TW201534044A - Motor deceleration method and motor driving system using the same - Google Patents

Abstract

A motor deceleration method for a motor driving system is provided. The motor driving system outputs a driving signal containing a voltage value, a current value and a frequency value for driving a motor. When a deceleration of the motor is launched, the descent speeds of the voltage value and the frequency value are controlled according to a preset deceleration time period. Then, a voltage compensation value is generated according to a result of comparing the current value with a preset current level, and the voltage value is increased according to the voltage compensation value, so that the current value is increased to the preset current level. According to a frequency compensation value, the current value is increased to and maintained at the preset current level. Finally, the rotating speed of the motor is gradually decreased to a preset speed.

Description

Motor deceleration method and its applicable motor drive system 【0001】

The present invention relates to a motor deceleration method, and more particularly to a motor deceleration method and a motor drive system thereof that can reduce the time taken by the motor to reduce the speed of the motor to a set speed (including stopping).

【0002】

Please refer to FIG. 1 , which is a schematic diagram of the circuit structure of a conventional motor drive system. As shown in FIG. 1 , the conventional motor drive system 1 is electrically connected to an AC power source 2 and a motor 3 for receiving an input voltage provided by the AC power source 2 and converting the input voltage to output an output voltage. One of the output current and the output frequency drives the signal control motor 3, wherein the motor drive system 1 includes a motor driver 4 and a brake device 5 for receiving an input voltage provided by the AC power source 2 and performing the input voltage The conversion is performed to control the operation of the motor 3 by the output drive signal, and the motor driver 4 changes the output voltage of the drive signal outputted by an inverter included in the motor driver 4 by the technique of Pulse Width Modulation (PWM). The amplitude and output frequency are used to control the rotational speed of the motor 3. When the output frequency is increased, the rotation speed of the motor 3 can be accelerated. At this time, the input voltage provided by the AC power source 2 is converted by the motor driver 4 and transmitted to the motor 3 to provide the kinetic energy required for the acceleration of the motor 3, and when the output frequency is lowered, The rotation speed of the motor 3 is lowered, and at this time, the kinetic energy of the motor 3 is converted into electric energy in the manner of a generator, and is fed back to the motor driver 4 or converted into heat energy to be consumed.

[0003]

The braking device 5 is used to assist the motor 3 in energy conversion during the deceleration process, that is, the electric energy that the motor 3 feeds back to the motor driver 4 when the motor 3 decelerates. The brake device 5 can be a brake resistor or a brake energy feedback device (Regenerator). Among them, the braking resistor acts to convert the feedback electric energy when the motor 3 is decelerated into heat energy consumption, and the braking energy feedback device can convert the feedback electric energy when the motor decelerates into AC power and feed back to the AC power source 2.

[0004]

However, when the braking power is used to convert the feedback electric energy when the motor is decelerated into heat energy consumption, in addition to the installation cost of the braking resistor itself, in some circumstances, the risk of the safety event may be increased. For example, in an environment where a large amount of flammable materials are present, there is a risk of fire if the brake resistor generates heat. In addition, if the brake energy feedback device is installed, the installation cost will be significantly increased, and if the motor needs to be stopped quickly, for example, if an accident needs an emergency stop, the feedback energy of the motor when decelerating is not properly converted or consumed. In this case, it is easy to cause the motor driver 4 to crash due to the activation of the protection mechanism, and even cause a malfunction of the motor driver 4 in severe cases; however, the conventional motor drive system 1 will cause the motor 3 to be decelerated from the rated speed without using the above-described braking device 5. The time to stop is greatly lengthened, for example, 40 seconds.

[0005]

In addition, in the prior art, a method of reducing the output frequency to achieve motor deceleration is proposed, which has the function of effectively stopping the motor without any external braking device. However, this method is related to the specification and structure of the motor itself. In other words, the operating point of the frequency will vary depending on the circuit configuration of the motor or the overall system. Therefore, the frequency value of the phased reduction is not easy to determine. In addition, if the frequency reduction amount is set incorrectly, the deceleration capability of the method is greatly reduced.

[0006]

Therefore, how to develop a motor deceleration method which can improve the above-mentioned shortcoming and achieve rapid deceleration of the motor and the applicable motor drive system thereof are urgently needed to be solved by those skilled in the related art.

