 假設：電力系統電源頻率為fo， 馬達工作頻率為fin。 那麼：βη=ξίό成立， 這裡：ξ為變轉差率。 基於起重機現場作f時’财要求完成提升、變幅、 和行走等四種不同工作。因此’各相應的執行機構，就需要不同 的馬達提料_電能轉化林_機械能。這就是說，起 不同的工作，所需的馬達觀不同，即馬_功頻率加不同。 然而’在習知的馬達變_勒統巾，—個反向器悲變換—個 馬達工作齡，對_個馬達進賴賴速，俗稱拖—，,技術。 顯然，對於起重顧四種不.作，就需要喃反㈣電路 實現兩次換能的“交-直-交，，變換，產生多個馬達所需的各自的 工作頻率’以分別完成起重機現場作業時的提升、變幅、回 杆击工作。 6 201006119 一綜合上述，習知的馬達調速系統，其頻率調節範圍寬，且 不受電力系統頻率限制；既可以採取強迫換能，又可採取負載換 能。這種調速系統，除了低速時轉差功能損耗大和效率低外，最 為突出的是需要用四個反向器，從而使得系統體積龐大、笨重， 而且造價昂貴，實施起來是非常困難的。 近年來，由於變頻技術的飛躍發展，特別是矢量控制技術 和直接轉矩控制技術的應用，變頻技術日趨成熟，以其寬廣的調 速範圍、較高的穩速精度，快速的動態附應及能在直角坐標系中 的四象限_可逆運轉雜能，位居錢傳動之首，其調^性能 ❹转化 Convert electrical energy into mechanical energy. Take the crane as an example. It can drag the crane to perform various lifting and field operations such as lifting (or lowering), luffing, turning and walking. Fu Liaoqian Figure 1 shows the schematic diagram of the variable frequency speed regulation of the motor with different working conditions. The tilting towel can be seen: the constant-voltage fixed-frequency AC power supply provided by the power supply of Weixian Wei, which is converted into DC by the rectifier bridge, and then passed through the reverser and (4) the work of the cross-wire _ horse feed workflow assumption : The power system power frequency is fo, and the motor operating frequency is fin. Then: βη=ξίό is established, here: ξ is the change rate. Four different tasks, such as lifting, luffing, and walking, are completed based on the crane's site requirements. Therefore, each of the corresponding actuators requires a different motor feed_electrical conversion forest_mechanical energy. That is to say, for different jobs, the required motor view is different, that is, the horse-power frequency is different. However, in the conventional motor change _ Le Tong towel, a reverse sorrow transformation - a motor working age, _ a motor to rely on speed, commonly known as drag -,, technology. Obviously, for the lifting of the four kinds of work, it is necessary to implement the two-transformation "four-turn-crossing, transforming, generating the respective working frequencies required by multiple motors" to complete the crane separately. 6 201006119 In combination with the above, the conventional motor speed control system has a wide frequency adjustment range and is not limited by the frequency of the power system; Load conversion can be adopted. In addition to the large loss and low efficiency of the slip function at low speed, the most prominent is the need to use four inverters, which makes the system bulky, cumbersome, and expensive, and implemented. In recent years, due to the rapid development of frequency conversion technology, especially the application of vector control technology and direct torque control technology, frequency conversion technology has become increasingly mature, with its wide speed range and high speed accuracy, fast The dynamic response and the four quadrants in the Cartesian coordinate system _ reversible running abilities, the first in the money transmission, its performance ❹
完全可以和直流傳動減美，並有取代之勢，而，目前國外起 重，構採用的變頻技術’仍然是—個魏用—個變頻器，一個變 頻器配-個反向器，對购重機正t運轉的四種功能。仍需配置 四個反向ϋ。如果要使變頻調速系統增域量回饋功能，則需再 增添四個反向器，_這是不合算的。因此，國絲多公司的相 關產品’仍然是採用“一拖一，，的模式來完成起重機的正常運轉工 作。例如：日本的安川、德國的西門子、瑞士的MB和法蘭西 的施耐得等產品’在我國相關顧領域到處可見，其價格也十分 昂貴。 針對上述已有變頻技術存在的嚴重缺陷，本發明人就如何 ΐ 台馬達，_工作時，反向器定位在最小 逆變角，透過母個截波H的導通和截止，實現轉子變頻調速，使 起重機實時完紐升、變幅、輯和行走四種功進行過研究。 於如2提供適當的正向和反向輸峻制電壓，使各截波 截止，對於如何採集轉子相電磨和整流器輸出直 ^，使截於财建調鋪_電場，雜线正常有序工作 等問題，還有待全面解決。 7 2〇1〇〇6li9 【發明内容】 本發明的目的之一，是提供用一個全橋反向器拖動多台馬達異 步同時實現轉子變頻調速祕。即對多台馬達線上控制時，由同—個 反向器輪出的電壓，作各功能馬達的附加反向電動勢， 波器即時工作，辦衫“達異㈣時運轉。 