WO2018188021A1 - Procédé et système destinés à la commande d'un moteur de couple - Google Patents

Procédé et système destinés à la commande d'un moteur de couple Download PDF

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Publication number
WO2018188021A1
WO2018188021A1 PCT/CN2017/080442 CN2017080442W WO2018188021A1 WO 2018188021 A1 WO2018188021 A1 WO 2018188021A1 CN 2017080442 W CN2017080442 W CN 2017080442W WO 2018188021 A1 WO2018188021 A1 WO 2018188021A1
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WO
WIPO (PCT)
Prior art keywords
voltage
pwm
torque motor
modulation ratio
phase
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PCT/CN2017/080442
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English (en)
Chinese (zh)
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WO2018188021A9 (fr
Inventor
张宁
熊志伟
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深圳市海浦蒙特科技有限公司
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Application filed by 深圳市海浦蒙特科技有限公司 filed Critical 深圳市海浦蒙特科技有限公司
Priority to PCT/CN2017/080442 priority Critical patent/WO2018188021A1/fr
Priority to CN201780085285.5A priority patent/CN110313125B/zh
Publication of WO2018188021A1 publication Critical patent/WO2018188021A1/fr
Publication of WO2018188021A9 publication Critical patent/WO2018188021A9/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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor

Definitions

  • the present invention relates to the field of electronic technology, and in particular to a method and system for controlling a torque motor.
  • the torque motor is a special motor with soft mechanical properties and a wide speed range.
  • the shaft of such a motor does not output power at a constant power but outputs power at a constant torque.
  • Torque motors are widely used in textile, wire and cable, metal processing, paper, rubber, plastics and printing machinery industries.
  • a very important process is winding.
  • the diameter of the reel is gradually increased, and it is important to keep the tension of the rolled product in the whole process, because the tension is too large, the wire diameter of the wire is thinned or even broken, or the thickness of the product is uneven. If the tension is too small, the winding can be relaxed.
  • the output torque of the motor that drives the reel must be increased as the diameter of the product wound onto the reel increases, while maintaining the winding product line speed.
  • the speed of the reel must be reduced, and the mechanical characteristics of the torque motor just meet this requirement.
  • the output voltage accuracy of the driver is very important to the torque motor, which determines the accuracy of the torque motor output torque, and also directly determines the material tension fluctuation and tension accuracy during the production process.
  • Conventional drives cannot meet the ever-increasing demands of production processes, and the output torque of conventional drives cannot be precisely controlled.
  • a method for controlling a torque motor, which is applied to a torque control motor of a frequency converter comprising:
  • the carrier wave and the modulated wave are combined into a drive signal for driving the torque motor.
  • a system for controlling a torque motor, which is applied to a torque control motor of a frequency converter comprising:
  • a first obtaining unit configured to acquire a given three-phase AC voltage and a given frequency required by the current moment torque motor
  • a second acquiring unit configured to acquire a current DC bus voltage
  • a calculating unit configured to be respectively connected to the first obtaining unit and the second acquiring unit, configured to acquire a first modulation ratio according to a given three-phase alternating current voltage and a DC bus voltage;
  • the acquisition module is configured to collect the AC input voltage signal of the torque motor in real time
  • the adjustment control module is respectively connected to the acquisition module and the calculation unit, and is configured to adjust the first modulation ratio to obtain the second modulation ratio according to the relationship between the torque motor input AC voltage signal and the given three-phase AC voltage;
  • control module respectively connected to the adjustment control module and the first acquisition unit, configured to acquire a carrier, acquire a modulated wave according to a second modulation ratio and a given frequency; and is further configured to synthesize a carrier wave and a modulated wave into a torque motor for driving Drive signal.
  • the above method and system for controlling the torque motor independently control the voltage and frequency of the torque motor.
  • the first modulation ratio is obtained by the required three-phase AC voltage and the DC bus voltage, and then the AC output voltage of the torque motor is sampled in real time, and then according to the relationship between the AC output voltage and the required given three-phase AC voltage.
  • a modulation ratio is adjusted to a second modulation ratio, and then a modulated wave is obtained according to the adjusted second modulation ratio and a given frequency, and then the carrier wave and the modulated wave are combined into a driving signal for driving the torque motor.
  • Adjusting the actual output voltage according to the second modulation ratio improves the output voltage accuracy, thereby improving the accuracy of the torque motor output torque, reducing the tension fluctuation of the material during the production process, and improving the tension precision of the material during the production process.
  • 1 is a flow chart of a method of controlling a torque motor in an embodiment
  • FIG. 2 is a flow chart of a method of controlling a torque motor in another embodiment
  • Figure 3 is a block diagram of a system for controlling a torque motor in an embodiment
  • FIG. 4 is a block diagram of a system for controlling a torque motor in another embodiment.
  • 1 is a flow chart of a method of controlling a torque motor, the method being applied to a frequency converter control torque motor, the method comprising the following steps S110-S170.