【0007】

The purpose of the present invention is to provide a motor deceleration method and a motor drive system thereof, which are used in a motor deceleration process, and the deceleration energy controller outputs a compensation voltage and a compensation frequency according to a current setting to change the output of the motor driver. The voltage value and frequency value of the driving signal, so that the rotation speed of the motor can be quickly lowered to the set speed, and the motor drive system consumes the ability of the motor to generate the recirculating electric energy generated during deceleration, and the conventional motor drive is solved. The system has the disadvantages of high cost, easy downtime and damage, and poor control of motor deceleration.

[0008]

According to the concept of the present invention, the present invention provides a motor deceleration control method, which is applied to a motor drive system, wherein the motor drive system is used to drive a motor operation, and includes a motor driver, a current sensor, and a deceleration energy controller, and the motor driver system The invention comprises an inverter and a voltage stabilizing capacitor electrically connected to the input end of the converter. The converter is configured to output a driving signal having a voltage value, a frequency value and a current value to control the motor operation. The motor deceleration control method comprises the following steps: a) controlling the voltage value of the driving signal and the falling rate of the frequency value according to the set value of the deceleration time when the motor starts to decelerate; (b) comparing the current value detected by the current sensor with the set current received by the deceleration energy controller The leveling device causes the deceleration energy controller to output a voltage compensation amount according to the comparison result, so as to adjust the voltage value by the voltage compensation amount to increase the current value corresponding to the voltage value, and to increase the set current level, and the deceleration energy controller outputs more. The frequency compensation amount controls the frequency value to be adjusted by the motor recharging the electric energy of the motor drive system. The DC voltage on the voltage regulator capacitor increases the voltage value enough to cause the current value to rise to equal the set current level and maintains; and (c) when the frequency compensation amount and the voltage compensation amount cannot maintain the current value equal to the set current level When the deceleration energy controller decrements the voltage compensation amount to zero, the motor speed is reduced to the set speed.

【0009】

According to the concept of the present invention, the present invention further provides a motor drive system for controlling motor operation. The motor drive system includes: an inverter electrically connected to the motor for outputting a drive signal to drive the motor to operate, wherein the drive signal has The voltage value, the current value and the frequency value; the voltage stabilizing capacitor is electrically connected to the input end of the converter; the current sensor is electrically connected to the output end of the inverter to sense the current value, and corresponding to the output current detection The main controller is electrically connected to the inverter for outputting a control signal to control the operation of the converter; and the deceleration energy controller is electrically connected to the current sensor and the main controller for the main controller When the control motor starts to decelerate, the set current level and the current detection signal are compared to correspondingly output the voltage compensation amount to the main controller, so that the main controller controls the voltage value of the inverter to rise correspondingly, so as to drive the current value toward the set current. The level is raised, and the deceleration energy controller outputs a frequency compensation amount to the main controller when the motor starts to decelerate, so that the main controller controls the inverter to change the frequency value correspondingly. Adjusting the DC voltage on the Zener capacitor by changing the power of the motor back to the motor drive system, so that the voltage value rises to drive the current value to the set current level and maintain; wherein, when the frequency compensation amount and the voltage compensation amount cannot be When the current value is maintained at the set current level, the voltage compensation amount is decremented to zero, and the motor speed is decreased to the set speed.

1‧‧‧French motor drive system
2‧‧‧AC power supply
3, 16‧‧‧ motor
4‧‧‧Motor drive
5‧‧‧ brake device
11‧‧‧Motor drive system
15‧‧‧Three-phase AC power supply
V _ac ‧‧‧ input voltage
V _d ‧‧‧ drive signal
12‧‧‧ Current Sensor
13‧‧‧Master controller
14‧‧‧Deceleration energy controller
142‧‧‧ Current controller
143‧‧‧frequency compensator
110‧‧‧Motor drive
111‧‧‧Rectifier circuit
113‧‧‧Inverter
V‧‧‧voltage value
I‧‧‧current value
F‧‧‧frequency value
C‧‧‧Stabilized capacitor
V _c ‧‧‧ DC voltage
S _a ‧‧‧ control signal
T _dec ‧‧‧Deceleration time setting
S _i ‧‧‧ current detection signal
I _level ‧‧‧Set current level △V‧‧‧Voltage compensation amount △f‧‧‧ Frequency compensation amount
S1~S3‧‧‧The operation process of the motor drive system in this case
t ₀ ‧‧‧ initial point
t ₁ ‧‧‧ first point
t ₂ ‧‧‧ second time
t ₃ ‧‧‧ third time
t _r ‧‧‧Special time
t ₁ '‧‧‧Preset time

