WO2017214972A1 - Dispositif et procédé d'arrêt stable de moteur - Google Patents

Dispositif et procédé d'arrêt stable de moteur Download PDF

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Publication number
WO2017214972A1
WO2017214972A1 PCT/CN2016/086157 CN2016086157W WO2017214972A1 WO 2017214972 A1 WO2017214972 A1 WO 2017214972A1 CN 2016086157 W CN2016086157 W CN 2016086157W WO 2017214972 A1 WO2017214972 A1 WO 2017214972A1
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WIPO (PCT)
Prior art keywords
motor
reference value
axis current
current reference
brake
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PCT/CN2016/086157
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English (en)
Chinese (zh)
Inventor
刘军锋
张东花
徐铁柱
Original Assignee
深圳市英威腾电气股份有限公司
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Application filed by 深圳市英威腾电气股份有限公司 filed Critical 深圳市英威腾电气股份有限公司
Priority to CN201680003831.1A priority Critical patent/CN107005191B/zh
Priority to PCT/CN2016/086157 priority patent/WO2017214972A1/fr
Publication of WO2017214972A1 publication Critical patent/WO2017214972A1/fr

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
    • H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
    • H02P3/18—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an ac motor

Definitions

  • the present application belongs to the technical field of motor control, and more particularly to an apparatus and method for continuously rotating or swinging a motor shaft when the motor is stably stopped without stopping.
  • Current methods for stopping the motor include an inverter down-conversion method, an inverter output direct current method, and a flux braking method.
  • the inverter down-conversion method means that when the inverter is used to drive the motor, the inverter reduces the output frequency by a certain slope, so that the frequency of the alternating current applied to the motor is gradually decreased. In this process, the generated torque is opposite to the direction of rotation of the motor. From the input end of the motor, the motor performs negative work, and the mechanical energy consumed during the stop process is fed back externally, thereby achieving motor shutdown.
  • this method for a large inertia load or a fast stop, due to the strong inertia of the load, even if the output frequency is close to 0 Hz, the motor will rotate without stopping immediately.
  • the inverter output DC method means that when the motor is driven by the inverter, the inverter outputs a direct current to the motor in order to stop the motor quickly.
  • a certain magnitude of direct current is injected into the stator winding of the motor to form a DC static magnetic field, and the rotating rotor cuts the static magnetic field to generate braking torque, thereby causing the motor to stop rapidly.
  • the stop of the motor can be accelerated, but the magnitude of the braking torque is determined by the angle between the DC magnetic field strength and the stator/rotor magnetic field.
  • the DC current applied to the motor is limited, which determines that the DC field strength of the stator is limited.
  • the flux braking method refers to reducing the frequency while increasing the stator flux density of the motor. As the magnetic flux increases, a larger braking torque is generated, and the stopping process of the induction motor is accelerated. However, a larger stator excitation loss is also generated, which is converted into thermal energy, which causes the motor temperature to rise. Therefore, for frequent braking, the use of flux braking is limited.
  • a device for stably stopping a motor comprising: a frequency command unit for generating a response to a rotational speed command to cause the motor to reach a desired rotational speed Operating frequency; a normally controlled axial and angular controller for generating a first q-axis current reference value and a first d-axis current reference value when the motor is in a normal control mode, and estimating the rotor of the motor a real-time position of the flux linkage to obtain a first synchronization angle; an axial and angular controller of the braking state for generating a second q-axis current reference value, the second d when the motor is in the brake stop mode a shaft current reference value and a second synchronization angle; a current reference value selection unit configured to respectively use the first q-axis current reference value and the first d-axis current reference value when the motor is in a normal control mode
  • the final a frequency command unit for generating a response to a rotational speed command to cause the motor to reach a
  • FIG. 1 is a schematic structural view of a motor stabilizing stop device according to an embodiment of the present application.
  • FIG. 2 is a schematic structural view of an inverter in the embodiment shown in FIG. 1;
  • FIG. 3 is another schematic structural view of the inverter in the embodiment shown in FIG. 1;
  • FIG. 4 is a schematic structural view of still another embodiment of the inverter in the embodiment shown in FIG. 1;
  • FIG. 5 is a schematic structural diagram of still another embodiment of the inverter in the embodiment shown in FIG. 1; FIG.
