WO2022133887A1 - 一种异步电机的快速减速控制方法、系统、设备及介质 - Google Patents

一种异步电机的快速减速控制方法、系统、设备及介质 Download PDF

Info

Publication number
WO2022133887A1
WO2022133887A1 PCT/CN2020/138960 CN2020138960W WO2022133887A1 WO 2022133887 A1 WO2022133887 A1 WO 2022133887A1 CN 2020138960 W CN2020138960 W CN 2020138960W WO 2022133887 A1 WO2022133887 A1 WO 2022133887A1
Authority
WO
WIPO (PCT)
Prior art keywords
frequency
value
current
target value
asynchronous motor
Prior art date
Application number
PCT/CN2020/138960
Other languages
English (en)
French (fr)
Inventor
钟声
Original Assignee
深圳市英威腾电气股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
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 CN202080003717.5A priority Critical patent/CN112740533B/zh
Priority to PCT/CN2020/138960 priority patent/WO2022133887A1/zh
Publication of WO2022133887A1 publication Critical patent/WO2022133887A1/zh

Links

Images

Classifications

    • 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
    • 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
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/08—Controlling based on slip frequency, e.g. adding slip frequency and speed proportional frequency
    • 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
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation

Definitions

  • the present application relates to the technical field of motor control, and in particular, to a rapid deceleration control method, system, electronic device and computer-readable storage medium for an asynchronous motor.
  • the mechanical energy of the motor is mainly converted into two parts: one part of the energy is consumed inside the motor, that is, the copper consumption of the motor stator and rotor; the other part of the energy is stored in the bus capacitor of the inverter. . Therefore, once the energy consumed inside the motor is reduced, the bus voltage of the inverter will increase, and there is a risk of bus overvoltage.
  • a braking resistor is usually added to the frequency converter in the prior art.
  • the bus voltage is higher than the set value, the energy generated by the motor deceleration will be consumed by the braking resistor.
  • this method requires an additional braking resistor, the system efficiency is reduced and the cost is increased.
  • Another method in the prior art is to use magnetic flux braking.
  • the inverter By increasing the output voltage of the inverter, the inverter can maintain a large output current, thereby increasing the internal loss of the motor; at the same time, due to the increase in the output voltage, the motor works in an over-excited state, and the braking torque increases, which can make the motor rapidly decelerate .
  • the magnetic flux braking can quickly decelerate the motor, part of the energy generated during the rapid deceleration process will still be stored in the inverter bus capacitor, which will increase the bus voltage and cannot completely eliminate the risk of bus overvoltage.
  • the purpose of the present application is to provide a rapid deceleration control method, system, electronic device and computer-readable storage medium for an asynchronous motor, so as to effectively prevent bus overvoltage and avoid cost increase while realizing rapid deceleration of the motor.
  • the present application discloses a rapid deceleration control method for an asynchronous motor, including:
  • the output current of the inverter for driving the asynchronous motor is controlled to be stable based on the current target value, and the frequency of the output voltage of the inverter is controlled to decrease successively based on the frequency target value, so that the energy converted into the bus voltage is reduced; wherein, the current The target value is a fixed value, and the frequency target value is a variable value determined by the bus voltage value of the frequency converter and gradually decreasing from the initial value.
  • controlling the output current stabilization of the inverter for driving the asynchronous motor based on the current target value includes:
  • the output current of the frequency converter is controlled to stabilize in a closed-loop regulation manner.
  • controlling the output current stabilization of the frequency converter in a closed-loop regulation manner based on the current target value and the output current actual value includes:
  • the output current of the frequency converter is controlled to be stable.
  • controlling the frequency of the output voltage of the frequency converter to decrease successively based on the frequency target value includes:
  • the frequency of the output voltage of the inverter is controlled to decrease.
  • the calculating the current frequency target value after the frequency regulation according to the frequency regulation parameter and the bus voltage value includes:
  • the calculating the current frequency target value after the frequency regulation according to the frequency regulation parameter and the bus voltage value includes:
  • the method further includes:
  • the first frequency of the current output voltage of the inverter is detected, and the product of the first frequency and a preset coefficient is determined as the initial value of the frequency target value, and the preset coefficient is less than 1.
  • the present application discloses a rapid deceleration control system for an asynchronous motor, comprising:
  • the modulation module is used to generate the corresponding pulse signal according to the output modulation of the controller to drive the inverter;
  • the frequency converter for outputting three-phase voltage to the stator of the asynchronous motor to drive the asynchronous motor
  • the controller used to control the output current of the frequency converter to stabilize based on the current target value, and control the output voltage frequency of the frequency converter to decrease in frequency based on the frequency target value, so that the converted bus voltage energy is reduced; wherein, the current The target value is a fixed value, and the frequency target value is a variable value determined by the bus voltage value of the frequency converter and gradually decreasing from the initial value.
  • the present application also discloses an electronic device, comprising:
  • the processor is configured to execute the computer program to implement the steps of any of the above-mentioned rapid deceleration control methods for an asynchronous motor.
  • the present application also discloses a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, it is used to implement any of the above asynchronous The steps of the rapid deceleration control method of the motor.
  • the beneficial effects of the rapid deceleration control method, system, electronic device and computer-readable storage medium for an asynchronous motor are: the present application ensures the stability of the output current of the frequency converter based on the current closed loop, and avoids the increase of cost At the same time, the application reduces the frequency target value in combination with the bus voltage rise, and continuously restores the asynchronous motor to a high-slip operation state, which avoids the energy rising of the bus voltage during the motor deceleration process, effectively prevents the bus overvoltage, and greatly improves the performance.
  • Product economic benefits are: the present application ensures the stability of the output current of the frequency converter based on the current closed loop, and avoids the increase of cost
  • the application reduces the frequency target value in combination with the bus voltage rise, and continuously restores the asynchronous motor to a high-slip operation state, which avoids the energy rising of the bus voltage during the motor deceleration process, effectively prevents the bus overvoltage, and greatly improves the performance.
  • 1 is a rotor side vector diagram of an asynchronous motor disclosed in an embodiment of the application under different slip states;
  • FIG. 2 is a flowchart of a method for controlling rapid deceleration of an asynchronous motor disclosed in an embodiment of the application;
  • FIG. 3 is a schematic diagram of a rapid deceleration control method for an asynchronous motor disclosed in an embodiment of the application;
  • FIG. 4 is a structural block diagram of a rapid deceleration control system for an asynchronous motor disclosed in an embodiment of the application;
  • FIG. 5 is a structural block diagram of an electronic device disclosed in an embodiment of the present application.
  • the core of the present application is to provide a rapid deceleration control method, system, electronic device and computer-readable storage medium for an asynchronous motor, so as to effectively prevent bus overvoltage and avoid cost increase while realizing rapid deceleration of the motor.
  • Asynchronous motor is an AC motor that converts electrical energy and mechanical energy by interacting with the rotor winding induced current through the air-gap rotating magnetic field. It has the characteristics of simple structure, easy manufacture, low price, reliable operation, sturdy and durable, and high operating efficiency, so it is widely used.