[0010]

Figure 1 is a schematic diagram of the circuit structure of a conventional motor drive system.
Figure 2 is a schematic view showing the circuit structure of the motor drive system of the preferred embodiment of the present invention.
Figure 3 is a flow chart showing the operation of the motor drive system shown in Figure 2.
Fig. 4 is a voltage and current timing chart of the motor drive system shown in Fig. 2 when the set current level is 50% of the rated current value set by the motor driver.
Fig. 5 is a voltage and current timing chart of the motor drive system shown in Fig. 2 when the set current level is 100% of the rated current value set by the motor driver, as shown in Fig. 2.

[0011]

Some exemplary embodiments embodying the features and advantages of the present invention are described in detail in the following description. It is to be understood that the present invention is capable of various modifications in the various aspects of the present invention, and the description and drawings are intended to be illustrative and not limiting.

[0012]

Please refer to FIG. 2, which is a schematic diagram of the circuit structure of the motor drive system of the preferred embodiment of the present invention. As shown in FIG. 2, the motor drive system 11 of the present embodiment is electrically connected to an AC power source, such as a three-phase AC power source 15, and a motor 16, for receiving an input voltage _Vac provided by the three-phase AC power source 15. And converting the input voltage V _ac to output a driving signal V _{d to} control the operation of the motor 16. The motor 16 can be, but is not limited to, a three-phase induction motor.

[0013]

The motor drive system 11 includes a motor driver 110, a current sensor 12, a main controller 13, and a deceleration energy controller 14. The input end of the motor driver 110 is electrically connected to the three-phase AC power source 15. The output end of the motor driver 110 is electrically connected to the motor 16, and the motor driver 110 is configured to receive and convert the input voltage V _{ac of the} three-phase AC power source 15 . V _d outputs a driving signal to the drive motor 16 operation. The motor driver 110 further includes a rectifier circuit 111, a voltage stabilizing capacitor C and an inverter 113. The input end of the rectifier circuit 111 receives the input voltage V _ac , and the output end of the rectifier circuit 111 is electrically connected to the voltage stabilizing capacitor C for The input voltage V _{ac is} converted to output a transient DC voltage, and the voltage stabilizing capacitor C is charged, so that the voltage stabilizing capacitor C can be saturated to maintain a stable DC voltage V _c . The inverter input terminal 113 of the voltage regulator system and the capacitor C is electrically connected to the inverter output terminal 113 of the system and the motor 16 is electrically connected to the inverter 113 based on the voltage regulator for the DC supply voltage V _c capacitance C conversion V _d outputs a drive signal to the drive motor 16 operation.

[0014]

In the above embodiment, the driving signal V _d actually includes the voltage value v, the current value i and the frequency value f, and the rotation speed of the motor 16 can be controlled by changing the voltage value v and the frequency value f of the driving signal V _d . for example, when the motor 16 is decelerated, it can reduce the driving signal V _d by the frequency value f of the motor 16 to reduce the speed at which the kinetic energy of the motor 16 will be converted into electric energy as the embodiment of the generator and recharge power to the motor drive system 11, so that the voltage value of the DC voltage across the ballast capacitor C V _c increases, and by the line 11 and the circuit element within the motor driving system is converted into heat energy consumed. Further, when the motor 16 is decelerated, if the rate of decrease of the frequency value f of the driving signal V _d sooner, i.e., the larger the frequency value f of the down slope, motor 16 will enable the greater the magnitude of deceleration, the motor 16 at this time The greater the electrical energy that is recharged to the motor drive system 11 is also greater. Further, when the motor 16 is decelerated, when the drive voltage of the larger signal value v V _d, the current value i corresponding to a voltage value v and the larger and larger when the current value i, the motor driving system 11 consumption of the motor 16 The ability to recharge electrical energy generated during deceleration is correspondingly increased.

[0015]

The input end of the current sensor 12 is electrically connected to the output end of the motor driver 110, and the output end of the current sensor 12 is electrically connected to the main controller 13 and the deceleration energy controller 14, and the current sensor 12 is used. The current value i is detected, and the output current detection signal S _{i is} corresponding to the main controller 13 and the deceleration energy controller 14 according to the detection result.