  • FIG. 6 is another schematic structural view of the inverter in the embodiment shown in FIG. 1;
  • FIG. 7 is another schematic structural view of the inverter in the embodiment shown in FIG. 1;
  • FIG. 8 is a functional block diagram of a motor stabilization stop device according to an embodiment of the present application.
  • FIG. 9 is a schematic diagram showing changes in operating frequency, d-axis current reference, and q-axis current reference during normal control and stop of the motor according to an embodiment of the present invention.
  • Fig. 1 schematically shows the structure of a motor stabilizing stop device 100 according to an embodiment of the present application.
  • the operation of the motor And two modes: normal control mode and brake stop mode.
  • the normal control mode corresponds to a period during normal operation of the motor and a period in which the operating frequency is gradually decreased by a set ramp but greater than the stop frequency after receiving the motor stop command;
  • the brake stop mode corresponds to the operating frequency reaching the stop frequency and less than the stop. Frequency during this period.
  • the motor after receiving the motor stop command, when the operating frequency f_ref gradually decreases by the set ramp and is greater than the stop frequency, the motor operates in the normal control mode; when the operating frequency f_ref reaches the stop frequency and is less than the stop frequency, The motor operates in brake stop mode.
  • the motor stabilizing stop device 100 includes a three-phase AC power source 18, a rectifying unit 19, an inverter bridge unit 20, an inverter 22, and an electric motor 21, wherein the three-phase AC power source 18 passes through a rectifying unit 19 to convert an AC power source.
  • the output frequency and the amplitude adjustable voltage signal are driven to drive the motor 21.
  • the method for stably stopping the motor proposed in the embodiment of the present application is almost realized and completed in the inverter 22, which generates a specific by a space vector PWM (pulse width modulation) unit 6 (see FIG. 7).
  • the pulse train controls the inverter bridge unit 20, thereby enabling the motor to be stably stopped.
  • the rectifying unit 19 receives the three-phase AC power supplied from the three-phase AC power source 18 and converts the received three-phase AC power into DC power.
  • the inverter bridge unit 20 receives the DC power supplied from the rectifying unit 19, and then generates a PWM voltage, which is a frequency and amplitude adjustable voltage, by using the power switching device in response to the PWM signal generated by the inverter 22.
  • the motor 21 generates a rotation power by a PWM voltage supplied from the inverter bridge unit 20.
  • the motor 21 can be an induction motor; in another embodiment, the motor 21 can also be a permanent magnet synchronous motor. This application does not limit the type of motor.
  • the inverter 22 is for generating a PWM signal for driving the motor 21. Since the inverter 22 is an important factor for controlling the steady stop of the motor 21, it will be described in more detail below.
  • the inverter 22 in the motor stabilizing stop device of the present embodiment may include: a frequency command unit 1, a normally controlled axial and angular controller A, and an axial and angular controller B of a brake state.
  • the frequency command unit 1 is operative to generate an operating frequency f_ref corresponding to the desired rotational speed in response to the rotational speed command.
  • the normally controlled axial and angular controller A is for generating a first q-axis current reference value iq_ref1 and a first d-axis current reference value id_ref1 when the motor is in the normal control mode, and estimating the rotor flux linkage of the motor 21 in real time. Position to get the first synchronization angle Theta_fed.
  • the normally controlled axial and angular controller A may include a speed PI controller and a normal control d-axis current generator, wherein the speed PI controller is configured to generate a first match with the load when the motor is in the normal control mode
  • the q-axis current reference value iq_ref1; the normal control d-axis current generator is used to generate a first d-axis current reference value id_ref1 of the flux control current when the motor is in the normal control mode.
  • the d and q axes are coordinate axes. In order to obtain the control characteristics similar to DC motors, a coordinate system is established on the rotor of the motor.
  • This coordinate system rotates synchronously with the rotor, taking the direction of the rotor magnetic field as the d-axis and perpendicular to the rotor magnetic field.