  • Step S110 Acquire a given three-phase AC voltage Vac and a given frequency F required by the current moment torque motor.
  • the given three-phase AC voltage Vac and the frequency F required for the current moment torque motor can be obtained through the human machine interface or the communication interface.
  • the human machine interface can be a display screen and a keyboard, or can be a touch screen
  • the communication interface can be an RS232 interface, an RS484 interface, a USB interface, and the like.
  • Step S120 Acquire a current DC bus voltage Udc.
  • the three-phase power is rectified before the current DC bus voltage is obtained to convert the three-phase power into direct current.
  • the DC bus voltage Udc is also subjected to DC low-pass filtering.
  • Step S130 Acquire a first modulation ratio K1 according to a given three-phase AC voltage Vac and a DC bus voltage Udc.
  • Adopt formula Obtaining a first modulation ratio K1, wherein Vac is a given three-phase AC voltage and Udc is a DC bus voltage.
  • Step S140 Collect the torque motor AC input voltage signal Vpwm in real time.
  • Step S150 Adjust the first modulation ratio K1 to obtain the second modulation ratio K2 according to the relationship between the torque motor AC input voltage signal Vpwm and the given three-phase AC voltage Vac.
  • the adjusted modulation ratio ⁇ K is obtained according to the relationship between the given three-phase AC voltage Vac and the voltage vector UacFed, and the second modulation ratio K2 is obtained by superimposing the adjusted modulation ratio ⁇ K and the first modulation ratio K1.
  • the adjustment modulation ratio ⁇ K is negative, and the first modulation ratio K1 is reduced; If the target output voltage is less than the given three-phase AC voltage Vac, the adjustment modulation ratio ⁇ K is positive, and the first modulation ratio K1 is increased.
  • the modulation ratio increases or decreases, the actual output voltage will also increase or decrease.
  • Step S160 Acquire a PWM carrier, and acquire a PWM modulated wave according to the second modulation ratio K2 and a given frequency F.
  • the PWM period register value T is obtained, where T is a preset carrier period, and the PWM period register generates a PWM carrier.
  • the PWM counter is accumulated according to 0-T, and after reaching T, it is decremented to 0 or directly becomes 0 and then re-accumulated to T, and the accumulated time from 0-T is the carrier cycle time;
  • the PWM counter is compared with the PWM compare register in real time during the accumulation process, when the PWM counts
  • the PWM drive signal is controlled to be high and low level.
  • the PWM drive signal is controlled to be high and low.
  • the PWM modulated wave is generated based on the value of the PWM compare register based on the ratio of the value of the PWM compare register to the value of the PWM period register being proportional to the second modulation ratio K2. Specifically, when the modulation ratio is 100%, the value of the comparison register is equal to the value of the period register, and the modulation ratio is 0. The value of the comparison register corresponds to 0. Based on this relationship, the value of the comparator register in the case of other modulation ratios can be calculated.
  • Step S170 synthesizing the PWM carrier and the PWM modulated wave into a PWM driving signal for driving the torque motor.
  • the PWM driving signal is converted into an alternating current signal through a three-phase inverter bridge to drive the torque motor.
  • the voltage and frequency of the torque motor are independently controlled.
  • the second modulation ratio K2 can be used to calculate the modulated AC output voltages Vuv, Vvw, Vwu.
  • the size of the second modulation ratio K2 changes the size of the PWM modulation wave. Then, according to the relationship between the carrier and the modulated wave, the output of the PWM pin of the chip is controlled, and then the output of the PWM pin is used to control the turn-on and turn-off of the three-phase bridge IGBT, thereby controlling the output voltage.
  • the second modulation ratio K2 determines the assignment of the PWM modulated wave, and the actual PWM modulated wave is K2*sinwt, thereby outputting an AC modulated wave assigned K2.
  • the output voltage accuracy is improved, thereby improving the accuracy of the torque motor output torque, reducing the tension fluctuation of the material during the production process, and improving the tension precision of the material during the production process.
  • FIG. 2 is a flow chart of another method of controlling a torque motor, the method being applied to a frequency converter control torque motor, the method comprising the steps of:
  • Step S210 Acquire the current DC bus voltage Udc, and then perform step S220.
  • Step S510 Acquire the current target three-phase AC voltage Vac, and then perform step S220.
  • the target three-phase AC voltage Vac required for the current moment torque motor can be obtained through the man-machine interface or the communication interface.
  • Step S220 Acquire a first modulation ratio K1 according to the DC bus voltage Udc and the target three-phase AC voltage Vac. AC output voltage according to PWM principle Where k is the modulation ratio, which can be derived according to the above formula Obtain a first modulation ratio K1.
  • Step S230 Collect the torque motor AC input voltage signal Vpwm in real time.
  • Step S240 Low-pass filtering obtains output line voltages Vuv, Vvw. Since the output voltage of the inverter is PWM wave, the output voltage signal is first passed through the low-pass filter module, and the high-frequency PWM frequency is filtered to obtain the output line voltages Vuv, Vvw.
  • Step S260 coordinate transformation obtains two-phase voltages Vd, Vq. By performing coordinate transformation on the line voltages Vuv, Vvw, Vwu, and projecting to the two-phase coordinate system to obtain two-phase coordinates Vd, Vq
  • Step S270 Calculate the acquired voltage vector VacFed based on the two-phase voltages Vd, Vq.
  • Adopt formula Calculate the acquisition voltage vector VacFed.