各力錢It can completely reduce the beauty of DC drive and replace it. However, the current frequency conversion technology used by foreign cranes is still a Wei-inverter, a frequency converter with an inverter, The four functions of the heavy machine are running. You still need to configure four reverse turns. If you want to increase the domain feedback function of the variable frequency speed control system, you need to add four additional inverters, which is not cost effective. Therefore, the related products of Guosi Duo Company are still using the “one-on-one” model to complete the normal operation of the crane. For example: Yaskawa of Japan, Siemens of Germany, MB of Switzerland and Schneider of France 'In China's relevant areas of the field can be seen everywhere, its price is also very expensive. In view of the serious defects of the above existing frequency conversion technology, the inventor of how to set up the motor, _ work, the inverter is positioned at the minimum inverter angle, through The turn-on and turn-off of the mother chopping H realizes the variable frequency speed regulation of the rotor, which enables the crane to complete the four functions of rising, variable amplitude, series and walking in real time. Yu Ru 2 provides appropriate forward and reverse transmission systems. The voltage makes the cutoffs cut off. For how to collect the rotor phase electric grinder and the rectifier output straight, so that the interception of the financial construction and the electric field, the normal and orderly work of the miscellaneous lines, etc., has yet to be fully solved. 7 2〇1〇 〇6li9 [Summary of the Invention] One of the objects of the present invention is to provide a full-bridge reverser to drag multiple motors asynchronously and simultaneously realize the rotor frequency conversion speed regulation secret, that is, when controlling multiple motor lines The voltage that is rotated by the same inverter is used as the additional back electromotive force of each function motor. The wave machine works immediately, and the shirt is operated when it is different (four). Various money
本發明的目的之二，是提供用一個半橋反向器拖動多台馬達異 步同時實現轉子變_速系統。即對多台馬達線上控制時，由同—個 反向器輸出的電壓’作各功能馬達的附加反向電動勢，驅動各功 波器即時工作，以實現多台馬達異步同時運轉。 本發月的目的之二’是使該系統具有能量回饋再利用功能 到有效節約能源。 胃 為了達到上述目的，本發明採用的技術方案是：用反向器拖動 多台馬達異步科實轉子變頻雛魏，包括： 一個馬達組，共4台馬達， 幅、回轉和行走多種工作； 用以異步同時完成起重機提升、變 用以對與其相連接的馬達轉 用以提供瞬時電流，使截波 一個整流器組，含有4個整流橋， 子提供不同的頻率交流信號進行整流； 一個限流器組，含有4個限流器， 器正常工作； 鑛波11組’含有4倾波11 ’透過卿每健波器的導通 率，實現直流紐的連績調節，進而使馬達轉子電流連續調節，以達 m 味轉t^調速的目的；必須指出的是：當截波器導通率為 100/。時’馬達轉速為額定轉逮； ’在最小工作電流下，仍能雉 一個隔離器組，含有4個隔離器 持其連續性，確保馬達轉子正常工作； 8 201006119 一個全橋反向器或一個半橋反向器，用以將各馬達轉子輸出的 不同頻率的交流電經整流為直流後，轉變成與電力系統電源同頻、同 . 相的交流電，實現交變直，直變交，並進行能量回饋至馬達或電力系 統； ' 一個驅動器組，含有4個驅動器，選用EX841積體電路，均受 微處理器CPU的主程式控制，進行脈寬調製，輸出信號，送 至所對應的截波器的閘極極，使各截波器實時可靠的導通和截止； 一個微處理器CPU，其工作由主程式決定，它接收來自各個_ 轉換器的數字信號，並進行數據處理，依次送至相對應的驅動電路， φ 以實時控制截波器工作； 一個A/D轉換器組，含有4個a/d轉換器，用以將各對應的類 比信號變換為所需的數字信號； 一個仏號處理器組，含有4個信號處理器，用以將各對應的電 壓、電流檢測佗號和主令電壓(或稱主令信號)進行综合處理分別送至 相應的A/D轉換器； 一個電流檢測器組，含有4個電流檢測器，系位於前述整流橋 所包含的限流電感電流所流經的路徑上，用以檢測經各對應的限流器 限流後的直流電流’並轉換為電壓形式送至相應的信號處理器的輸入 ，端； 一個電壓檢測器組，含有4個電壓檢器，係位於前述馬達轉子 任意兩線之間，用以檢測各馬達任意兩線間的不同頻率的交流電壓， 並轉換為直流電壓送至相應的信號處理器的輸入端。 本發明基於採用反轉控制理論技術對多台馬達進行線上控制 時，由同一個反向器的輸出電壓作各功能馬達的附加反向電動勢，利 用各功能馬達的截波器即時工作，以實現多台馬達異步同時運轉。從 而，就整個系統而言，簡化了電路，縮小了體積，降低了成本，提升 . 了可靠性，確保了起重機現場作業提升、變幅、回轉和行走穩定、安 . 全、可靠。 “ 9 201006119 【實施方式】 凊參閱圖2所示’為本發明第一實施例。 從圖2中可以看出：本發明由馬達組1、整流器組2、限流器 組3、截波器組4、隔離器組5、全橋反向器6、驅動器組7、微處 理器8 (CPU)、A/D轉換器組9、信號處理器組10、電流檢測器 組11和電壓檢測器組12構成一個整體；其中： 所述馬達組1中的馬達M1、M2、M3和M4各自的轉子依次 分別接至整流器組2中的整流器zi、Z2、Z3和Z4各自相對應的 輸入端； 所述的全橋反向器6的輸出端與馬達組1中的馬達M1、M2、 M3和M4各自的定子同時接入同一定壓定頻380伏交流電力系統 供電電源； 所述的截波器組4中的截波器IGBT1、IGBT2、IGBT3和 IGBT4各自的陰極同時相交連接於一點，即b點； 所述的隔離器組5中的隔離器D1、D2、D3和D4各自的輸 出端同時相交連接於一點，即A點； 所述的限流器組3中的限流器LI、L2、L3和L4各自的輸出 端依次分別與電流檢測器組11中的電流檢測電阻Rl、R2、R3和 R4各自對應的輸入端相連接，而前述各電流檢測電阻R1、幻、 R3和R4的輸出端依次與截波器組4中的截波器IGBT1、IGBT2、 IGBT3和IGBT4各自對應的陽極及隔離器組5中的隔離器D1、 D2、D3和D4各自對應的輸入端相連接； 所述的驅動器組7中的驅動器EX841-1、EX841-2、EX841-3 和EX841-4，它們的第3腳’依次分別與截波器組4中的截波器 IGBT1、IGBT2、IGBT3和IGBT4的閘極直接相連接；而各驅動 器的第1腳依次分別與其相對應的載波器的陰極直接相交連接於 一點，即B點；各驅動器的第15腳分別經各路的限流電阻R5， 依次與微處理器8 CPU的引腳？1.〇、卩1.2、卩1.4、？1.6相連接； 各驅動器的第14腳微處理器8 CPU的引腳Pl.l、P1.3、P1.5和 P1.7之間設定的PNP雙極接面電晶體Q1的集極相連接；各驅動 器第1腳與其第9腳之間均接有一個47MF的電容，用來吸收由 201006119 電源連接阻抗引起的供電電壓變化，而並非電源濾波電容； 所述的微處理器8 0?11的引腳？1.1、？1.3、卩1.5和卩1.7依次 與驅動态組7中的驅動器ΕΧ841-1、ΕΧ841-2、ΕΧ841-3和EX841-4 之間設定的PNP雙極接面電晶體Q1的基極相連接； 所述的電流檢測器組11中的電流檢測電阻R1、R2、R3和 R4，其阻值相等，各自透過的限流直流電流u、I2、13和14，其 電流大小不同’折算出的直流電壓mi、切2、m3和^，其電 壓大小也不同’且各電驗次分別接至錢處理L 1G中對應的 信號處理器m、U2、U3和U4的輸入端的第！