  • the direction is the q-axis
  • the mathematical model of the electrode is converted to this coordinate system, and the decoupling of the d-axis and the q-axis can be realized, thereby obtaining good control characteristics.
  • the axial and angular controller B of the braking state is for generating a second q-axis current reference value iq_ref2, a second d-axis current reference value id_ref2, and a second synchronization angle Theta_ref when the motor is in the brake stop mode.
  • the axial and angular controller of the braking state may include a brake q-axis current generator, a brake d-axis current generator, and a brake angle integrator.
  • the brake q-axis current generator is configured to generate a second q-axis current reference value iq_ref2 when the motor is in the brake stop mode; the brake d-axis current generator is configured to generate the second d when the motor is in the brake stop mode The shaft current reference value id_ref2; the brake angle integrator is used to integrate the operating frequency when the motor is in the brake stop mode to generate a second synchronization angle Theta_ref.
  • the current reference value selection unit 15 is configured to output the first q-axis current reference value and the first d-axis current reference value as the final q-axis current reference value iq_ref and the final d-axis current reference value id_ref, respectively, when the motor is in the normal control mode. And when the motor is in the brake stop mode, the second q-axis current reference value and the second d-axis current reference value are respectively output as the final q-axis current reference value and the final d-axis current reference value.
  • the synchronization angle selection unit 17 is for outputting the first synchronization angle as the final synchronization angle Theta_e when the motor is in the normal control mode, and also for outputting the second synchronization angle as the final synchronization angle when the motor is in the brake stop mode.
  • the first d-axis current reference value, the first q-axis current reference value, and the first synchronization angle before the motor is stopped are set as the second d-axis for the motor to stop.
  • the current reference value, the second q-axis current reference value, and the initial value of the second synchronization angle, and the normal proportional control mode is changed to the stop braking mode.
  • the d and q axes respectively use the same proportional integral controller, thereby preventing The sharp current change and the voltage change during the stop of the motor cause the motor to stop smoothly without pulsation or reverse rotation of the motor and then stop.
  • the inverter 22 in the motor stabilizing stop device of the present embodiment includes the frequency command unit 1 of the first embodiment, the axial and angular controller A of the normal control, and the axial and angular angles of the brake state. Controller B, current reference value selection unit 15 and synchronization angle selection list In addition to the element 17, a q-axis current PI controller 4, a d-axis current PI controller 5, and a space vector pulse width modulation unit 6 are also included.
  • the q-axis current PI controller 4 is configured to generate a q-axis voltage reference value Uq_ref according to the final q-axis current reference value;
  • the d-axis current PI controller 5 is configured to generate a d-axis voltage reference value according to the final d-axis current reference value.
  • space vector pulse width modulation unit 6 is for generating a drive pulse sequence supplied to the inverter unit 20 for driving the motor, and for magnetic based on the q-axis voltage reference value, the d-axis voltage reference value, and the final synchronization angle
  • the two-phase stationary coordinate system of the chain observations has reference voltages U_alfa and U_beta.
  • the inverter 22 in the motor stabilizing stop device of the present embodiment includes, in addition to the corresponding components of Embodiment 2, a rotor flux angle observation and velocity estimating unit 8 for stationary according to two phases.
  • the reference voltage of the coordinate system and the currents i_alfa, i_beta in the two-phase stationary coordinate system estimate the real-time position of the rotor flux linkage of the motor and the real-time frequency f_fed of the mechanical axis of the motor, wherein the real-time position of the rotor flux linkage of the motor includes the first synchronization angle
  • the real-time frequency of the mechanical shaft is fed back to form a closed loop control with the operating frequency.
  • the inverter 22 in the motor stabilizing stop device of the present embodiment includes, in addition to the corresponding components of Embodiment 3, a three-phase-two-phase converting unit 7 for sampling the motor.
  • the current ias, ibs of 21 is converted into currents i_alfa, i_beta in a two-phase stationary coordinate system, which is then supplied to the rotor flux angle observation and velocity estimating unit 8.