[0016]

The main controller 13 is electrically connected to the motor driver 110 and the deceleration energy controller 14 for outputting a control signal S _a to the inverter 113 to control a plurality of transistors (not shown) in the inverter 113 to The pulse width modulation mode is switched to cause the inverter 113 to output the driving signal V _d , and during the acceleration or maintenance of the speed of the motor 16 , the main controller 13 controls the driving signal V _d according to the current detecting signal S _i . The current value i is maintained above a set rated current value. In addition, when the motor 16 is to be decelerated, the main controller 13 further receives a deceleration time set value T _dec , wherein the deceleration time set value T _dec is the deceleration of the motor 16 set by the user to a set speed, such as zero. The time spent, and the main controller 13 adjusts the control signal S _a according to the deceleration time set value T _dec to control the voltage value v and the frequency of the drive signal V _d output by the inverter 113 by the control signal S _a . drop rate according to the value of f T _dec deceleration time setting is adjusted, i.e. the set value based on the deceleration time T _dec adjust the falling slope of the voltage value and frequency value of f v.

[0017]

The deceleration energy controller 14 is electrically connected to the current sensor 12 and the main controller 13, and receives a set current level I _level when the motor 16 starts to decelerate, wherein the set current level I _level is set by the user. And can be set as a percentage value of the rated current value set by the motor driver 110, for example, set to 50% or 100% of the rated current value, etc., and the deceleration energy controller 14 is used to compare the set current level when the motor 16 starts to decelerate. I _level and the current detection signal S _i, a corresponding output voltage △ V compensation amount to the main controller 13, the main controller 13 based on the compensation amount △ V voltage adjustment control signal S _a, S _a signal to the control by Controlling the voltage value v of the driving signal V _d outputted by the inverter 113 to rise, so as to drive the current value i to rise to the set current level I _level , wherein when the motor 16 starts to decelerate, if the current value i does not reach the set current level I _level , the deceleration energy controller 14 gradually increases the control voltage compensation amount ΔV.

[0018]

Further, the motor 16 starts decelerating, since the increase in the voltage level of the inverter 113 drives the output signal V _d was in fact the value of v depends on the magnitude of the DC voltage regulator supply voltage V _c of the capacitor C, so in order to The voltage value v can be raised to increase the current value i to be equal to the set current level I _level and maintained. In the embodiment, the deceleration energy controller 14 further outputs a frequency compensation amount Δf, so that the main controller 13 is based on the frequency. The compensation amount Δf adjusts the control signal S _a to control the frequency value f of the drive signal V _d outputted by the inverter 113 by the control signal S _a to change the electric energy recirculated by the motor 16 to the motor drive system 11 Adjusting the DC voltage V _{c of the} Zener capacitor C, so that the inverter 113 can raise the voltage value v according to the voltage compensation amount ΔV to a voltage level sufficient for the current value i to be equal to the set current level I _level , where the current When the value i does not reach the set current level I _level , the frequency compensation amount Δf decreases to increase the rate of decrease of the frequency value f of the drive signal V _d , in other words, even if the slope of the decrease of the frequency value f becomes large, the frequency value Falling slope of f (rate) Less than or equal to the main controller 13 based on the deceleration time setting falling slope of frequency adjustment value T _dec f (rate).

[0019]

In the above embodiment, when the motor 16 starts decelerating, if the current value i has reached the set current level I _level , the deceleration energy controller 14 stops the control voltage compensation amount ΔV from increasing. In addition, when the current value i has reached the set current level I _level , the deceleration energy controller 14 controls the frequency compensation amount Δf to increase, so that the rate of decrease of the frequency value f of the driving signal V _d is slowed down, even if the frequency value The falling slope of f becomes small, whereby the current value i can be maintained at the set current level I _level .

[0020]

In some embodiments, the deceleration energy controller 14 further includes a current controller 142 and a frequency compensator 143, wherein the current controller 142 is electrically connected to the current sensor 12 and receives the set current level when the motor 16 starts to decelerate. I _{level is} used to compare the set current level I _level and the current detection signal S _i when the motor 16 starts decelerating, to correspondingly output the voltage compensation amount ΔV to the main controller 13, and the frequency compensator 143 is The main controller 13 is electrically connected to output the frequency compensation amount Δf to the main controller 13 when the motor 16 starts decelerating.