  • Step S280 Import Vac and VacFed into the PID control module.
  • Step S290 Calculating the adjusted modulation ratio ⁇ K.
  • K1 On the basis of the current first modulation ratio K1, according to the actual output voltage sampling result, if it is larger than the target output voltage, ⁇ k is negative, and the first modulation ratio K1 is decreased; if it is smaller than the target output voltage, ⁇ k is positive, and will increase.
  • the first first modulation ratio is K1.
  • the specific value of ⁇ k is output by the PID control module, and is related to the error and PID parameters.
  • Step S410 Acquire a target operating frequency F. Through the man-machine interface or the communication interface, the target operating frequency F required for the current moment torque motor can be obtained.
  • Step S420 Output an angle operation, and then perform step S310.
  • Step S310 PWM control module.
  • the PWM modulated wave is obtained, and the PWM modulated wave is obtained by the formula K2*sinwt, and the PWM carrier and the PWM modulated wave are combined into a PWM driving signal for driving the torque motor.
  • the PWM control module includes a PWM period register, a PWM counter, and a PWM comparison register.
  • the PWM period register is used to generate the carrier, that is, the PWM counter is accumulated according to 0-T. When it reaches T, there are two ways to continue counting. The first type is directly changed to 0 and then re-accumulated to T; the second is decremented to 0. Re-add to T.
  • T is the carrier cycle preset by the built-in function parameters of the inverter.
  • the accumulated time from 0-T inside the chip is the carrier cycle time.
  • the modulation ratio is 100%
  • the value of the PWM compare register is equal to the value of the PWM period register, and the modulation ratio is 0.
  • the value of the PWM compare register corresponds to 0.
  • the value of the PWM comparator register for other modulation ratios can be calculated.
  • the PWM counter is compared with the PWM compare register in real time during the accumulation process. When it is greater than the value of the PWM compare register, the PWM output pin state is inverted (eg, the low level is high), when less than the value of the PWM compare register, Flip back again.
  • the modulation ratio K is used to calculate the modulated AC output voltages Vuv, Vvw, and Vwu.
  • the size of the modulation ratio K changes the size of the PWM modulated wave. Then, according to the relationship between the carrier and the modulated wave, the output of the PWM pin of the chip is controlled, and then the output of the PWM pin is used to control the turn-on and turn-off of the three-phase bridge IGBT, thereby controlling the output voltage.
  • the modulation ratio K determines the assignment of the PWM modulation wave, and the actual PWM modulation wave is K*sinwt, thereby outputting an AC modulation wave assigned K.
  • FIG. 3 is a frame of a system for controlling a torque motor, the system is applied to a frequency converter control torque motor, the system includes: a first acquisition unit 210, a second acquisition unit 220, a calculation unit 230, an acquisition module 240, and an adjustment Control module 250 and control module 260.
  • the first obtaining unit 210 is configured to acquire a given three-phase AC voltage Vac and a given frequency F required by the current moment torque motor.
  • the second obtaining unit 220 is configured to acquire the current DC bus voltage Udc.
  • the calculation unit 230 is connected to the first acquisition unit 210 and the second acquisition unit 220, respectively, for acquiring the first modulation ratio K1 according to the given three-phase AC voltage Vac and the DC bus voltage Udc.
  • the acquisition module 240 is configured to collect the torque motor AC input voltage signal Vpwm in real time.
  • the adjustment control module 250 is respectively connected to the acquisition module 240 and the calculation unit 230 for adjusting the second modulation ratio K2 according to the relationship between the torque motor AC input voltage signal Vpwm and the given three-phase AC voltage Vac.
  • the control module 260 is respectively connected to the adjustment control module 250 and the first obtaining unit 210 for acquiring a carrier, acquiring a modulated wave according to the second modulation ratio and the given frequency, and also for synthesizing the carrier wave and the modulated wave into a torque motor for driving Drive signal.
  • the first obtaining unit may include two parts: a target voltage given module 301 and a target frequency given module 331.
  • the target voltage given module 301 and the target frequency given module 331 acquire a given three-phase AC voltage Vac and a frequency F required by the current moment torque motor through the human interface 350 or the communication interface.
  • the human machine interface 350 can be a display screen and a keyboard, or can be a touch screen, and the communication interface can be an RS232 interface, an RS484 interface, a USB interface, and the like.
  • the second acquisition unit may be a DC bus voltage detection module 313.
  • the input of the system is provided with a three-phase rectifier bridge 312 for connection to a three-phase power supply 311, which is connected to a DC bus voltage detection module 313.
  • the DC bus voltage detection module 313 rectifies the three-phase power through the three-phase rectifier bridge 312 before acquiring the current DC bus voltage, so that the three-phase power is converted into DC power.
  • the DC bus voltage detection module 313 is connected to the calculation unit through the DC voltage low-pass filter module 314, and transmits the DC low-pass filtered DC bus voltage Udc to the calculation unit.
  • the calculation unit may be a modulation ratio calculation module 302.
  • the modulation ratio calculation module 302 is connected to the target voltage reference module 301 and the DC bus voltage detection module 313 of the first acquisition unit.
  • the modulation ratio calculation module 302 is configured according to the given three-phase AC voltage Vac and The DC bus voltage Udc obtains a first modulation ratio K1.