  • the inverter 22 in the motor stabilizing stop device of the present embodiment includes, in addition to the corresponding components of the foregoing embodiments, a brake q-axis initial value setting unit 10 and a brake d-axis initial value.
  • the brake q-axis initial value setting unit 10 is configured to set the first q-axis current reference value to an initial value of the brake q-axis current generator when the motor is in the brake stop mode;
  • the brake d-axis initial The value setting unit 11 is configured to set the first d-axis current reference value as an initial value of the brake d-axis current generator when the motor is in the brake stop mode;
  • the angle integrator initial value setting unit 16 is configured to When the motor is in the brake stop mode, the first synchronization angle is set to the initial value of the brake angle integrator.
  • the inverter 22 in the motor stabilizing stop device of the present embodiment includes, in addition to the corresponding components of the foregoing embodiments, a rotary coordinate transformation unit 9 for combining two phases according to the final synchronization angle.
  • the current in the stationary coordinate system is converted into currents id_fed and iq_fed in the rotating coordinate system, and further forms a current closed-loop control with the final d-axis current reference value and the final q-axis current reference value.
  • the present application further provides a motor stable stop method, the method comprising:
  • the first q-axis current reference value iq_ref1 and the first d-axis current reference value id_ref1 are generated, and the real-time position of the rotor flux linkage of the motor is estimated to obtain the first synchronization angle Theta_fed, and the first The q-axis current reference value and the first d-axis current reference value are respectively output as the final q-axis current reference value iq_ref and the final d-axis current reference value id_ref, and the first synchronization angle is output as the final synchronization angle Theta_e;
  • the method may further include:
  • a drive pulse sequence supplied to the inverter unit 20 for driving the motor and a two-phase stationary coordinate system reference voltage U_alfa for flux linkage observation are generated based on the q-axis voltage reference value, the d-axis voltage reference value, and the final synchronization angle , U_beta.
  • the method may further include: estimating the real-time position of the rotor flux linkage of the motor and the mechanical axis of the motor in real time according to the two-phase stationary coordinate system reference voltage and the currents i_alfa, i_beta in the two-phase stationary coordinate system.
  • the frequency f_fed, the real-time position includes a first synchronization angle, and the mechanical shaft real-time frequency is fed back to form a rotational speed closed-loop control with the operating frequency.
  • the method may further include converting the current ias, ibs of the sampled motor into a current in a two-phase stationary coordinate system.
  • the method may further include: setting the first q-axis current reference value to an initial value of the brake q-axis current generator when the motor is in the brake stop mode, the first d
  • the shaft current reference value is set to the initial value of the brake d-axis current generator, and the first synchronization angle is set as the initial value of the brake angle integrator.
  • the method may further include: converting the current in the two-phase stationary coordinate system to the currents id_fed, iq_fed in the rotating coordinate system according to the final synchronization angle, and further, with the final d-axis current reference value and The final q-axis current reference forms a current closed-loop control.
  • the inverter 22 may include a frequency command unit 1, a speed PI controller 2, a normal control d-axis current generator 3, a q-axis current PI controller 4, a d-axis current PI controller 5, and a space vector PWM unit. 6.
  • the function of the frequency command unit 1 is to generate an operating frequency f_ref corresponding to the required rotational speed in response to the rotational speed command.
  • the speed PI controller 2 is used to generate a first q-axis current reference value iq_ref1 that matches the load in the normal control mode (ie, before the operating frequency reaches the stop frequency).
  • the normal control d-axis current generator 3 is used to generate a first d-axis current reference value id_ref1 of the flux control current in the normal control mode (ie, before the operating frequency reaches the stop frequency).
  • the q-axis current PI controller 4 is used to generate a q-axis voltage reference value Uq_ref.
  • the d-axis current PI controller 5 is used to generate a d-axis voltage reference value Ud_ref.
  • the space vector PWM unit 6 is for generating a drive pulse sequence supplied to the driver unit 20 and two-phase stationary coordinate system reference voltages U_alfa and U_beta for flux linkage observation based on Ud_ref, Uq_ref and final synchronization angle Theta_e.
  • the three-phase-two-phase conversion unit 7 is for converting the currents ias and ibs of the sampled motor 21 into currents i_alfa and i_beta in a two-phase stationary coordinate system.