[0021]

The actual operational flow of the motor drive system 11 of the present invention will be exemplarily explained below. Please refer to Fig. 3 and Fig. 4 together with Fig. 2, wherein Fig. 3 is a flow chart of the operation of the motor drive system shown in Fig. 2, and Fig. 4 is a motor drive system shown in Fig. 2. Set the voltage and current timing chart when the current level is 50% of the rated current value set by the motor driver. As shown in the second, third and fourth diagrams, first, step S1 is executed, that is, when the motor drive system 11 receives a deceleration command to start deceleration, for example, at the initial time point t ₀ shown in FIG. 4, the main controller 13 voltage value v and the rate of decrease of the frequency value f based deceleration set based on the time value T _dec converter and the motor driving system 11 controls the inverter 113 output the driving signal V _d.

[0022]

Next, in step S2, the current controller 142 of the deceleration energy controller 14 compares the set current level I _level with the current detection signal S _i and outputs a voltage compensation amount ΔV, so that the main controller 13 is based on the voltage compensation amount ΔV. And the current detection signal S _i adjusts the control signal S _a to adjust the voltage value v to rise, so that the current value i increases corresponding to the voltage value v and rises toward the set current level I _level . The frequency compensator 143 further outputs the frequency compensation amount Δf, so that the main controller 13 adjusts the control signal S _a according to the frequency compensation amount Δf, and further controls the frequency value f of the driving signal V _d output by the inverter 113 to borrow The DC voltage V _{c of the} Zener capacitor C is adjusted by changing the electric energy of the motor 16 to the motor drive system 11 so that the voltage value v can be raised enough to cause the current value i to rise to be equal to the set current level I _level and maintained. That is, the initial time point t ₀ to the first time point t ₁ as shown in FIG. In the present embodiment, the set current level I _level is 50% of the rated current value set by the motor driver 110.

[0023]

In step S2, when the current controller 142 drives the voltage value v of the output end of the inverter 113 to rise by the output voltage compensation amount ΔV, to drive the current value i to rise to the set current level I _level , the motor at this time 11 consumption of the motor drive system 16 to recharge the power capacity of the motor driving system 11 will correspond to lift, but the voltage value of the DC power supply voltage V _c of the capacitor C will Yinma Da consumption of the motor drive system 11 to the motor driving system 16 recirculation The power of 11 drops, and the degree of rise of the voltage value v at the output of the inverter 113 actually depends on the voltage value of the DC voltage V _c on the Zener capacitor C, so that the voltage value v is raised enough to The current value i rises and is equal to the set current level I _level , so the frequency compensator 143 outputs the frequency compensation amount Δf to control the frequency value f to adjust the voltage regulation by changing the power of the motor 16 to recharge the motor drive system 11 . The DC voltage V _{c of the} capacitor C is such that the voltage value v can be raised enough to cause the current value i to rise to be equal to the set current level I _level and maintained.

[0024]

In addition, in step S2, when the current value i does not rise to reach the set current level I _level , the current controller 142 controls the voltage compensation amount ΔV to gradually increase, and the frequency compensator 143 controls the frequency compensation amount Δf to also decrease. And the rate of decrease of the frequency value f of the drive signal V _d is made faster, in other words, even if the slope of the decrease of the frequency value f becomes large (ie, as the initial time point t _{0 of the} fourth figure to the first time point t ₁ ), the frequency The falling slope (rate) of the value f is still less than or equal to the falling slope (rate) of the frequency value f adjusted by the main controller 13 according to the deceleration time set value T _dec . On the contrary, when the current value i has reached the set current level I _level , the current controller 142 controls the voltage compensation amount ΔV to stop increasing, and the frequency compensator 143 controls the frequency compensation amount Δf to increase, so that the driving signal V _d The rate of decrease of the frequency value f becomes slow, even if the slope of the decrease in the frequency value f becomes small (i.e., as the first time point t ₁ to the second time point t _{2 of the} fourth figure).

[0025]

After the end of step S2, step S3 is performed, that is, when the frequency compensation amount Δf and the voltage compensation amount ΔV cannot maintain the current value i equal to the set current level I _level , the current controller 142 compensates the control voltage. The amount ΔV is decremented to zero, and the rotation speed of the motor 16 is lowered to a set speed, for example, the second time point t ₂ to the third time point t ₃ shown in FIG. 4 (the set speed is zero in this embodiment, That is, the motor 16 is stopped.)