和第2腳； ❹Another object of the present invention is to provide a rotor speed-speed system by simultaneously dragging multiple motors with one half-bridge inverter. That is, when controlling multiple motor lines, the voltage output by the same inverter is used as an additional back electromotive force of each function motor, and each of the power machines is driven to operate in real time to realize simultaneous operation of multiple motors asynchronously. The second purpose of this month is to enable the system to have energy feedback and reuse functions to effectively save energy. In order to achieve the above purpose, the technical solution adopted by the present invention is: using a reverser to drag a plurality of motors, the asynchronous core rotor frequency conversion, including: a motor group, a total of 4 motors, a plurality of work of amplitude, rotation and walking; Used to asynchronously complete the lifting of the crane at the same time, and to convert the connected motor to provide instantaneous current, so as to cut off a rectifier group, including four rectifier bridges, and provide different frequency AC signals for rectification; The device group contains 4 current limiters, and the device works normally; the 11th group of the mine wave 'contains 4 inclination waves 11' through the conduction rate of each wave filter to realize the continuous performance adjustment of the DC button, thereby continuously adjusting the motor rotor current. In order to achieve the purpose of t-speed regulation; it must be pointed out that when the interceptor conductance is 100/. When the 'motor speed is rated to catch; 'At the minimum operating current, still able to smash an isolator group, containing 4 isolator to maintain its continuity, to ensure the normal operation of the motor rotor; 8 201006119 A full bridge inverter or a The half-bridge inverter is used for rectifying the alternating current of different frequencies outputted by the rotors of the motors into DC, and then converting into alternating current with the same frequency and phase of the power supply of the power system, realizing the alternating straight, straight changing, and performing Energy is fed back to the motor or power system; 'A drive group with 4 drivers, EX841 integrated circuit, controlled by the main program of the microprocessor CPU, pulse width modulation, output signal, sent to the corresponding cutoff The gate of the device makes each clipper reliably turn on and off in real time; a microprocessor CPU whose operation is determined by the main program, it receives the digital signals from each _ converter, and performs data processing, which is sent to the phase Corresponding drive circuit, φ controls the operation of the chopper in real time; an A/D converter group contains 4 a/d converters to convert each corresponding analog signal into the required Digital signal; an apostrophe processor group containing four signal processors for synthesizing each corresponding voltage, current sense nickname and master voltage (or master signal) to the corresponding A /D converter; a current detector group, comprising four current detectors, located in a path through which the current limiting inductor current included in the rectifier bridge flows, for detecting the current limiter after the corresponding current limiter The DC current is converted to a voltage form and sent to the input of the corresponding signal processor. A voltage detector group containing four voltage detectors is located between any two lines of the motor rotor to detect each motor. AC voltages of different frequencies between any two lines are converted to DC voltage and sent to the input of the corresponding signal processor. The invention is based on the use of the reversal control theory technology to perform on-line control of multiple motors, and the output voltage of the same inverter is used as an additional back electromotive force of each functional motor, and the chopper of each functional motor is used for immediate operation to realize Multiple motors operate asynchronously at the same time. As a result, the entire system simplifies the circuit, reduces the size, reduces the cost, and improves the reliability. It ensures the crane's on-site