  • asynchronous motors are mainly used as motors, also known as induction motors.
  • the air-gap rotating magnetic field interacts with the rotor winding induced current to generate electromagnetic torque, and the electrical energy of the grid is converted into mechanical energy, so that various production machinery can be driven.
  • the power generation state of the asynchronous motor that is, in the deceleration braking state, the mechanical energy of the motor is fed back to the bus.
  • the mechanical energy of the motor is mainly converted into two parts: one part of the energy is consumed inside the motor, that is, the copper consumption of the motor stator and rotor; the other part of the energy is stored in the bus capacitor of the inverter. . Therefore, once the energy consumed inside the motor is reduced, the bus voltage of the inverter will increase, and there is a risk of bus overvoltage. Moreover, it is easy to understand that the start and stop of the asynchronous motor based on the induction of the internal magnetic field is a control process that takes a certain amount of time, and cannot be accomplished overnight.
  • the embodiment of the present application discloses a rapid deceleration control method for an asynchronous motor, which mainly includes:
  • the output current of the inverter used to drive the asynchronous motor is controlled to be stable based on the current target value, and the frequency of the output voltage of the inverter is controlled to decrease successively based on the frequency target value, so that the energy converted into the bus voltage is reduced; wherein, the current target value is a fixed value,
  • the frequency target value is determined by the bus voltage value of the inverter and gradually decreases from the initial value. It should be pointed out that the present application specifically controls the output current and output voltage and frequency of the frequency converter.
  • this application adopts a constant current. control method.
  • the output voltage amplitude determines the output current of the converter. Therefore, the present application specifically controls the output voltage of the converter to keep the output current stable.
  • the current target value is the ideal target value that the application needs to make the output current of the inverter reach, and it is specifically a fixed value. It is easy to understand that the larger the current target value, the shorter the total time of the deceleration process in theory, but the greater the efficiency loss, so it can be set by those skilled in the art according to the actual application situation.
  • the frequency target value is the target value that the application needs to make the output voltage frequency of the inverter reach.
  • the frequency target value itself is a variable value that decreases successively.
  • the output voltage frequency of the device also decreases successively.
  • the output voltage frequency of the frequency converter will soon decrease accordingly, so that the rotational speed of the stator rotating magnetic field of the asynchronous motor will also decrease rapidly. Since the rotor speed of the asynchronous motor is too late to change rapidly, it is still near the speed level before the reduction in a short time after the frequency target value is lowered, so the asynchronous motor will form a large slip at this time. In the present application, the increase of the bus voltage is effectively suppressed by continuously lowering the frequency target value and allowing the asynchronous motor to continuously resume operation in a high-slip state.
  • the asynchronous motor is named because the rotor speed (motor speed) is always different from the stator rotating magnetic field speed (synchronous speed).
  • Slip is an important parameter that reflects the operation of the asynchronous motor (the difference between the rotor speed and the stator rotating magnetic field speed). .
  • E 21 and E 22 are the rotor induced electromotive force in the two states respectively
  • ⁇ 1 and ⁇ 2 are the power factor angles in the two states
  • S 21 and S 22 are the slip ratios in the two states, respectively
  • R 2 is the rotor resistance
  • I 2 is the rotor current
  • ⁇ is the angular velocity
  • L ⁇ is the leakage inductance.
  • the rise of the bus voltage of the frequency converter is also specifically combined.
  • the bus will not be over-voltage in a short time when the frequency target value is just lowered each time, as the adjustment progresses, the motor speed will gradually decrease, and the slip will gradually decrease from large to small, making the motor The power factor of the rotor side increases gradually, and the bus voltage also begins to increase gradually, unless the frequency target value is lowered again to return to the high slip state.
  • the present application reduces the frequency target value again at regular intervals, that is, by reducing the frequency target value multiple times, the asynchronous motor continuously re-runs in a high-slip state.
  • the embodiment of the present application also specifically adjusts the frequency target value according to the rise of the bus voltage. Once the bus voltage is too large, the frequency target value is immediately lowered, so as to effectively restrain the rapid rise of the bus voltage and avoid the bus voltage. Voltage overvoltage.
  • the fast deceleration control method of the asynchronous motor ensures the stability of the output current of the frequency converter based on the current closed loop, and avoids the increase of cost.
  • the asynchronous motor returns to the high-slip operation state, which avoids the energy rising of the busbar voltage during the motor deceleration process, effectively prevents the busbar overvoltage, and greatly improves the economic benefit of the product.
  • FIG. 2 is a flowchart of a method for fast deceleration control of an asynchronous motor provided by an embodiment of the application, including:
  • a switching process is required for an asynchronous motor running normally with a load from an electric state to a braking state.
  • the inductance inside the asynchronous motor still maintains a magnetic flux opposite to the braking state, so it is necessary to wait for the motor to demagnetize for a certain demagnetization time. Therefore, within the preset demagnetization time period, the output of the inverter can be blocked, so that the magnetic flux maintained by the inductance can be consumed by the asynchronous motor.
  • S102 Determine whether the duration of the output blocking state reaches the preset degaussing duration; if so, go to S103.
  • the output current of the inverter used for driving the asynchronous motor is controlled to be stable based on the current target value, and the frequency of the output voltage of the inverter is controlled to decrease successively based on the frequency target value, so that the energy converted into the bus voltage is reduced; wherein, the current target value is fixed
  • the frequency target value is a variable value determined by the bus voltage value of the inverter and gradually decreases from the initial value.
  • the initial value is the product of the first frequency and the preset coefficient, and the preset coefficient is less than 1.
  • the initial value of the frequency target value should be smaller than the output voltage frequency value at the initial moment of deceleration, and the difference should not be too small. In this way, when the frequency target value is suddenly lowered to the initial value, the asynchronous motor can instantly form a large slip, so that the bus voltage can avoid overvoltage at the beginning of the rapid deceleration process.
  • the preset coefficient may be specifically set as 0.5, that is, the half value of the first frequency is directly set as the initial value of the frequency target value.
  • the rapid deceleration control method for an asynchronous motor is based on the above content, and the control of the output current stabilization of the inverter for driving the asynchronous motor based on the current target value includes:
  • the output current of the frequency converter is controlled to stabilize in a closed-loop regulation manner.
  • the closed-loop control can effectively realize the steady-state non-difference control. Therefore, in this embodiment, the closed-loop control mode can be specifically used to control the stability of the output current.
  • the present application needs related sensors to help obtain the RMS value of the current actually output by the inverter, and compare it with the given current value to form a closed loop, so as to perform closed loop adjustment based on the difference between the two.
  • the fast deceleration control method for an asynchronous motor is based on the above content, based on the current given value and the actual value of the output current to control the output current stability of the frequency converter in a closed-loop adjustment manner, including:
  • the corresponding actual value of the output current is calculated in real time
  • the output current of the frequency converter is controlled to be stable.
  • the voltage amplitude control quantity will be sent to the modulation module, and the modulation module will modulate and output the corresponding pulse signal to control the on-off of the power switch tube in the inverter, thereby adjusting the working state of the inverter and controlling its output current to be stable.
  • FIG. 3 is a schematic diagram of a rapid deceleration control method for an asynchronous motor disclosed in an embodiment of the present application.
  • I* is the current given value
  • I is the actual value of the output current
  • V out is the voltage amplitude control amount
  • ⁇ is the output voltage phase control amount.
  • the duty cycle of the PWM pulse signal can be modulated in real time based on the voltage amplitude control quantity V out and the output voltage phase control quantity ⁇ , so as to use the PWM pulse signal output to the inverter to control the output current of the inverter to stabilize and the output voltage frequency decreases successively.
  • the actual value of the output current refers to the effective value of the actual output current of the inverter.
  • V out is calculated by the PID regulator, and then participates in the PWM modulation.
  • ⁇ also participates in PWM modulation. The two achieve the purpose of adjusting the output current and output voltage frequency of the inverter by adjusting the duty cycle of the PWM pulse signal.
  • the PID regulator may only include a proportional link and an integral link, that is, only PI calculation may be performed specifically.
  • the rapid deceleration control method for an asynchronous motor controls the output voltage of the frequency converter to decrease the frequency successively based on the frequency target value, including:
  • the frequency of the output voltage of the inverter is controlled to decrease.
  • f out is the frequency target value
  • V dc is the bus voltage value
  • ⁇ is the output voltage phase control amount.
  • the present application reduces the frequency target value successively, in order to make the asynchronous motor return to a high slip state after each time the frequency target value is lowered.
  • the specific time for each time and how much for each time to be down-regulated those skilled in the art can determine according to the actual application.
  • the rapid deceleration control method for an asynchronous motor is based on the above-mentioned content, wherein the current adjusted frequency target value is calculated according to the frequency adjustment parameter and the bus voltage value.
  • the setting of the bus voltage threshold can leave a certain safety margin to effectively avoid the bus voltage overvoltage.
  • the lowered frequency target value can be calculated based on the following frequency setting formula:
  • f out is the frequency target value after the last downward adjustment, and it is also the frequency target value before the current downward adjustment; It is the frequency target value after this down-regulation; k 1 and k 2 are both frequency down-regulation parameters, 0 ⁇ k 1 ⁇ 1, 0 ⁇ k 2 ; V dc is the bus voltage value; V th is the bus voltage threshold.
  • the present application can also be fixed after every several control cycles or every several seconds to perform a downward adjustment. Choose and set according to the application situation. It is easy to understand that when the bus voltage value has no overvoltage risk, the frequency target value can be linearly reduced; when the bus voltage value has an overvoltage risk, the reduction range can be appropriately increased on the basis of the original linear downward adjustment.
  • the present application can of course also lower the frequency target value once in each sampling period.
  • the lowered frequency target value can be calculated based on the following frequency setting formula:
  • f out is the frequency target value after the last downward adjustment, and it is also the frequency target value before the current downward adjustment; is the frequency target value after the current down-regulation; k 1 , k 2 and k 3 are all frequency down-regulation parameters, 0 ⁇ k 1 ⁇ 1, 0 ⁇ k 2 , 0 ⁇ k 3 ⁇ 1; V dc is the bus voltage value; V th is the bus voltage threshold.
  • an embodiment of the present application discloses a rapid deceleration control system for an asynchronous motor, which mainly includes:
  • a modulation module 201 configured to generate a corresponding pulse signal according to the output modulation of the controller to drive the frequency converter;
  • the frequency converter 202 is used for outputting three-phase voltage to the stator of the asynchronous motor to drive the asynchronous motor;
  • the controller 203 is used to control the output current stabilization of the inverter based on the current target value, and control the output voltage frequency of the inverter to decrease based on the frequency target value, so that the converted bus voltage energy is reduced; wherein, the current target value is a fixed value, and the frequency The target value is determined by the bus voltage value of the inverter and is a variable value that decreases gradually from the initial value.
  • the rapid deceleration control system of the asynchronous motor disclosed in the embodiment of the present application ensures the stability of the output current of the frequency converter based on the current closed loop, and avoids the increase of cost. Continuously restore the asynchronous motor to a high-slip running state, which avoids the energy rising of the bus voltage during the motor deceleration process, effectively prevents the overvoltage of the bus, and greatly improves the economic benefits of the product.
  • the rapid deceleration control system of the asynchronous motor disclosed in the embodiment of the present application is based on the above content, and the controller 203 is specifically used for:
  • the rapid deceleration control system for an asynchronous motor disclosed in the embodiment of the present application further includes a current sensor for collecting the three-phase current value of the frequency converter 202 on the basis of the above content; the controller 203 is based on When the given current value and the actual value of the output current control the output current of the inverter 202 to be stable in a closed-loop regulation mode, they are specifically used for:
  • the rapid deceleration control system of the asynchronous motor disclosed in the embodiment of the present application is based on the above content, when the controller 203 performs generalized PID calculation on the difference between the given current value and the actual value of the output current , which is specifically used for: performing PI calculation on the difference value including only the proportional link and the integral link.
  • the rapid deceleration control system for an asynchronous motor disclosed in the embodiment of the present application is based on the above content.
  • the bus voltage value of the inverter 202 can be obtained by the voltage acquisition circuit through the lead, and the voltage can be further adjusted according to a certain ratio, so that the adjusted bus voltage value is within the voltage processing range of the controller 204 .
  • the rapid deceleration control system for an asynchronous motor disclosed in the embodiment of the present application is based on the above content, when the controller 203 calculates the current frequency target value after the frequency regulation according to the frequency regulation parameter and the bus voltage value, Specifically for:
  • the rapid deceleration control system for an asynchronous motor disclosed in the embodiment of the present application is based on the above content, when the controller 203 calculates the current frequency target value after the frequency regulation according to the frequency regulation parameter and the bus voltage value, Specifically for:
  • the controller 203 is further used for:
  • the first frequency of the current output voltage of the inverter 202 is obtained, so as to convert the first frequency
  • the product with the preset coefficient is determined as the initial value of the frequency target value, and the preset coefficient is less than 1.
  • an electronic device including:
  • the processor 302 is configured to execute the computer program to implement the steps of any one of the above-mentioned rapid deceleration control methods for an asynchronous motor.
  • an embodiment of the present application also discloses a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and the computer program is used to implement any of the above when executed by a processor. Steps of a rapid deceleration control method for an asynchronous motor.