  • Modulation ratio calculation module 302 adopts a formula Obtaining a first modulation ratio K1, wherein Vac is a given three-phase AC voltage and Udc is a DC bus voltage.
  • the acquisition module may be an AC voltage acquisition module 321 for real-time acquisition of the torque motor AC input voltage signal Vpwm.
  • the torque motor 342 is connected to the adjustment control module through the AC voltage acquisition module 321 .
  • the adjustment control module includes a voltage calculation module, a PID control module 325, and a modulation ratio adjustment module. 326.
  • the voltage calculation module includes a coordinate transformation module 323 and a voltage vector calculation module 324.
  • the coordinate transformation module 323 is configured to obtain the inverter output line voltages Vuv, Vvw, Vwu according to the torque motor AC input voltage signal Vpwm; the voltage vector calculation module 324 performs coordinate transformation on the output line voltages Vuv, Vvw, Vwu, and projects to the two-phase coordinate system. Obtain two-phase voltages Vd, Vq; using the formula The calculated voltage vector is obtained; the calculated voltage vector UacFed is sent to the PID control module 325.
  • the PID control module 325 is configured to obtain the adjusted modulation ratio ⁇ K according to the given three-phase AC voltage Vac and the calculated voltage vector UacFed, and the modulation ratio adjustment module 326 calculates the second modulation ratio K2 according to the adjusted modulation ratio ⁇ K and the first modulation ratio K1.
  • the second modulation ratio is transmitted to the control module.
  • the PID control module 325 is coupled to the voltage vector calculation module connection 324 and the target voltage reference module 301.
  • the adjustment modulation ratio ⁇ K is negative, and the first modulation ratio K1 is reduced; If the target output voltage is less than the given three-phase AC voltage Vac, the adjustment modulation ratio ⁇ K is positive, and the first modulation ratio K1 is increased. As the modulation ratio increases or decreases, the actual output voltage will also increase or decrease.
  • the specific value of the adjustment modulation ratio ⁇ K is output by the PID control module 325, and the adjustment modulation ratio ⁇ K value is set according to the error and the PID parameter.
  • the system further includes an AC voltage low-pass filter module 322, the AC voltage low-pass filter module 322 is disposed between the AC voltage acquisition module 321 and the coordinate transformation module 323, and the AC voltage low-pass filter module 322 is used to input the AC motor input voltage signal of the torque motor.
  • the control module may be a PWM control module 340 that is coupled to the PID control module 325 of the adjustment control module and the frequency reference module 331 of the first acquisition unit.
  • a current output voltage angle module 332 can also be provided between the PWM control module 340 and the frequency reference module 331 for calculating the angle of the output voltage.
  • the PWM control module 340 includes a PWM period register, a PWM comparator register, and a PWM counter.
  • the PWM period register is used to generate a PWM carrier, and the value T of the PWM period register is a preset carrier period.
  • the PWM counter is used to accumulate according to 0-T. After reaching T, it is decremented to 0 or directly becomes 0 and then re-accumulated to T; the accumulated time from 0-T is the carrier cycle time;
  • the PWM control module is also used when the PWM counter is compared with the PWM comparison register in the accumulation process in real time.
  • the PWM drive signal is controlled to be high and low level, when the value of the PWM counter is smaller than the PWM comparison.
  • the PWM drive signal is controlled to be high and low.
  • the PWM comparator buffer is configured to generate a PWM modulated wave according to the value of the PWM comparator register, wherein the ratio of the value of the PWM compare register to the value of the PWM period register is proportional to the second modulation ratio K2. Specifically, when the modulation ratio is 100%, the value of the comparison register is equal to the value of the period register, and the modulation ratio is 0. The value of the comparison register corresponds to 0. Based on this relationship, the value of the comparator register in the case of other modulation ratios can be calculated.
  • system further includes a three-phase inverter bridge 341 disposed between the PWM control module 340 and the torque motor 342, and the three-phase inverter bridge 341 is configured to convert the PWM drive signal into a drive torque motor. AC voltage.
  • the modulation ratio calculation module 302, the coordinate transformation module 323, the voltage vector calculation module 324, the PID control module 325, the modulation ratio adjustment module 326, the current output voltage angle module 332, and the PWM control module 340 may employ an integrated circuit chip.
  • the voltage and frequency of the torque motor 342 are independently controlled.
  • the second modulation ratio K2 can be used to calculate the modulated AC output voltages Vuv, Vvw, Vwu.
  • the size of the second modulation ratio K2 changes the size of the PWM modulation wave. Then, according to the relationship between the carrier and the modulated wave, the output of the PWM pin of the chip is controlled, and then the output of the PWM pin is used to control the turn-on and turn-off of the three-phase bridge IGBT, thereby controlling the output voltage.
  • the second modulation ratio K2 determines the assignment of the PWM modulated wave, and the actual PWM modulated wave is K2*sinwt, thereby outputting an AC modulated wave assigned K2.
  • the output voltage accuracy is improved, thereby improving the accuracy of the torque motor output torque, reducing the tension fluctuation of the material during the production process, and improving the tension precision of the material during the production process.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