operation is improved, the amplitude, rotation and walking are stable, safe and reliable. [9 201006119 [Embodiment] Referring to Figure 2, the first embodiment of the present invention is shown. It can be seen from Figure 2 that the present invention consists of a motor unit 1, a rectifier group 2, a current limiter group 3, and a chopper. Group 4, isolator group 5, full bridge inverter 6, driver group 7, microprocessor 8 (CPU), A/D converter group 9, signal processor group 10, current detector group 11, and voltage detector The group 12 is formed as a whole; wherein: the respective rotors of the motors M1, M2, M3 and M4 in the motor group 1 are respectively connected to the respective input ends of the rectifiers zi, Z2, Z3 and Z4 in the rectifier group 2; The output end of the full bridge inverter 6 and the stators of the motors M1, M2, M3 and M4 in the motor group 1 are simultaneously connected to the same constant voltage fixed frequency 380 volt AC power system power supply; The respective cathodes of the choppers IGBT1, IGBT2, IGBT3 and IGBT4 in the group 4 are simultaneously connected to one point, that is, point b; the respective outputs of the isolators D1, D2, D3 and D4 in the isolator group 5 At the same time, the intersection is connected to one point, that is, point A; the current limiters LI, L2, L3 and L4 in the restrictor group 3 are respectively The output ends are respectively connected to respective input terminals of the current detecting resistors R1, R2, R3 and R4 in the current detector group 11, and the output ends of the respective current detecting resistors R1, 幻, R3 and R4 are sequentially and chopped. The respective anodes of the choppers IGBT1, IGBT2, IGBT3 and IGBT4 in the group 4 and the respective input terminals of the isolators D1, D2, D3 and D4 in the isolator group 5 are connected; the driver group 7 is The drivers EX841-1, EX841-2, EX841-3 and EX841-4, whose 3rd leg' are directly connected to the gates of the choppers IGBT1, IGBT2, IGBT3 and IGBT4 in the chopper group 4, respectively. The first leg of each driver is directly connected to the cathode of the corresponding carrier in sequence, that is, point B, that is, point B; the 15th pin of each driver is sequentially connected to the microprocessor 8 through the current limiting resistor R5 of each channel. CPU pins 1.1, 卩1.2, 卩1.4, ?1.6 are connected; 14th pin of each driver 8 CPU pins Pl.l, P1.3, P1.5 and P1.7 The set PNP bipolar junction transistor Q1 is connected to the collector; each driver has a pin between the first leg and the 9th pin. A 47MF capacitor is used to absorb the supply voltage variation caused by the 201006119 power supply connection impedance, rather than the power supply filter capacitor; the microprocessors of the 80?11 pins? 1.1, ?1.3, 卩1.5, and 卩1.7 are in turn Connected to the base of the PNP bipolar junction transistor Q1 set between the drivers ΕΧ 841-1, ΕΧ 841-2, ΕΧ 841-3 and EX 841-4 in the driving state group 7; in the current detector group 11 The current detecting resistors R1, R2, R3 and R4 have the same resistance values, and the current limiting DC currents u, I2, 13 and 14 are respectively transmitted, and the current magnitudes are different from the calculated DC voltages mi, cut 2, m3 and ^ The voltage is also different in size and each electrical test is connected to the input of the corresponding signal processor m, U2, U3 and U4 in the L1G processing! And the second foot; ❹
所述的電壓檢測器組12依次取自於馬達組1中的馬達mi、 M2、M3和M4轉子上的任意兩相相電壓Uvl 、Uv2、Uv3 和 Uv4， 且各電壓依次分別接至魏處理器1G中對應的健處理器m、 U2、U3和U4的輸入端的第3和第4腳；而主令電壓、 UM3和UM4依次分別接至信號處理器組1〇中對應的信號處理器 m、U2、U3和U4的輸入端的第5腳和第6腳； 所述的信號處理器組10巾的信號處理器 in ' U2 ' U3 和 U4 各自的輸出端FG、n、F2和F3依次分別與A/D轉換器組9中的 轉換器A/D-1、A/D_2、a/D-3和趟_4各自的輸入端H〇、hi、 H2和H3相直接連接； 所述的A/D轉換器組9中的轉換器潘卜胁2、胁3和 A/D-4各自的輸入端HO、H1、扣和出相直接連接； 所述的錄轉換器組9中的轉換器MM、A/D-2、A/D-3和 娜4各自的輸出端Τ〇、ΤΙ、T2和T3依次分別與處理器CPU 8 的輸入端11.0、IU、11.2和u 3直接相連接。 請參閱圖3和圖4所示，為本發明第二實施例。 