[0026]

In addition, in step S3, when the frequency compensation amount Δf and the voltage compensation amount ΔV cannot maintain the current value i equal to the set current level I _level , at this time, the frequency compensator 143 controls the frequency compensation amount Δf. Falling again, the rate of decrease of the frequency value f of the drive signal V _d is made faster, and even if the slope of the decrease of the frequency value f becomes larger, the falling slope (rate) of the frequency value f is still less than or equal to the deceleration time of the main controller 13 The falling slope (rate) of the frequency value f adjusted by the set value T _dec is such that the motor 16 is recharged to the motor drive system 11 to increase the DC voltage V _{c of the} Zener capacitor C, thereby making the current value i As far as possible, it is raised to the set current level I _level , for example, the second time point t ₂ to the third time point t ₃ shown in FIG. 4 .

[0027]

In the above embodiment, when the motor 16 starts to decelerate, the motor drive system 11 adjusts the rate of decrease of the voltage value v and the frequency value f to correspond to the deceleration time set value T _dec set by the user to correspondingly decrease, that is, 4, the dotted line shown in the figure, however, the rate of decrease of the voltage value v and the frequency value f actually depends on the voltage compensation amount of the deceleration energy controller 14 outputting the energy consumption capability of the motor drive system 11 according to the set current level I _level . V and the frequency compensation amount Δf, so the actual deceleration time taken by the motor 16 to decelerate to the set speed will be relatively longer than or equal to the deceleration time set value T _dec , that is, as shown in Fig. 4, the deceleration time set value T _dec is the initial The time point t ₀ to the preset time point t ₁ ', and the actual deceleration time is the initial time point t ₀ to the third time point t ₃ .

[0028]

In the above embodiment, the set current level I _level can be set to 50% of the rated current value set by the motor driver 110, but the set value of the current level I _level is not limited thereto. Please refer to Fig. 5 and Fig. 2, wherein Fig. 5 is the voltage and current timing of the motor drive system shown in Fig. 2 when the set current level is 100% of the rated current value set by the motor driver 110. Figure. As shown in FIG. 5, in some embodiments, the set current level I _level may also be 100% of the rated current value set by the motor driver 110, and when the set current level I _level is set by the motor driver 110. When the rated current value is 100%, the motor drive system 11 consumes the power of the motor 16 to recharge to the motor drive system 11 during deceleration, which is relatively better than the set current level I _level is 50 of the rated current value set by the motor driver. %, that is, the actual deceleration time of the motor 16 when the current level is set to 100% of the rated current value set by the motor driver (as shown in Fig. 5, the initial time point t ₀ to the third time point t ₃ ) is shorter than Set the current deceleration time to the actual deceleration time of the motor 16 when the current level is 50% of the rated current value set by the motor driver (as shown in Fig. 4, the initial time point t ₀ to the third time point t ₃ ), so set the current level I _The higher the _level setting, the better the ability of the motor drive system 11 to control the motor 16 to decelerate.

[0029]

Referring to FIG. 5 again, in conjunction with FIG. 2, in the above embodiment, when the motor drive system 11 receives a deceleration command and starts deceleration, for example, at the initial time t _{0 of} FIG. 5, the main controller 13 is decelerated according to The time set value T _dec controls the rate of decrease of the voltage value v and the frequency value f of the drive signal V _d output from the inverter 113.

[0030]

Then, the current controller 142 compares the set current level I _level and the current detection signal S _i and outputs the voltage compensation amount ΔV, so that the main controller 13 adjusts and controls according to the voltage compensation amount ΔV and the current detection signal S _i . The signal S _a is increased by the adjustment voltage value v, so that the current value i increases corresponding to the voltage value v and increases toward the set current level I _level , and the frequency compensator 143 further outputs the frequency compensation amount Δf, so that the main controller 13 according to the frequency The compensation amount Δf adjusts the control signal S _a , and further controls the frequency value f of the driving signal V _d outputted by the inverter 113 to adjust the voltage regulator C by changing the amount of power of the motor 16 to recharge the motor driving system 11 . The DC voltage V _{c is} such that the voltage value v can be raised enough to cause the current value i to rise to be equal to the set current level I _level and maintained, that is, the initial time point t ₀ to the first time point t ₁ as shown in FIG. As shown in FIG initial time point and the first 5 t ₀ to a first time point t _1, since the present embodiment, the set current level I _level is set relatively higher than the system of Example 4 of FIG current level I _level, so that The amount of change of the voltage compensation amount ΔV, the voltage value v, and the DC voltage V _{c of the} voltage stabilizing capacitor C in the unit time is relatively higher than that of the embodiment in FIG. 4 from the initial time point t ₀ to the first time point. t ₁ △ amounts of compensation voltage change amount V, the voltage regulator and the capacitor C v value in the unit time.