La présente invention concerne un procédé et un système destinés à la commande d'un moteur de couple. Le procédé comprend les étapes consistant : à acquérir une tension de courant alternatif triphasé donnée et une fréquence donnée qu'un moteur de couple nécessite au moment actuel ; à acquérir la tension de bus de courant continu actuelle ; à acquérir un premier rapport de modulation selon la tension de courant alternatif triphasé donnée et la tension de bus de courant continu ; à collecter un signal de tension d'entrée de courant alternatif de moteur de couple en temps réel ; à régler le premier rapport de modulation selon une relation entre le signal de tension d'entrée de courant alternatif de moteur de couple et la tension de courant alternatif triphasé donnée, de façon à acquérir un second rapport de modulation ; à acquérir une porteuse PWM et à acquérir une onde de modulation PWM selon le second rapport de modulation et la fréquence donnée ; et à synthétiser la porteuse PWM et l'onde de modulation PWM en un signal d'entraînement PWM destiné à entraîner le moteur de couple. La tension et la fréquence d'un moteur de couple sont respectivement commandées de manière indépendante. Un premier rapport de modulation est d'abord acquis et est ensuite réglé dans un second rapport de modulation et un moteur de couple est entraîné selon le second rapport de modulation et une fréquence donnée. Le réglage d'une tension de sortie réelle selon un second rapport de modulation améliore la précision de la tension de sortie et améliore la précision du couple de sortie.
PCT/CN2017/080442 2017-04-13 2017-04-13 Procédé et système destinés à la commande d'un moteur de couple WO2018188021A1 (fr)