、3和圖J可以看出：本發明由馬達組i、整流器組 截波器離半橋反向器15、驅動器組7、微處理器 8、A/D、，且9、诚處理H組1G、電流檢測器組11、電壓檢 測器組ίΓ=平波器13、電力電容14、激磁變壓器16、激磁 接觸器接觸ϋ 18'切換接_ 19誠—個整體；其中： 所乂、，、組1中的馬達μ卜M2、Μ3和Μ4各自的轉子依 11 201006119 次分別接至整流器組2中的整流器Z1、^、”和以各自相對應 的輸入端； 所述的半橋反向器15的輸出端與馬達組1中的馬達Ml、 M2、M3和M4各自的定子同時接入同一定壓定頻38〇伏交流電 力系統供電電源； 所述的截波器組4中的截波器、IGBT2 'IGBT3和 IGBT4各自的陰極同時相交連接於一點，即b點； 所述的隔離器組5中的隔離器Dl、D2、D3和D4各自的輸 出端同時相交連接於一點，即A點； 所述的驅動器組7中的驅動器ΕΧ84ΐ_ι、EX841-2、EX841-3 和EX841-4，它們的第3腳，依次分別與截波器組3中的截波器 IGBT1、IGBT2、IGBT3和IGBT4的閘極級直接相連接；而各驅 動器的第1腳依次分別與其相對應的截波器的陰極直接相交連接 於一點，即B點；各驅動器的第15腳分別經各路的限流電阻R5， 依次與微處理器8的引腳ρι.ο、P1 2、ρι·4、ρι·6相連接；各驅動 器的第14腳與微處理器8的引腳pi 1、P1 3、ρι 5和Ρ1.7之間設 疋的PNP雙極接面電晶體q〗的集極相連接；各驅動器第丨腳與 其第9腳之間均接有一個47MF的電容，用來吸收由電源連接阻 抗引起的供電電壓變化，而並非電源濾波電容； 所述的微處理器8的引腳Pl.i、ρι·3、ρι·5和ρι·7依次與驅 動器組4中的驅動器ΕΧ841-1、ΕΧ841-2、ΕΧ841-3和ΕΧ8414之 間設定的ΡΝΡ雙極接面電晶體qi的基極相連接； 所述的電流檢測器組11中的電流檢測電阻、R2、R3和 R4，其阻值相等，各自透過的限流直流n、I2、13和14，其電流 大小不同’折算出的直流電壓UI1、UI2、UI3和UI4，其電壓大 小也不同，且各電壓依次分別接至信號處理器組1〇中對應的信號 處理器Ul、U2、U3和U4的輸入端的第1和第2腳； 所述的電壓檢測器組12依次取自於馬達組j中的馬達M1、 M2、M3和M4轉子上的任意兩相相電壓Uv卜⑽、Uv3和Uv4， 且各電壓依次分別接至信號處理器10中對應的信號處理器u】、 U2、U3和U4的輸入端的第3和第4腳；而主令電壓、 12 201006119 . UM3和UM4依次分別接呈信號處理器組l〇中對應的信號處理器 U1、U2、U3和U4的輸入端的第5腳和第6腳； . 所述的信號處理器組1〇中的信號處理器Ul、U2、U3和U4 各自的輸出端F0、F1、F2和F3依次分別與a/d轉換器組9中的 轉換器A/D-1、A/D-2、A/D-3和A/D-4各自的輸入端HO、H1、 H2和H3相直接連接； 所述的A/D轉換器組9中的轉換器A/D_l、A/D-2、A/D-3和 A/D4各自的輸入端H0、ίΠ、H2和H3相直接連接； 所述的A/D轉換器組9中的轉換器A/D-1、A/D-2、A/D-3和 A/D-4各自的輸出端ΤΟ、ΤΙ、Τ2和Τ3依次分別與處理器CPU 8 β 的輸入端11.0、II.1、11.2和11.3直接相連接； 所述的限流平波器（L) 13，其輸入端與隔離組4中的隔離器 Dl、D2 ' D3和D4的輸出商和電力電容（C) 14的一端同時相交 於一點’即A點；其輸出端直接與三相交流電力系統電源的零線 N相緊密連接； 所述的電力電容（C)14的另一端分別與整流器組2中的zi、 Z2、Z3和Z4各自下端的3只整流二極體的正極和截波器組中的 IGBT1、IGBT2、IGBT3和IGBT4各自的陰極以及半橋反向器15The voltage detector group 12 is sequentially taken from any two phase voltages Uvl, Uv2, Uv3 and Uv4 on the motors mi, M2, M3 and M4 in the motor group 1, and the voltages are respectively connected to the Wei processing. The 3rd and 4th pins of the input terminals of the corresponding health processors m, U2, U3 and U4 in the device 1G; and the master voltages, UM3 and UM4 are respectively connected to the corresponding signal processors m in the signal processor group 1 , 5th and 6th feet of the input terminals of U2, U3 and U4; the signal processors in 'U2' U3 and U4 of the signal processor group 10 are respectively output terminals FG, n, F2 and F3 respectively Directly connected to the respective inputs H〇, hi, H2 and H3 of the converters A/D-1, A/D_2, a/D-3 and 趟_4 in the A/D converter group 9; The input terminals HO, H1, buckle and out phase of the converters of the A/D converter group 9 are directly connected; the conversion in the recording converter group 9 The respective outputs Τ〇, ΤΙ, T2 and T3 of the MM, A/D-2, A/D-3 and Na4 are directly connected to the inputs 11.0, IU, 11.2 and u3 of the processor CPU 8, respectively. . Please refer to FIG. 3 and FIG. 4, which is a second embodiment of the present invention. 3, and Figure J can be seen: the present invention consists of motor group i, rectifier group interceptor off half bridge inverter 15, driver group 7, microprocessor 8, A / D, and 9, Cheng H group 1G, current detector group 11, voltage detector group Γ Γ = leveling device 13, power capacitor 14, excitation transformer 16, excitation contactor contact ϋ 18' switching connection _ 19 honest - a whole; where: 乂,,, The respective rotors of the motors μb M2, Μ3 and Μ4 in group 1 are respectively connected to the rectifiers Z1, ^," in the rectifier group 2 and the respective input terminals according to 11 201006119 times; the half bridge inverters The output of 15 and the stators of the motors M1, M2, M3 and M4 in the motor group 1 are simultaneously connected to the same constant voltage fixed frequency 38 volt AC power system power supply; the cutoff in the chopper group 4 The cathodes of the IGBT 2 'IGBT 3 and the IGBT 4 are simultaneously connected to one point, that is, point b; the output ends of the isolators D1, D2, D3 and D4 in the isolator group 5 are simultaneously connected to one point, that is, A Point; the drive ΕΧ 84ΐ_ι, EX841-2, EX841-3 and EX841-4 in the drive group 7 described, their third The feet are respectively directly connected to the gate stages of the choppers IGBT1, IGBT2, IGBT3 and IGBT4 in the chopper group 3; and the first leg of each driver is directly intersected with the cathode of the corresponding chopper respectively Connected to one point, that is, point B; the 15th pin of each driver is connected to the pins ρι.