[0031]

When the current value i has been maintained equal to the set current level I _level , for example, the first time point t ₁ to the second time point t ₂ shown in FIG. 5 , the energy consumption of the DC voltage V _c of the voltage stabilizing capacitor C may be Since the set current level I _level is relatively high, the current value i cannot be maintained at the set current level I _level , for example, at a specific time point t _r shown in FIG. 5 , so the frequency compensation amount Δf must be reduced at this time. So that the slope of the frequency value f decreases, so that the current value i can continue to be maintained at the set current level I _level , but the falling slope of the frequency value f is still less than or equal to the main controller 13 adjusted according to the deceleration time set value T _dec . The falling slope of the frequency value f.

[0032]

Finally, when the frequency compensation amount Δf and the voltage compensation amount ΔV cannot maintain the current value equal to the set current level I _level , the current controller 142 decrements the control voltage compensation amount ΔV to zero, and the rotation speed of the motor 16 at this time. It will fall to a set speed, such as the second time point t ₂ to the third time point t ₃ shown in FIG.

[0033]

Compared with the conventional motor drive system, since the motor drive system 11 of the present invention is based on the current setting level I _level and the current value i of the drive signal V _d outputted by the motor driver 110 by the deceleration energy controller 14 a comparison result, the drive voltage value v active compensation signal V _d, the ability to control the recharging of the electrical energy generated by the motor driving system 11 of the current consumption of the motor 16 correlation values i, while the amount of frequency compensation by the active compensation △ f frequency value F, the voltage value of the DC supply voltage V _c of the capacitor C enough to make the regulator current value i reaches the current set level i _level, this way, the case 11 of the motor driving system without using additional braking devices, no additional Detecting the DC voltage V _c on the Zener capacitor C and the need to additionally set the speed of the sensing motor 16 can improve the ability of the motor drive system 11 to consume the recirculation power generated by the motor 16 so that the motor drive system 11 The open loop control mode controls the motor 16 to drop to a set speed at a relatively fast speed. For example, the motor 16 can be lowered to the set speed in only 4-12 seconds, so that there is no external connection compared to the conventional one. The motor drive system of the vehicle device takes 40 seconds to be decelerated to a stop from the rated speed. The motor drive system 11 of the present invention can control the motor 16 to drop to a set speed at a relatively fast speed.

[0034]

In summary, the present invention provides a motor deceleration method and a motor drive system thereof, which are used in a motor deceleration process to output a compensation voltage and a compensation frequency according to a current setting level by a deceleration energy controller to change The voltage value and the frequency value of the driving signal outputted by the motor driver to the motor, so that the rotation speed of the motor can be quickly lowered to the set speed, and the motor driving system consumes the ability of the motor to recharge the electric energy generated by the deceleration. The motor deceleration method of this case and its applicable motor drive system and deceleration energy controller are of great industrial value, and applications are made according to law.

[0035]

This case has been modified by people who are familiar with the technology, but it is not intended to be protected by the scope of the patent application.

S1~S3‧‧‧The operation process of the motor drive system in this case

Claims (14)