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PCT/CN2017/080442 WO2018188021A1 (fr) 2017-04-13 2017-04-13 Procédé et système destinés à la commande d'un moteur de couple
CN201780085285.5A CN110313125B (zh) 2017-04-13 2017-04-13 控制力矩电机的方法及系统

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PCT/CN2017/080442 WO2018188021A1 (fr) 2017-04-13 2017-04-13 Procédé et système destinés à la commande d'un moteur de couple

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WO2018188021A9 WO2018188021A9 (fr) 2018-12-06

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CN110125805A (zh) * 2019-06-25 2019-08-16 广东博科数控机械有限公司 一种采用力矩电机的固体蜡条恒压力自动涂蜡装置

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CN114237080A (zh) * 2021-10-27 2022-03-25 中船九江精达科技股份有限公司 一种用于摇摆环境下的力矩电机旋转定位控制方法

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US4186334A (en) * 1978-02-07 1980-01-29 Tokyo Shibaura Denki Kabushiki Kaisha Control systems of alternating current motors
JP2006087155A (ja) * 2004-09-14 2006-03-30 Toshiba Corp インバータ駆動ブロワ制御装置
CN102882463A (zh) * 2012-11-02 2013-01-16 江苏科技大学 一种力矩电机调速装置中调速控制器的控制参数整定方法
CN103117698A (zh) * 2013-02-04 2013-05-22 山东科技大学 基于三相独立h桥驱动电路的电压空间矢量pwm控制方法
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110125805A (zh) * 2019-06-25 2019-08-16 广东博科数控机械有限公司 一种采用力矩电机的固体蜡条恒压力自动涂蜡装置
CN110125805B (zh) * 2019-06-25 2024-03-15 广东博科数控机械有限公司 一种采用力矩电机的固体蜡条恒压力自动涂蜡装置

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