ο, P1 2, ρι·4, ρι·6 of the microprocessor 8 through the current limiting resistors R5 of the respective paths; The 14th pin of each driver is connected to the collector of the PNP bipolar junction transistor q 疋 between the pins pi 1 , P1 3, ρι 5 and Ρ 1.7 of the microprocessor 8; A 47MF capacitor is connected between the foot and the 9th pin to absorb the supply voltage change caused by the power connection impedance, instead of the power supply filter capacitor; the pins Pl.i and ρι of the microprocessor 8 are described. 3. ρι·5 and ρι·7 are sequentially connected to the base of the ΡΝΡ bipolar junction transistor qi set between the drivers ΕΧ 841-1, ΕΧ 841-2, ΕΧ 841-3 and ΕΧ 8414 in the driver group 4; The current detecting resistors in the current detector group 11, R2, R3, and R4 have equal resistance values, and each of the current-limited current limiting DCs n, I2, 13 and 14, the current magnitude is different. The calculated DC voltages UI1, UI2, UI3 and UI4 have different voltage levels, and the voltages are respectively connected to the corresponding signal processing in the signal processor group 1〇. The first and second legs of the inputs of the U1, U2, U3 and U4; the voltage detector group 12 is sequentially taken from any two phases of the motors M1, M2, M3 and M4 in the motor group j Voltages Uv (10), Uv3, and Uv4, and the voltages are sequentially connected to the third and fourth feet of the input terminals of the corresponding signal processors u], U2, U3, and U4 in the signal processor 10; and the main voltage, 12 201006119. UM3 and UM4 are respectively connected to the 5th and 6th pins of the input terminals of the corresponding signal processors U1, U2, U3 and U4 in the signal processor group l; The respective output terminals F0, F1, F2 and F3 of the signal processors Ul, U2, U3 and U4 are in turn respectively associated with the converters A/D-1, A/D-2, A/ in the a/d converter group 9. The input terminals HO, H1, H2 and H3 of D-3 and A/D-4 are directly connected; the converters A/D_l, A/D-2, A/ in the A/D converter group 9 are described. D-3 and A/D4 each lose The input terminals H0, Π, H2 and H3 are directly connected; the converters A/D-1, A/D-2, A/D-3 and A/D-4 in the A/D converter group 9 are described. The respective output terminals ΤΟ, ΤΙ, Τ2 and Τ3 are in turn directly connected to the inputs 11.0, II.1, 11.2 and 11.3 of the processor CPU 8β, respectively; the current limiting wave (L) 13, the input thereof The output of the isolators D1, D2' D3 and D4 in the isolation group 4 and the end of the power capacitor (C) 14 simultaneously intersect at one point 'point A'; the output is directly connected to the zero of the three-phase AC power system power supply The line N phase is closely connected; the other end of the power capacitor (C) 14 is respectively in the positive pole and the chopper group of the three rectifying diodes at the lower ends of each of zi, Z2, Z3 and Z4 in the rectifier group 2 The cathode of each of IGBT 1, IGBT 2, IGBT 3, and IGBT 4 and the half bridge inverter 15
中的閘流體KP1、KP2和KP3各自的負極同時相交於一點，即B &點； 所述的半橋反向器15中的閘流體KP1、KP2和KP3各自的 輸出端分別經相串聯的電感L5和熔斷器Fm、電感L6和熔斷器 FU2、電感L7和熔斷器FU3直接與電力系統電壓a、b、c三相 線端相連接； 所述的半橋反向器15中的閘流體KP1、KP2和KP3各自的 ^出端$別經相串聯的電容C1和電阻器R5、電容C2和電阻器 6二電容C3和電阻器R7同時與其自身的負極並聯相 一 即B點； . 所述的半橋反向器15中的閘流體和κρ3各自的 二躺，AG、BG* CG與其自身的負極ΑΚ、ΒΚ和CK之間依次 電容C4、C5和C6，且相交於一點，即b點； 13 201006119The respective negative electrodes of the thyristors KP1, KP2 and KP3 at the same time intersect at one point, that is, the B &point; the respective output terminals of the thyristors KP1, KP2 and KP3 in the half-bridge inverter 15 are respectively connected in series The inductor L5 and the fuse Fm, the inductor L6 and the fuse FU2, the inductor L7 and the fuse FU3 are directly connected to the three-phase line ends of the power system voltages a, b, c; the thyristor in the half-bridge inverter 15 KP1, KP2, and KP3 are respectively connected to the capacitor C1 and the resistor R5, the capacitor C2, and the resistor 6 and the capacitor C3 and the resistor R7 are connected in parallel with their own negative poles, that is, point B; The thyristor and κρ3 in the half-bridge inverter 15 are respectively placed, and the capacitors C4, C5 and C6 are sequentially connected between the AG, BG* CG and its own negative electrodes ΒΚ, ΒΚ and CK, and intersect at a point, that is, b Point; 13 201006119