[Item 1] A motor deceleration control method is applied to a motor drive system, wherein the motor drive system is used to drive a motor operation, and includes a motor driver, a current sensor and a deceleration energy controller, the motor driver system An inverter and a voltage stabilizing capacitor electrically connected to an input end of the converter, wherein the converter is configured to output a driving signal having a voltage value, a frequency value and a current value to control the operation of the motor, The motor deceleration control method comprises the following steps:
(a) controlling the voltage value of the driving signal and the falling rate of the frequency value according to a deceleration time setting value when the motor starts to decelerate;
(b) comparing the current value detected by the current sensor and one of the set current levels received by the deceleration energy controller, so that the deceleration energy controller outputs a voltage compensation amount according to the comparison result, by The voltage compensation amount adjusts the voltage value to increase, the current value is increased toward the set current level corresponding to the increase of the voltage value, and the deceleration energy controller further outputs a frequency compensation amount to control the frequency value, thereby The motor recharges power to the motor drive system to adjust a DC voltage on the Zener capacitor to increase the voltage value sufficient to cause the current value to rise to be equal to the set current level and to maintain;
(c) when the frequency compensation amount and the voltage compensation amount cannot maintain the current value equal to the set current level, the deceleration energy controller decreases the voltage compensation amount to zero, so that the motor speed decreases to A set speed. [Item 2] The control method according to claim 1, wherein in the step (b), when the current value does not rise until the set current level is reached, the voltage compensation amount is gradually increased. [Item 3] The control method according to claim 1, wherein in the step (b), when the current value rises to reach the set current level, the voltage compensation amount stops increasing. [Item 4] The control method according to claim 1, wherein in the step (b), when the current value does not rise to reach the set current level, the frequency compensation amount decreases, and the rate of the frequency value decreases. The speed is decreased, wherein the rate of decrease of the frequency value is less than or equal to a rate of decrease of the frequency value adjusted according to the set time of the deceleration time. [Item 5] The control method according to claim 1, wherein in the step (b), when the current value rises to reach the set current level, the frequency compensation amount is increased, so that the rate of decrease of the frequency value is changed. slow. [Item 6] The control method according to claim 1, wherein in the step (c), when the frequency compensation amount cannot maintain the current value equal to the set current level, the frequency compensation amount is decreased, so that the frequency compensation amount is decreased. The rate of decrease of the frequency value is increased to increase the electrical energy that the motor recharges to the motor drive system, wherein the rate of decrease of the frequency value is less than or equal to the rate of decrease of the frequency value adjusted according to the deceleration time set value. [Item 7] The control method of claim 1, wherein the set current level is a percentage value of a rated current value set by the motor driver. [Item 8] A motor drive system for controlling the operation of a motor, the motor drive system comprising:
An inverter is electrically connected to the motor for outputting a driving signal for driving the motor to operate, wherein the driving signal has a voltage value, a current value and a frequency value;
a voltage stabilizing capacitor electrically connected to the input end of the inverter;
a current sensor is electrically connected to the output end of the converter to sense the current value, and correspondingly outputs a current detecting signal;
a main controller electrically connected to the inverter for outputting a control signal to control the operation of the converter; and a deceleration energy controller electrically connected to the current sensor and the main controller When the main controller controls the motor to start decelerating, comparing a set current level and the current detection signal to correspondingly output a voltage compensation amount to the main controller, so that the main controller controls the commutation correspondingly. The voltage value of the device rises to drive the current value to rise toward the set current level, and the deceleration energy controller outputs a frequency compensation amount to the main controller when the motor starts to decelerate, so that the main controller corresponds to Controlling the inverter to change the frequency value to adjust a DC voltage on the voltage stabilizing capacitor by changing a power that the motor recharges to the motor drive system, causing the voltage value to rise to drive the current value to reach the Set the current level and maintain;
Wherein, when the frequency compensation amount and the voltage compensation amount cannot maintain the current value at the set current level, the voltage compensation amount is decremented to zero, and the rotation speed of the motor is decreased to a set speed. [Item 9] The motor drive system of claim 8, wherein the deceleration energy controller further comprises a current controller electrically connected to the current sensor and receiving the set current level when the motor starts to decelerate And the current detection signal to correspondingly output the voltage compensation amount. [Item 10] The motor drive system of claim 9, wherein the current controller controls the voltage compensation amount to gradually increase when the motor starts to decelerate and the current value does not rise until the set current level is reached. [Item 11] The motor drive system of claim 10, wherein the current controller controls the voltage compensation amount to stop increasing when the motor starts to decelerate and the current value rises to reach the set current level. [Item 12] The motor drive system of claim 8, wherein the deceleration energy controller further comprises a frequency compensator electrically connected to the main controller for outputting the frequency compensation amount when the motor decelerates. [Item 13] The motor drive system of claim 12, wherein when the motor starts to decelerate and the current value does not rise until the set current level is reached, the frequency compensator controls the frequency compensation amount to decrease, and the frequency is decreased. The rate of decline of the value becomes faster. [Item 14] The motor drive system of claim 8, wherein when the frequency compensation amount cannot maintain the current value equal to the set current level, the frequency compensation amount decreases, and the rate of decrease of the frequency value is changed. Fast to increase the electrical energy that the motor recharges to the motor drive system.