  • the rotation coordinate transformation unit 9 is configured to convert the currents i_alfa and i_beta in the two-phase stationary coordinate system into currents id_fed and iq_fed in the rotating coordinate system according to the final synchronization angle Theta_e, and further with the final d-axis current reference value id_ref, and finally q
  • the shaft current reference value iq_ref forms a current closed loop control.
  • the rotor flux linkage angle observation and velocity estimating unit 8 is configured to estimate the real-time position of the motor rotor flux linkage according to the two-phase stationary coordinate system reference voltages U_alfa, U_beta and the two-phase stationary coordinate system currents i_alfa, i_beta, that is, the first synchronization Angle Theta_fed and the real-time frequency f_fed of the motor mechanical axis.
  • the real-time frequency f_fed of the motor shaft and the operating frequency f_ref form a closed loop control of the speed.
  • the brake q-axis initial value setting unit 10 is configured to set the first q-axis current reference value iq_ref1 to an initial value of the brake q-axis current generator 12 when the motor is switched from the normal control mode to the brake stop mode. , for example, its initial value of integration;
  • the brake d-axis initial value setting unit 11 is configured to set the first d-axis current reference value id_ref1 to an initial value of the brake d-axis current generator 13 when the motor is switched from the normal control mode to the brake stop mode. For example, its integral initial value.
  • the brake q-axis current generator 12 is for generating a second q-axis current reference value iq_ref2 when the motor is in the brake stop mode.
  • the brake d-axis current generator 13 is for generating a second d-axis current reference value id_ref2 when the motor is in the brake stop mode.
  • the brake angle integrator 14 is configured to integrate the operating frequency f_ref when the motor is in the brake stop mode to generate a second synchronization angle Theta_ref;
  • the current reference value selection unit 15 is configured to select the first d-axis current reference value id_ref1 when the motor is in the normal control mode, and select the first d-axis current reference value id_ref1. Selecting the first q-axis current reference value iq_ref1, and when the motor is in the brake stop mode, the final d-axis current reference value selects the second d-axis current reference value id_ref2, and finally the q-axis current reference value selects the second q-axis current reference value Iq_ref2.
  • the angle integrator initial value setting unit 16 is configured to set the first synchronization angle Theta_fed to the initial value of the brake angle integrator 14 when the motor is switched from the normal control mode to the brake stop mode.
  • the synchronization angle selection unit 17 is for selecting the first synchronization angle Theta_fed when the motor is in the normal control mode, and selecting the second synchronization angle Theta_ref when the motor is in the brake stop mode.
  • the same PI controller proportional integral controller
  • the sharp current change and the voltage change during the stop of the motor are prevented, so that the motor is smoothly stopped without occurrence of pulsation or reverse rotation of the motor and then stopping.
  • Fig. 9 is a view showing the operation frequency, the d-axis current reference, and the q-axis current reference change in the normal control and stop of the motor in the method of stably stopping the motor by using the motor stabilizing stop device of an embodiment of the present application.
  • Fig. 9 With respect to the apparatus for stably stopping the motor of the embodiment shown in Fig. 8, it can be seen from Fig. 9 that the motor is in the normal control mode before time t2, and the motor is in the brake stop mode at time t2 and thereafter. Wherein, at time t1 (corresponding to receiving the motor stop command) to t2 (corresponding to the operating frequency equal to the stop frequency), the inverter 22 is still operating in the normal control mode, but the operating frequency is gradually decreased according to the set slope, therefore, t1 The -t2 phase actually uses the frequency reduction method.
  • the angle selection unit 17 selects the output as the first synchronization angle Theta_fed;
  • the inverter 22 is still operating in the normal control mode, and the final d, q-axis current reference value and final synchronization angle are the first d-axis and q-axis current reference values, respectively.
  • the first sync angle is the first d-axis and q-axis current reference values, respectively.