一點，即c點，再與控制接觸 18的！個觸腳相連接； 器（T1) 16的耦合端經限流器“K，，繼而與控制接觸器18 觸腳相連接； 負極連接於 ，激磁變壓 8的另一個 所述的激磁接觸器（KMU) 17的3個輸入端觸腳依次對應 與電力系統電壓A、B、c三相線端相連接； 所述的控制接觸器（缝2) 18的2個輸出端觸腳與馬達定 子三線中的任意兩線相連接； 所述的切換接觸器（KML3) 19的3個輸入端觸腳依次對應 與電力系統電壓A、B、C三相線端相連接；其3個輸出端觸腳依 次與馬達定子三線相連接。 本發明在起重機的上升調整速作業時，基於馬達轉子接入有 源逆變系統，多餘的電能始終經同一個反向器回饋回馬達或電力 系統，而起重機下降作業時，馬達定子兩相通入直流激磁，於是， 馬達實際上便成了發馬達，處於發電狀態，而且所發出的電能再 經同一個反向器重新回饋回馬達或電力系統，實現了能量回收， 有效節約了能源。 本發明基於採用CPU控制技術，在其主程式的控制下，對所 採集的各馬達轉子相電壓、整流器直流及主令電壓，進行綜合即 時處理，及時推展各驅動器工作，以控制對各截波器的有效導通 和截止，實現馬達轉子變頻調速。採用cpu控制技術，透過增添 輔助電路，結合適當的軟體支援，還可以對起重機的超載限、' 故障監控、超速限制、限位斷相以及欠壓、過流和風速進行自動 保護、狀態顯示與人機對話，實現了高智能化實時控制。 本發明基於選用EX841積體電路作戴波器開關器件的驅動 器’它可以對cpu輸出的數字脈波信號進行功率放大，產生PWM 控制信號，保證截波器有效可靠工作。同時該積體電路内部還設 有欠壓、過流保護’可以確保系統正常運轉。 2〇l° 〇6l19 本發财誠波器_科4触馬達敏辨要求進 麽選用，因此，㈣_部分也具 速建立閉極控電場，確㈣統正常有序可細^ j便載波器迅 ^上實施繼為綱本發_技術概柯實雛 明的疋：本發明除用於前述起重機執行提升、變幅、回轉和= 气=同，構運動’完成現場作業任務外，還適用於任何需要 捣，少D馬達異步同時即時工作的場所。諸如：纺織行業令各 臧車間不同溫度、濕度的控制；各水電站不同流量、的制. ο 的= 裝蕊拼接、構件對孔鉚接、船體移動翻轉、重： 懸工谭接’大型建築物整體吊裝和石油化工 ，任何以熟知的技巧所_的線路或控制方法ί3 圍具精神内。至於本發明的專利特徵由所述的申請專利範 鲁 15 201006119 * 【圖式簡單說明】 • 圖1為習知的起重機用不同工作的馬達變頻調速系統原理 圖。 圖2為本發明第一實施例’用全橋反向器拖動多台馬達異步 同時實現轉子變頻調速系統電原理示意圖。 圖3為本發明第二實施例，用半橋反向器拖動多台馬達異步 同時實現轉子變頻調速系統電原理示意圖。 圖4為本發明第二實施例的信號處理器和驅動控制單元 示意圖。 μ 【主要元件符號說明】 1馬達組 2 整流器組 3限流器組 4 截波器組 5隔離器組 6 全橋反向器 7驅動器組 8 微處理器CPU 9 A/D轉換器組 10 信號處理器組 11電流檢測器組 12 電壓檢測器組 13、L限流平波器 14 'C電力電容 15半橋反向器 16 力磁變壓器 17激磁接觸器 18 控制接觸器 19切換接觸器 Ml ' M2 ' M3 ' M4 馬達 Z 卜 Z2、Z3、Z4 整流器 U、L2、L3、L4 限流器 L5、L6、L7 電感 FU1 ' FU2 > FU3 熔斷器 Dl ' D2 ' D3 ' D4 隔離器 m、U2、U3、U4 信號處理器 UI1、UI2、UI3、UI4 電壓 Uvl、Uv2、Uv3、Uv4 電壓 16 201006119 U1VQ、UM2、UM3、UM4 電壓 F0 ' FI ' F2 > F3 輸出端 HO、m、H2、H3 輸入端 T0、T1、T2、T3 輸出端 11.0'11.1 ' 11.2'11.3 輸入端 引腳 閘流體 激磁接觸器 控制接觸器 切換接觸器One point, c point, and then contact with the control 18! The contact pins are connected; the coupling end of the device (T1) 16 is connected to the contact pin of the control contactor via a current limiter "K"; the negative electrode is connected to the other magnetic contactor of the excitation voltage change 8 The three input terminals of (KMU) 17 are sequentially connected to the three-phase line ends of the power system voltages A, B, and c; the two output terminals of the control contactor (slot 2) 18 are connected to the motor stator. Any two wires of the three wires are connected; the three input terminals of the switching contactor (KML3) 19 are sequentially connected to the three-phase line ends of the power system voltages A, B, and C; The foot is sequentially connected with the motor stator three wires. The invention is based on the motor rotor connected to the active inverter system during the ascending and adjusting speed of the crane, and the excess electric energy is always fed back to the motor or the power system through the same inverter, and the crane During the lowering operation, the two phases of the motor stator are energized with DC excitation, so that the motor actually becomes the generator motor and is in the state of generating electricity, and the generated electric energy is fed back to the motor or the power system through the same inverter to realize the energy. Recycling The invention effectively saves energy. The invention is based on the use of CPU control technology, under the control of its main program, comprehensively and instantaneously processes the collected motor rotor phase voltage, rectifier DC and main voltage, and timely promotes the operation of each driver. Control the effective conduction and cut-off of each chopper, realize the motor rotor frequency control. Using cpu control technology, by adding auxiliary circuits, combined with appropriate software support, it can also overload the crane, 'fault