Landscapes

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

Abstract

一种异步电机的快速减速控制方法、系统、电子设备及计算机可读存储介质，该方法包括：基于电流目标值控制用于驱动异步电机的变频器的输出电流稳定，基于频率目标值控制变频器的输出电压频率逐次递减，使得转化为母线电压的能量减少；其中，电流目标值为定值，频率目标值为由变频器的母线电压值确定、从初始值逐次递减的变值。该方法保障了变频器的输出电流稳定，并结合母线电压上升情况下调频率目标值，不断令异步电机恢复为高转差运行状态，避免了电机减速过程中的能量抬升母线电压，有效防止了母线过压，极大提高了产品经济效益。

Description

一种异步电机的快速减速控制方法、系统、设备及介质 技术领域
本申请涉及电机控制技术领域，特别涉及一种异步电机的快速减速控制方法、系统、电子设备及计算机可读存储介质。
背景技术
异步电机在快速减速制动过程中，电机的机械能被主要转换成两部分：一部分能量在电机内部被消耗，即电机定、转子的铜耗等；另一部分能量被存储在变频器的母线电容中。因此，一旦电机内部消耗的能量减小，变频器的母线电压便会升高，面临母线过压风险。
因此，为了在异步电机快速减速制动过程中避免母线过压，现有技术中通常为变频器增加制动电阻。当母线电压高于设定值时，电机减速产生的能量便被制动电阻消耗。但是，由于此种方法需要额外增加制动电阻，因此系统效率降低、成本增大。
现有技术中另一种方法是采用磁通制动。通过提高变频器输出电压，使变频器维持较大的输出电流，从而增大电机内部损耗；同时，由于输出电压增大，电机工作在过励磁状态，制动转矩增加，可使电机快速减速。但是，尽管磁通制动可使电机快速减速，但是快速减速过程中产生的部分能量仍然会存储到变频器母线电容，又会致使母线电压升高，无法完全消除母线过压风险。
鉴于此，提供一种解决上述技术问题的方案，已经是本领域技术人员所亟需关注的。
发明内容
本申请的目的在于提供一种异步电机的快速减速控制方法、系统、电子设备及计算机可读存储介质，以便在实现电机快速减速的同时有效防止母线过压，并避免成本增加。
为解决上述技术问题，一方面，本申请公开了一种异步电机的快速减速控制方法，包括：
基于电流目标值控制用于驱动所述异步电机的变频器的输出电流稳定，基于频率目标值控制所述变频器的输出电压频率逐次递减，使得转化为母线电压的能量减少；其中，所述电流目标值为定值，所述频率目标值为由所述变频器的母线电压值确定、从初始值逐次递减的变值。
可选地，所述基于电流目标值控制用于驱动所述异步电机的变频器的输出电流稳定，包括：
基于电流目标值和输出电流实际值，以闭环调节方式控制所述变频器的输出电流稳定。
可选地，所述基于电流目标值和输出电流实际值以闭环调节方式控制所述变频器的输出电流稳定，包括：
实时获取电流传感器采集的所述变频器输出的三相电流值；
根据所述三相电流值实时计算出对应的所述输出电流实际值；
对所述电流给定值与所述输出电流实际值的差值进行广义PID计算，以获取电压幅值控制量；
基于所述电压幅值控制量，控制所述变频器的输出电流稳定。
可选地，所述基于频率目标值控制所述变频器的输出电压频率逐次递减，包括：
实时获取所述变频器的所述母线电压值；
根据频率下调参数和所述母线电压值计算当前下调后的所述频率目标值；
对所述频率目标值进行积分以获取输出电压相位控制量；
基于所述输出电压相位控制量，控制所述变频器的输出电压频率降低。
可选地，所述根据频率下调参数和所述母线电压值计算当前下调后的所述频率目标值，包括：
判断所述母线电压值是否大于预设的母线电压阈值；
若否，则保持所述频率目标值的当前取值不变；
若是，则依据所述母线电压值与所述母线电压阈值的差值以及所述频 率下调参数，计算当前下调后的所述频率目标值。
可选地，所述根据频率下调参数和所述母线电压值计算当前下调后的所述频率目标值，包括：
判断所述母线电压值是否大于预设的母线电压阈值；
若否，则依据所述频率下调参数计算线性递减后的所述频率目标值；
若是，则依据所述母线电压值与所述母线电压阈值的差值以及所述频率下调参数，计算当前下调后的所述频率目标值。
可选地，在所述基于电流目标值控制用于驱动所述异步电机的变频器的输出电流稳定、基于频率目标值控制所述变频器的输出电压频率递减之前，还包括：
检测所述变频器当前输出电压的第一频率，并将所述第一频率与预设系数的乘积确定为所述频率目标值的所述初始值，所述预设系数小于1。
又一方面，本申请公开了一种异步电机的快速减速控制系统，包括：
调制模块，用于根据控制器的输出调制生成对应的脉冲信号以驱动变频器；
所述变频器，用于输出三相电压至所述异步电机的定子以驱动所述异步电机；
所述控制器：用于基于电流目标值控制所述变频器的输出电流稳定，基于频率目标值控制所述变频器的输出电压频率递减，使得转化为的母线电压能量减少；其中，所述电流目标值为定值，所述频率目标值为由所述变频器的母线电压值确定、从初始值逐次递减的变值。
又一方面，本申请还公开了一种电子设备，包括：
存储器，用于存储计算机程序；
处理器，用于执行所述计算机程序以实现如上所述的任一种异步电机的快速减速控制方法的步骤。
又一方面，本申请还公开了一种计算机可读存储介质，所述计算机可读存储介质中存储有计算机程序，所述计算机程序被处理器执行时用以实现如上所述的任一种异步电机的快速减速控制方法的步骤。
本申请所提供的异步电机的快速减速控制方法、系统、电子设备及计 算机可读存储介质所具有的有益效果是：本申请基于电流闭环保障了变频器的输出电流稳定，避免了成本的增大，同时，本申请结合母线电压上升情况下调频率目标值，不断令异步电机恢复为高转差运行状态，避免了电机减速过程中的能量抬升母线电压，有效防止了母线过压，极大提高了产品经济效益。
附图说明
为了更清楚地说明现有技术和本申请实施例中的技术方案，下面将对现有技术和本申请实施例描述中需要使用的附图作简要的介绍。当然，下面有关本申请实施例的附图描述的仅仅是本申请中的一部分实施例，对于本领域普通技术人员来说，在不付出创造性劳动的前提下，还可以根据提供的附图获得其他的附图，所获得的其他附图也属于本申请的保护范围。
图1为本申请实施例公开的一种异步电机在不同转差状态下的转子侧向量图；
图2为本申请实施例公开的一种异步电机的快速减速控制方法的流程图；
图3为本申请实施例公开的一种异步电机的快速减速控制方法的示意图；
图4为本申请实施例公开的一种异步电机的快速减速控制系统的结构框图；
图5为本申请实施例公开的一种电子设备的结构框图。
具体实施方式
本申请的核心在于提供一种异步电机的快速减速控制方法、系统、电子设备及计算机可读存储介质，以便在实现电机快速减速的同时有效防止母线过压，并避免成本增加。
为了对本申请实施例中的技术方案进行更加清楚、完整地描述，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行介绍。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提 下所获得的所有其他实施例，都属于本申请保护的范围。
异步电机(Asynchronous Motor)，是通过气隙旋转磁场与转子绕组感应电流相互作用，从而进行电能与机械能之间转换的一种交流电机。它具有结构简单、制造容易、价格低廉、运行可靠、坚固耐用、运行效率较高等工作特性，因而被广泛应用。
在实际生产应用中，异步电机主要用作电动机，又称感应电动机。在电动状态下，气隙旋转磁场与转子绕组感应电流相互作用产生电磁转矩，电网电能被转换为机械能，从而可拖动各种生产机械等。而在异步电机的发电状态下，即减速制动状态下，电机的机械能则回馈母线。
异步电机在快速减速制动过程中，电机的机械能被主要转换成两部分：一部分能量在电机内部被消耗，即电机定、转子的铜耗等；另一部分能量被存储在变频器的母线电容中。因此，一旦电机内部消耗的能量减小，变频器的母线电压便会升高，面临母线过压风险。并且，容易理解的是，基于内部磁场感应而运转的异步电机，其启停均是一个需要一定时间的调控过程，并非能够一蹴而就。