  • brake q-axis The initial value setting unit 10 sets the first q-axis current reference value iq_ref1 as an initial value of the brake q-axis current generator 12, and the brake d-axis initial value setting unit 11 sets the first d-axis current reference value id_ref1
  • the initial value of the brake d-axis current generator 13 is set, and the angle integrator initial value setting unit 16 sets the first synchronization angle as the initial value of the brake angle integrator 14; after the time t2, the brake q-axis
  • the current generator 12 generates a second q-axis current reference value iq_ref2
  • the brake d-axis current generator 13 generates a second d-axis current reference value id_ref2
  • the brake angle integrator 14 generates a second synchronization angle Theta_ref
  • the current reference value selection unit 15 selects the output of the second q-axis current reference value iq_ref1
  • the current reference value selection unit 15 selects the first d-axis current reference value id_ref1 and the first q-axis current reference value iq_ref1, that is, the final d-axis current reference value selection A d-axis current reference value id_ref1, the final q-axis current reference value selects the first q-axis current reference value iq_ref1; the synchronization angle selection unit 17 selects the first synchronization angle Theta_fed, that is, the final synchronization angle Theta_e selects the first synchronization angle Theta_fed.
  • a double closed loop control system in which the current closed loop control is an inner loop and the frequency closed loop control is an outer loop is formed.
  • the drive motor 21 operates stably at the operating frequency and automatically adapts to changes in the load.
  • the operating frequency is f_run
  • the d-axis current is id_a
  • the q-axis current is iq_a.
  • f_run is the set operating frequency
  • id_a is the no-load excitation current of the motor.
  • id_a can be 0, and iq_a is the torque current that is automatically adapted to the load during steady-state operation of the motor.
  • the inverter 22 obtains a stop command, the operating frequency is gradually decreased with a set ramp, the control motor frequency and the rotational speed are gradually decreased, and is reduced to the stop frequency f_stop at time t2, preferably F_stop can be set to 3Hz.
  • the brake d-axis initial value setting unit 11 sets the value id_a of the first d-axis current reference value id_ref1 to the initial value of the brake d-axis current generator 13, and sets the first q-axis.
  • the value iq_a of the current reference value id_ref1 is set as the initial value of the brake q-axis current generator 12; the brake q-axis initial value setting unit 10 sets the first q-axis current reference value iq_ref1 to the brake q-axis current generation The initial value of the device 12; the angle integrator initial value setting unit 16 sets the value of the first synchronization angle Theta_fed as the initial value of the brake angle integrator 14.
  • the brake d-axis current generator 13 generates a second d-axis current reference value id_ref2; the brake q-axis current occurs
  • the controller 12 generates a second q-axis current reference value iq_ref2; the brake angle integrator 14 integrates the operating frequency f_ref to generate a second synchronization angle Theta_ref. Therefore, the current and the angle are not abruptly changed, and the sudden change of the output current and the output voltage is avoided, and the smooth switching from the normal control to the brake stop can be realized, and the current and the voltage are not sharply shaken.
  • the current reference value selection unit 15 selects the second d-axis current reference value id_ref2 and the second q-axis current reference value iq_ref2, that is, the final d-axis current reference value selects the second d-axis current reference value id_ref2
  • the final q-axis current reference value selects the second q-axis current reference value iq_ref2
  • the synchronization angle selection unit 17 selects the second synchronization angle Theta_ref, that is, the final synchronization angle Theta_e selects the second synchronization angle Theta_ref. Therefore, when the operating frequency is less than the stop frequency (i.e., after time t2), the inverter 22 forms a current closed loop, frequency open loop I/F (current/frequency) control system.
  • the inverter 22 shifts to the stop braking mode, and the operating frequency is gradually decreased with a smaller slope to ensure good followability of the current control.
  • the brake d-axis current generator 13 starts from its initial value id_a and remains unchanged to maintain the stabilization of the excitation current; the brake q-axis current generator 12 gradually increases from its initial value iq_a by a fixed slope. Reach iq_b at time t3, preferably
  • I motor is the rated current of the motor
  • I inverter_max is the maximum current allowed by the inverter
  • the second synchronization angle Theta_ref starts from the initial value, and integrates the operation frequency f_ref for the space vector PWM unit 6 to generate the inverter bridge
  • the drive pulse sequence of the unit 20, and the rotary coordinate transformation unit 9 obtain feedback currents id_fed and iq_fed for current closed-loop control.