monitoring, overspeed limit, The limit phase failure and the under-voltage, over-current and wind speed automatic protection, state display and man-machine dialogue realize high-intelligent real-time control. The invention is based on the selection of the EX841 integrated circuit as the driver of the wave-wave device switching device. The digital pulse signal outputted by the cpu is amplified by power to generate a PWM control signal to ensure effective and reliable operation of the chopper. At the same time, the integrated circuit also has undervoltage and overcurrent protection to ensure the normal operation of the system. ° 〇6l19 This is a wealthy wave _ _ 4 touch motor sensitive requirements into the choice, therefore, (four) _ part also Establishing a closed-loop controlled electric field, it is true that the (four) system is normally ordered and can be fined. The carrier is quickly implemented on the carrier. The technique is based on the technique: the invention is used for the lifting, luffing, and rotation of the aforementioned crane. And = gas = the same, the structure of the movement 'to complete the on-site work tasks, but also applies to any need to 捣, less D motor asynchronous and simultaneous work at the moment. For example: the textile industry makes the different temperature and humidity control of each workshop; each hydropower station is different Flow, system. ο = splicing, splicing of components, riveting of hulls, hull movement, weight: Suspension Tan's overall hoisting of large buildings and petrochemicals, any line or control method with well-known techniques Ί3 The spirit of the invention is as follows. As for the patent feature of the present invention, the patent application is disclosed by Fan Lu 15 201006119 * [Simple description of the drawing] Fig. 1 is a schematic diagram of a conventional motor variable frequency speed control system for a crane. Fig. 2 is a schematic view showing the electrical principle of the rotor variable frequency speed control system by simultaneously pulling a plurality of motors asynchronously by a full bridge inverter according to the first embodiment of the present invention. Fig. 3 is a schematic view showing the electrical principle of the rotor frequency conversion speed control system by simultaneously dragging a plurality of motors asynchronously by a half bridge inverter according to a second embodiment of the present invention. Figure 4 is a schematic diagram of a signal processor and a drive control unit in accordance with a second embodiment of the present invention. μ [Main component symbol description] 1 motor group 2 rectifier group 3 current limiter group 4 chopper group 5 isolator group 6 full bridge inverter 7 driver group 8 microprocessor CPU 9 A/D converter group 10 signal Processor group 11 current detector group 12 voltage detector group 13, L current limiting waver 14 'C power capacitor 15 half bridge inverter 16 magnetic transformer 17 excitation contactor 18 control contactor 19 switching contactor Ml ' M2 ' M3 ' M4 Motor Z Bu Z2, Z3, Z4 Rectifier U, L2, L3, L4 Current limiter L5, L6, L7 Inductor FU1 ' FU2 > FU3 Fuse Dl ' D2 ' D3 ' D4 Isolator m, U2 , U3, U4 signal processor UI1, UI2, UI3, UI4 voltage Uvl, Uv2, Uv3, Uv4 voltage 16 201006119 U1VQ, UM2, UM3, UM4 voltage F0 ' FI ' F2 > F3 output HO, m, H2, H3 Input terminal T0, T1, T2, T3 output terminal 11.0'11.1 ' 11.2'11.3 input terminal pin galvanic contactor control contactor switching contactor
P1.0、P1.2、P1_4、P1.6 KP1 > KP2 ' KP3 KML1 KML2 KML3 Ql N I< II '12 '13 ' 14 PNP雙極接面電晶體 零線 限流器 電流 IU、R2、R3、R4、R5、R6、R7 電阻 a、C2、C3、C4、C5、C6 電容 IGBT1、IGBT2、IGBT3、IGBT4 截波器 A/D-1、A/D-2、A/D-3、A/D-4 A/D 轉換器 ΕΧ841-1、ΕΧ841-2、ΕΧ841-3、ΕΧ841-4 驅動器P1.0, P1.2, P1_4, P1.6 KP1 > KP2 ' KP3 KML1 KML2 KML3 Ql N I< II '12 '13 ' 14 PNP bipolar junction transistor neutral current limiter current IU, R2 R3, R4, R5, R6, R7 Resistor a, C2, C3, C4, C5, C6 Capacitor IGBT1, IGBT2, IGBT3, IGBT4 Chopper A/D-1, A/D-2, A/D-3, A/D-4 A/D Converter ΕΧ 841-1, ΕΧ 841-2, ΕΧ 841-3, ΕΧ 841-4 Driver
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