本申请实施例公开了一种异步电机的快速减速控制方法，主要包括：
基于电流目标值控制用于驱动异步电机的变频器的输出电流稳定，基于频率目标值控制变频器的输出电压频率逐次递减，使得转化为母线电压的能量减少；其中，电流目标值为定值，频率目标值为由变频器的母线电压值而确定、从初始值逐次递减的变值。需要指出的是，本申请具体针对变频器的输出电流和输出电压频率这两方面进行控制。一方面，由于申请人发现输出电流的增大不仅效率损耗大，而且会助长电机减速产生的部分能量又存储到变频器母线电容，无法完全消除母线过压风险，因此，本申请采用了恒电流控制方式。而输出电压幅值决定了变流器的输出电流，因此，本申请具体通过对变频器的输出电压进行调控以保持输出电流大小稳定。
其中，电流目标值即为本申请需要令变频器的输出电流达到的理想目标值，它具体是一个定值。容易理解的是，电流目标值越大，理论上减速 过程的总时间越短，但效率损耗越大，因此可由本领域技术人员根据实际应用情况而综合考量设定。
另一方面，频率目标值即为本申请需要令变频器的输出电压频率达到的目标值，为了达到控制异步电机减速的目的，频率目标值自身就是一个逐次减小的变值，如此可令变频器的输出电压频率也逐次递减。
需要说明的是，本申请在每次下调频率目标值后，变频器的输出电压频率便会很快随之降低，进而使得异步电机的定子旋转磁场转速也很快随之降低。而由于异步电机的转子转速来不及快速变化，在频率目标值下调后的短时间内仍在下调前的转速水平附近，因此异步电机此时将形成较大的转差。本申请正是通过不断下调频率目标值、令异步电机不断恢复运行在高转差状态下，来有效抑制母线电压的增大。
具体地，异步电机因转子转速(电机转速)一直与定子旋转磁场转速(同步转速)不同而得名。
以电动状态为例，当三相异步电动机的定子绕组由变频器施加对称电压后，产生一个旋转气隙磁场，转子绕组导体切割该磁场产生感应电势。由于转子绕组处于短路状态因此会产生一个转子电流。转子电流与气隙磁场相互作用就产生电磁转矩，从而驱动转子旋转。而其中，电动机转子的转速与磁场转速之间存在有转差，只有这样转子导体才会感应出电势进而产生转子电流和电磁转矩。
转差率是反映异步电动机运行情况(转子转速与定子旋转磁场转速间差异情况)的一个重要参数，它具体是指异步电动机的定子旋转磁场转速与转子转速的差值与定子旋转磁场转速之比。
对于制动状态的异步电机，通过降低变频器的输出电压频率，可使其形成较大的转差，令转子侧功率因数较低，参见图1，此时电机制动减少的机械能并不能回馈到电网中，而是变成电机绕组损耗，因此保障了母线不会过压。
不同转差状态下的转子侧向量图可具体参见图1。其中，E 21和E 22分别为两个状态下的转子感应电动势，θ 1和θ 2分别为两个状态下的功率因数角，S 21和S 22分别为两个状态下的转差率，R 2为转子电阻，I 2为转子电流， ω为角速度，L σ为漏感。
还需要强调的是，本申请实施例在下调频率目标值的过程中，还具体结合了变频器母线电压的上升情况。具体地，虽然在每次刚刚下调频率目标值的短时间内母线不会过压，但是，随着调节的进行，电机转速也会逐渐减小，令转差又逐渐由大变小，使得电机转子侧功率因数逐渐升高，母线电压也开始逐渐升高，除非再次下调频率目标值而恢复到高转差状态。
由此，本申请每隔一段时间便会再次降低频率目标值，即，通过多次降低频率目标值来使异步电机不断重新运行在高转差状态。并且，为了避免母线过压，本申请实施例还具体根据母线电压的上升情况来下调频率目标值，一旦母线电压过大则立刻下调频率目标值，以此有效扼制母线电压的快速上升，避免母线电压过压。
还需补充的是，当经过本申请所提供的快速减速方法控制异步电机减速到一定程度后，母线便不会再面临过压的风险，则此时可退出本方法转而使用其他一些较为简单的减速方法，直至达到令异步电机减速到零的目的。
可见，本申请所提供的异步电机的快速减速控制方法，基于电流闭环保障了变频器的输出电流稳定，避免了成本的增大，同时，本申请结合母线电压上升情况下调频率目标值，不断令异步电机恢复为高转差运行状态，避免了电机减速过程中的能量抬升母线电压，有效防止了母线过压，极大提高了产品经济效益。
参见图2，图2为本申请实施例提供的一种异步电机的快速减速控制方法的流程图，包括：
S101：在接收到快速减速指令后，控制变频器切换为输出封锁状态以等待电机消磁，并检测变频器当前输出电压的第一频率。
具体地，正常带载运行的异步电机从电动状态到制动状态需要一个切换过程。在电动状态下，异步电机内部的电感仍然维持有与制动状态反向的磁通，因此需要通过一定的消磁时长等待电机消磁。因此，在预设消磁时长内，可封锁变频器的输出，以便异步电机将电感维持的磁通消耗殆尽。
S102：判断输出封锁状态的持续时长是否达到预设消磁时长；若是，则进入S103。
S103：基于电流目标值控制用于驱动异步电机的变频器的输出电流稳定，基于频率目标值控制变频器的输出电压频率逐次递减，使得转化为母线电压的能量减少；其中，电流目标值为定值，频率目标值为由变频器的母线电压值而确定、从初始值逐次递减的变值，初始值为第一频率与预设系数的乘积，预设系数小于1。
容易理解的是，在快速减速初期，为了形成异步电机的高转差状态，频率目标值的初始值应当小于减速初始时刻的输出电压频率值，且差值不宜过小。如此，当突然将频率目标值下调至初始值后，异步电机可瞬间形成较大的转差，使母线电压在快速减速过程的开始阶段避免过压。
例如，可将预设系数具体取值为0.5，即，直接将第一频率的半值设置为频率目标值的初始值。
作为一种具体实施例，本申请所提供的异步电机的快速减速控制方法在上述内容的基础上，所述基于电流目标值控制用于驱动所述异步电机的变频器的输出电流稳定，包括：
基于电流目标值和输出电流实际值，以闭环调节方式控制所述变频器的输出电流稳定。
具体地，闭环控制可有效实现稳态无差控制，因此，本实施例可具体采用闭环控制方式来控制输出电流稳定。
容易理解的是，为实现闭环，本申请需要相关的传感器以帮助获取变频器实际输出的电流有效值，与电流给定值作差比较而构成闭环，从而基于二者的差值进行闭环调节。
作为一种具体实施例，本申请所提供的异步电机的快速减速控制方法在上述内容的基础上，基于电流给定值和输出电流实际值以闭环调节方式控制变频器的输出电流稳定，包括：
实时获取电流传感器采集的变频器输出的三相电流值；
根据三相电流值实时计算出对应的输出电流实际值；
对电流给定值与输出电流实际值的差值进行广义PID计算，以获取电 压幅值控制量；
基于所述电压幅值控制量，控制所述变频器的输出电流稳定。
具体地，电压幅值控制量将送入调制模块，由调制模块调制输出对应的脉冲信号以控制变频器中的功率开关管的通断，从而调节变频器的工作状态，控制其输出电流稳定。
一般地，对变频器脉冲信号的调制多采用PWM调制。具体可对照参见图3，图3为本申请实施例公开的一种异步电机的快速减速控制方法的示意图。
其中，I*为电流给定值，I为输出电流实际值，V out为电压幅值控制量，θ为输出电压相位控制量。在PWM调制过程中，可基于电压幅值控制量V out与输出电压相位控制量θ实时调制PWM脉冲信号的占空比，以便利用输出至变频器的PWM脉冲信号，控制变频器的输出电流稳定和输出电压频率逐次降低。
容易理解的是，输出电流实际值是指变频器实际所输出电流的有效值。I*与I作差后，经PID调节器计算得到V out，进而参与进行PWM调制。θ同样参与进行PWM调制，二者通过调节PWM脉冲信号的占空比，达到调节变频器输出电流和输出电压频率的目的。
在一个具体实施例中，PID调节器具体可以仅包括比例环节和积分环节，即，具体可仅进行PI计算。
此外，作为一种具体实施例，本申请所提供的异步电机的快速减速控制方法在上述内容的基础上，基于频率目标值控制变频器的输出电压逐次频率递减，包括：
实时获取变频器的母线电压值；
根据频率下调参数和母线电压值计算当前下调后的频率目标值；
对频率目标值进行积分以获取输出电压相位控制量；
基于输出电压相位控制量，控制变频器的输出电压频率降低。
对照参见图3，其中，f out为频率目标值，V dc为母线电压值，θ为输出电压相位控制量。在每次对频率目标值进行下调时，影响其下调后取值的相关量具体包括频率下调参数和实时变化的V dc。