  • the inverter 22 controls the motor to gradually reduce the rotational speed with a sufficiently large output current, and since the output current can reach 2 times the rated current of the motor or the maximum current allowed by the inverter, even for a load with a large inertia. Or, in the case of rapid stop, it is also possible to output sufficient torque to stably reduce the motor speed to the operating frequency and greatly consume the rotational kinetic energy of the motor.
  • the brake q-axis current generator 12 starts from iq_b, gradually decreases by a fixed slope, and reaches iq_c at time t4, preferably
  • I inverter (0.5 ⁇ 1.0) ⁇ min ⁇ I motor , I inverter ⁇ , I inverter is the rated current of the inverter. Thereby, overheating of the inverter caused by long-time output of a large current is avoided.
  • the operating frequency f_ref is reduced to 0, and the second synchronization angle Theta_ref is obtained by performing the f_ref integral operation, and therefore, Theta_ref remains unchanged.
  • the inverter 22 outputs a direct current to the motor, the magnitude of which is I dc .
  • the inverter 22 is switched to the DC braking mode to consume the remaining small kinetic energy of the motor so that the motor can be stably stopped without continuing to rotate or swing back and forth after the motor stops.
  • the time from t4 to t5 may be between several hundred milliseconds and several seconds, depending on the load inertia, the larger the inertia, the longer the time, the smaller the inertia and the shorter the time.
  • the inverter 22 turns off the drive pulse sequence to the inverter bridge unit 20, and stops the braking process from being completed.
  • the motor stable stopping device and the method thereof can realize smooth switching from normal control to braking stop, and can stably stop even for a fast stop or a load with a large inertia. It will not continue to rotate or swing back and forth after the motor stops, and the current and voltage changes smoothly during the whole stop process without violent jitter.
  • the motor stopping method provided by the embodiment of the present application, it is only necessary to add a plurality of software modules capable of realizing the foregoing functions on the basis of the normal control system, so that the motor can be stably stopped, which is convenient for engineering implementation without increasing hardware cost. .

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  • Control Of Ac Motors In General (AREA)

Abstract

L'invention concerne un dispositif et un procédé d'arrêt stable d'un moteur. Dans ce procédé, une première valeur de référence de courant d'axe d (id_ref1), une première valeur de référence de courant d'axe q (iq_ref1), et un premier angle synchrone (Theta_fed) avant l'arrêt d'un moteur sont réglés pour être les valeurs initiales d'une seconde valeur de référence de courant d'axe d (id_ref2), d'une seconde valeur de référence de courant d'axe q (iq_ref2) et d'un second angle synchrone (Theta_ref) pour arrêter le moteur lors de l'arrêt du moteur. De plus, lorsqu'un mode de commande normal est changé en mode de freinage d'arrêt, les axes d et q utilisent respectivement les mêmes contrôleurs intégraux proportionnels (4, 5), de sorte qu'une variation de courant et qu'une variation de tension importantes pendant l'arrêt du moteur sont évitées, ce qui permet d'arrêter sans à-coups le moteur sans l'apparition d'une pulsation ou d'une rotation inverse du moteur avant l'arrêt.
PCT/CN2016/086157 2016-06-17 2016-06-17 Dispositif et procédé d'arrêt stable de moteur WO2017214972A1 (fr)

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PCT/CN2016/086157 WO2017214972A1 (fr) 2016-06-17 2016-06-17 Dispositif et procédé d'arrêt stable de moteur

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CN115085610A (zh) * 2022-08-22 2022-09-20 深圳市好盈科技有限公司 应用于竞赛级遥控模型车的线性刹车控制方法和装置

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CN110888357B (zh) * 2019-11-22 2021-06-29 珠海格力智能装备有限公司 机器人的控制方法及装置
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CN115085610A (zh) * 2022-08-22 2022-09-20 深圳市好盈科技有限公司 应用于竞赛级遥控模型车的线性刹车控制方法和装置

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