需要说明的是，本申请逐次下调频率目标值，意在使异步电机在每次下调频率目标值后均恢复运行在高转差状态。至于每次具体在什么时间下调、每次下调多少，则可由本领域技术人员根据实际应用情况而确定。
例如，考虑到控制系统的采样周期较短，为了不使控制过于频繁，可不必在每个采样周期内均下调频率目标值，而是每当母线电压值上升到某个阈值时，再下调频率目标值。
如此，作为一种具体实施例，本申请所提供的异步电机的快速减速控制方法在上述内容的基础上，所述根据频率下调参数和所述母线电压值计算当前下调后的所述频率目标值，包括：
判断所述母线电压值是否大于预设的母线电压阈值；
若否，则保持所述频率目标值的当前取值不变；
若是，则依据所述母线电压值与所述母线电压阈值的差值以及所述频率下调参数，计算当前下调后的所述频率目标值。
其中，母线电压阈值大小的设置可留有一定的安全裕量，以有效避免母线电压过压。此时，下调后的频率目标值可具体基于如下频率设定公式而计算获取：
Figure PCTCN2020138960-appb-000001
其中，f out为上次下调后的频率目标值，亦为本次下调前的频率目标值；
Figure PCTCN2020138960-appb-000002
为本次下调后的频率目标值；k 1和k 2均为频率下调参数，0<k 1<1，0<k 2；V dc为母线电压值；V th为母线电压阈值。
又或者，本申请也可以固定在每若干个控制周期后或者每隔若干秒后进行一次下调，每次的下调量亦可基于频率下调参数与母线电压值而确定，本领域技术人员可根据实际应用情况而自行选择并设置。容易理解的是，在母线电压值没有过压风险时，可线性下调频率目标值；在母线电压值存在过压风险时，可在原线性下调的基础上，再适当增大下调幅度。
此外，出于加快减速速度的因素考虑，本申请当然也可在每个采样周期内均对频率目标值进行一次下调。如此，下调后的频率目标值可具体基于如下频率设定公式而计算获取：
Figure PCTCN2020138960-appb-000003
其中，f out为上次下调后的频率目标值，亦为本次下调前的频率目标值；
Figure PCTCN2020138960-appb-000004
为本次下调后的频率目标值；k 1、k 2和k 3均为频率下调参数，0<k 1<1，0<k 2，0<k 3<1；V dc为母线电压值；V th为母线电压阈值。
具体地，本领域技术人员可合理设置频率下调参数k 1、k 2和k 3的取值，以控制频率目标值的下降速率。
参见图4所示，本申请实施例公开了一种异步电机的快速减速控制系统，主要包括：
调制模块201，用于根据控制器的输出调制生成对应的脉冲信号以驱动变频器；
变频器202，用于输出三相电压至异步电机的定子以驱动异步电机；
控制器203：用于基于电流目标值控制变频器的输出电流稳定，基于频率目标值控制变频器的输出电压频率递减，使得转化为的母线电压能量减少；其中，电流目标值为定值，频率目标值为由变频器的母线电压值确定、从初始值逐次递减的变值。
可见，本申请实施例所公开的异步电机的快速减速控制系统，基于电流闭环保障了变频器的输出电流稳定，避免了成本的增大，同时，本申请结合母线电压上升情况下调频率目标值，不断令异步电机恢复为高转差运行状态，避免了电机减速过程中的能量抬升母线电压，有效防止了母线过压，极大提高了产品经济效益。
关于上述异步电机的快速减速控制系统的具体内容，可参考前述关于异步电机的快速减速控制方法的详细介绍，这里就不再赘述。
作为一种具体实施例，本申请实施例所公开的异步电机的快速减速控制系统在上述内容的基础上，控制器203具体用于：
基于电流目标值和输出电流实际值，以闭环调节方式控制所述变频器的输出电流稳定。作为一种具体实施例，本申请实施例所公开的异步电机 的快速减速控制系统在上述内容的基础上，还包括用于采集变频器202的三相电流值的电流传感器；控制器203在基于电流给定值和输出电流实际值以闭环调节方式控制变频器202的输出电流稳定时，具体用于：
实时获取电流传感器采集的变频器202输出的三相电流值；根据三相电流值实时计算出对应的输出电流实际值；对电流给定值与输出电流实际值的差值进行广义PID计算，获取电压幅值控制量，基于所述电压幅值控制量，控制所述变频器的输出电流稳定。
作为一种具体实施例，本申请实施例所公开的异步电机的快速减速控制系统在上述内容的基础上，控制器203在对电流给定值与输出电流实际值的差值进行广义PID计算时，具体用于：对所述差值进行仅包括比例环节和积分环节的PI计算。
作为一种具体实施例，本申请实施例所公开的异步电机的快速减速控制系统在上述内容的基础上，控制器203在基于频率目标值控制变频器202的输出电压频率逐次递减时，具体用于：
实时获取变频器202的母线电压值；根据频率下调参数和母线电压值计算当前下调后的频率目标值；对频率目标值进行积分以获取输出电压相位控制量，基于所述输出电压相位控制量，控制所述变频器的输出电压频率降低。
其中，变频器202的母线电压值可由电压采集电路通过引线获取，并且可进一步按照一定比例进行电压大小调理，以使调理后的母线电压值处于控制器204的电压处理范围内。
作为一种具体实施例，本申请实施例所公开的异步电机的快速减速控制系统在上述内容的基础上，控制器203在根据频率下调参数和母线电压值计算当前下调后的频率目标值时，具体用于：
判断所述母线电压值是否大于预设的母线电压阈值；若否，则保持所述频率目标值的当前取值不变；若是，则依据所述母线电压值与所述母线电压阈值的差值以及所述频率下调参数，计算当前下调后的所述频率目标值。
作为一种具体实施例，本申请实施例所公开的异步电机的快速减速控 制系统在上述内容的基础上，控制器203在根据频率下调参数和母线电压值计算当前下调后的频率目标值时，具体用于：
判断所述母线电压值是否大于预设的母线电压阈值；若否，则依据所述频率下调参数计算线性递减后的所述频率目标值；若是，则依据所述母线电压值与所述母线电压阈值的差值以及所述频率下调参数，计算当前下调后的所述频率目标值。
作为一种具体实施例，本申请实施例所公开的异步电机的快速减速控制系统在上述内容的基础上，控制器203还用于：
在基于电流目标值控制用于驱动异步电机的变频器的输出电流稳定、基于频率目标值控制变频器的输出电压频率递减之前，获取变频器202当前输出电压的第一频率，以便将第一频率与预设系数的乘积确定为频率目标值的初始值，预设系数小于1。
参见图5所示，本申请实施例公开了一种电子设备，包括：
存储器301，用于存储计算机程序；
处理器302，用于执行所述计算机程序以实现如上所述的任一种异步电机的快速减速控制方法的步骤。
进一步地，本申请实施例还公开了一种计算机可读存储介质，所述计算机可读存储介质中存储有计算机程序，所述计算机程序被处理器执行时用以实现如上所述的任一种异步电机的快速减速控制方法的步骤。
关于上述电子设备和计算机可读存储介质的具体内容，可参考前述关于异步电机的快速减速控制方法的详细介绍，这里就不再赘述。
本申请中各个实施例采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似部分互相参见即可。对于实施例公开的设备而言，由于其与实施例公开的方法相对应，所以描述的比较简单，相关之处参见方法部分说明即可。
还需说明的是，在本申请文件中，诸如“第一”和“第二”之类的关系术语，仅仅用来将一个实体或者操作与另一个实体或者操作区分开来， 而不一定要求或者暗示这些实体或者操作之间存在任何这种实际的关系或者顺序。此外，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
以上对本申请所提供的技术方案进行了详细介绍。本文中应用了具体个例对本申请的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本申请的方法及其核心思想。应当指出，对于本技术领域的普通技术人员来说，在不脱离本申请原理的前提下，还可以对本申请进行若干改进和修饰，这些改进和修饰也落入本申请的保护范围内。

Claims (10)

  1. 一种异步电机的快速减速控制方法，其特征在于，包括：
    基于电流目标值控制用于驱动所述异步电机的变频器的输出电流稳定，基于频率目标值控制所述变频器的输出电压频率逐次递减，使得转化为母线电压的能量减少；其中，所述电流目标值为定值，所述频率目标值为由所述变频器的母线电压值确定、从初始值逐次递减的变值。
  2. 根据权利要求1所述的异步电机的快速减速控制方法，其特征在于，所述基于电流目标值控制用于驱动所述异步电机的变频器的输出电流稳定，包括：
    基于电流目标值和输出电流实际值，以闭环调节方式控制所述变频器的输出电流稳定。
  3. 根据权利要求2所述的异步电机的快速减速控制方法，其特征在于，所述基于电流目标值和输出电流实际值以闭环调节方式控制所述变频器的输出电流稳定，包括：
    实时获取电流传感器采集的所述变频器输出的三相电流值；
    根据所述三相电流值实时计算出对应的所述输出电流实际值；
    对所述电流给定值与所述输出电流实际值的差值进行广义PID计算，以获取电压幅值控制量；
    基于所述电压幅值控制量，控制所述变频器的输出电流稳定。
  4. 根据权利要求1所述的异步电机的快速减速控制方法，其特征在于，所述基于频率目标值控制所述变频器的输出电压频率逐次递减，包括：
    实时获取所述变频器的所述母线电压值；
    根据频率下调参数和所述母线电压值计算当前下调后的所述频率目标值；
    对所述频率目标值进行积分以获取输出电压相位控制量；
    基于所述输出电压相位控制量，控制所述变频器的输出电压频率降低。
  5. 根据权利要求4所述的异步电机的快速减速控制方法，其特征在于，所述根据频率下调参数和所述母线电压值计算当前下调后的所述频率目标值，包括：
    判断所述母线电压值是否大于预设的母线电压阈值；
    若否，则保持所述频率目标值的当前取值不变；
    若是，则依据所述母线电压值与所述母线电压阈值的差值以及所述频率下调参数，计算当前下调后的所述频率目标值。
  6. 根据权利要求4所述的异步电机的快速减速控制方法，其特征在于，所述根据频率下调参数和所述母线电压值计算当前下调后的所述频率目标值，包括：
    判断所述母线电压值是否大于预设的母线电压阈值；
    若否，则依据所述频率下调参数计算线性递减后的所述频率目标值；
    若是，则依据所述母线电压值与所述母线电压阈值的差值以及所述频率下调参数，计算当前下调后的所述频率目标值。
  7. 根据权利要求1至6任一项所述的异步电机的快速减速控制方法，其特征在于，在所述基于电流目标值控制用于驱动所述异步电机的变频器的输出电流稳定、基于频率目标值控制所述变频器的输出电压频率递减之前，还包括：
    检测所述变频器当前输出电压的第一频率，并将所述第一频率与预设系数的乘积确定为所述频率目标值的所述初始值，所述预设系数小于1。
  8. 一种异步电机的快速减速控制系统，其特征在于，包括：
    调制模块，用于根据控制器的输出调制生成对应的脉冲信号以驱动变频器；
    所述变频器，用于输出三相电压至所述异步电机的定子以驱动所述异步电机；
    所述控制器：用于基于电流目标值控制所述变频器的输出电流稳定，基于频率目标值控制所述变频器的输出电压频率递减，使得转化为的母线电压能量减少；其中，所述电流目标值为定值，所述频率目标值为由所述变频器的母线电压值确定、从初始值逐次递减的变值。
  9. 一种电子设备，其特征在于，包括：
    存储器，用于存储计算机程序；
    处理器，用于执行所述计算机程序以实现如权利要求1至7任一项所 述的异步电机的快速减速控制方法的步骤。
  10. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质中存储有计算机程序，所述计算机程序被处理器执行时用以实现如权利要求1至7任一项所述的异步电机的快速减速控制方法的步骤。
PCT/CN2020/138960 2020-12-24 2020-12-24 一种异步电机的快速减速控制方法、系统、设备及介质 WO2022133887A1 (zh)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN202080003717.5A CN112740533B (zh) 2020-12-24 2020-12-24 一种异步电机的快速减速控制方法、系统、设备及介质
PCT/CN2020/138960 WO2022133887A1 (zh) 2020-12-24 2020-12-24 一种异步电机的快速减速控制方法、系统、设备及介质

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2020/138960 WO2022133887A1 (zh) 2020-12-24 2020-12-24 一种异步电机的快速减速控制方法、系统、设备及介质

Publications (1)

Publication Number Publication Date
WO2022133887A1 true WO2022133887A1 (zh) 2022-06-30

Family

ID=75609534

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2020/138960 WO2022133887A1 (zh) 2020-12-24 2020-12-24 一种异步电机的快速减速控制方法、系统、设备及介质

Country Status (2)

Country Link
CN (1) CN112740533B (zh)
WO (1) WO2022133887A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116039341A (zh) * 2023-03-28 2023-05-02 浙江零跑科技股份有限公司 一种电机加热方法、计算机设备、可读存储介质及电动车

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5089760A (en) * 1986-12-10 1992-02-18 Square D Company DC bus voltage regulation by controlling the frequency in a variable frequency inverter
JP4524855B2 (ja) * 2000-05-22 2010-08-18 株式会社安川電機 Ｐｗｍ制御インバータ
CN102136719A (zh) * 2010-01-21 2011-07-27 深圳市汇川技术股份有限公司 一种抑制变频器过压失速的方法及装置
CN102931889A (zh) * 2012-10-29 2013-02-13 江苏仁源电气有限公司 变频传动系统过电压失速防止控制方法
CN108429506A (zh) * 2018-03-08 2018-08-21 深圳市海浦蒙特科技有限公司 变频器控制电机减速的方法和装置
CN109245657A (zh) * 2018-11-14 2019-01-18 珠海格力节能环保制冷技术研究中心有限公司 压缩机驱动系统启动控制方法、装置、设备和冰箱
CN109525105A (zh) * 2018-12-25 2019-03-26 欧瑞传动电气股份有限公司 一种快速抑制变频器母线电压泵升的方法
CN110365255A (zh) * 2019-07-24 2019-10-22 江西盈克电子科技有限公司 一种变频器的制动方法及系统

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010161875A (ja) * 2009-01-08 2010-07-22 Meidensha Corp 誘導電動機の減速制御方式
CN206402050U (zh) * 2016-12-28 2017-08-11 嘉兴伏尔电子科技有限公司 异步电机交流快速刹车装置
GB2565059A (en) * 2017-07-28 2019-02-06 Edwards Ltd Induction motor control

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5089760A (en) * 1986-12-10 1992-02-18 Square D Company DC bus voltage regulation by controlling the frequency in a variable frequency inverter
JP4524855B2 (ja) * 2000-05-22 2010-08-18 株式会社安川電機 Ｐｗｍ制御インバータ
CN102136719A (zh) * 2010-01-21 2011-07-27 深圳市汇川技术股份有限公司 一种抑制变频器过压失速的方法及装置
CN102931889A (zh) * 2012-10-29 2013-02-13 江苏仁源电气有限公司 变频传动系统过电压失速防止控制方法
CN108429506A (zh) * 2018-03-08 2018-08-21 深圳市海浦蒙特科技有限公司 变频器控制电机减速的方法和装置
CN109245657A (zh) * 2018-11-14 2019-01-18 珠海格力节能环保制冷技术研究中心有限公司 压缩机驱动系统启动控制方法、装置、设备和冰箱
CN109525105A (zh) * 2018-12-25 2019-03-26 欧瑞传动电气股份有限公司 一种快速抑制变频器母线电压泵升的方法
CN110365255A (zh) * 2019-07-24 2019-10-22 江西盈克电子科技有限公司 一种变频器的制动方法及系统

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116039341A (zh) * 2023-03-28 2023-05-02 浙江零跑科技股份有限公司 一种电机加热方法、计算机设备、可读存储介质及电动车

Also Published As

Publication number Publication date
CN112740533B (zh) 2023-02-21
CN112740533A (zh) 2021-04-30

Similar Documents

Publication Publication Date Title
CN104796050B (zh) 一种抑制无刷直流电机转矩脉动的延迟控制方法
TWI446138B (zh) 風力發電之激磁式同步發電機系統的控制方法
CN113037156B (zh) 一种混合励磁发电机的控制方法
JP2020502989A (ja) 風力タービン動取出の調節方法
CN104067508A (zh) 控制无刷电机的方法
EP2736164A2 (en) Method for efficiency optimization of a wind generator by controlling the electrical generator and system therefor
CN111092587A (zh) 一种变频调速控制方法
WO2022133887A1 (zh) 一种异步电机的快速减速控制方法、系统、设备及介质
CN105048510A (zh) 电压跌落时直驱永磁风力发电系统有功功率动态控制方法
CN107070352B (zh) 一种开关磁阻电机调速系统
KR20170030260A (ko) 유도 전동기의 재기동 방법
KR102048164B1 (ko) 풍력 터빈 파워 인출을 조정하는 방법
McSwiggan et al. Modelling and control of a variable-speed switched reluctance generator based wind turbine
RU2447573C1 (ru) Электропривод переменного тока
CN113285646B (zh) 一种不使用外接制动单元的驱动器制动控制方法
CA2714698C (en) Method and system for braking an ac motor
CN111342721A (zh) 一种永磁同步电机的控制方法、装置及相关组件
Olarescu et al. Optimum torque control algorithm for wide speed range and four quadrant operation of stator flux oriented induction machine drive without regenerative unit
Nair et al. A smooth and stable open-loop IF control for a surface mount PMSM drive by ensuring controlled starting torque
Yuliang et al. Segmental PWM Variable Duty Cycle Control of Switched Reluctance Motor Based on Current Chopping
CN109386427B (zh) 考虑逆变器限流特性的直驱式永磁同步风电机组控制方法
CN106899242B (zh) 一种无刷双馈电机启动控制装置及方法
WO2022261999A1 (zh) 逆变器驱动感性负载的输出控制方法、装置、设备及介质
CN110391774B (zh) 一种永磁同步电机控制装置及转速波动抑制方法
US20230361704A1 (en) Adjustable phase advance for pm motor control

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20966459

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 20966459

Country of ref document: EP

Kind code of ref document: A1

122 Ep: pct application non-entry in european phase

Ref document number: 20966459

Country of ref document: EP

Kind code of ref document: A1