CN107733293A - A kind of method and device of controlled motor reduction of speed - Google Patents
A kind of method and device of controlled motor reduction of speed Download PDFInfo
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- CN107733293A CN107733293A CN201711089221.0A CN201711089221A CN107733293A CN 107733293 A CN107733293 A CN 107733293A CN 201711089221 A CN201711089221 A CN 201711089221A CN 107733293 A CN107733293 A CN 107733293A
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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
- 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
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Abstract
The invention provides a kind of method and device of controlled motor reduction of speed, this method, including：Obtain rotating speed of target；The current rotating speed of motor in real time, when the rotating speed of target is less than the current rotating speed, perform：In real time according to the rotating speed of target and the current rotating speed, it is determined that current quadrature-axis voltage；Current DC voltage is gathered in real time；Whether current DC voltage is more than predeterminated voltage described in real-time judge, if it is, according to the current DC voltage and the predeterminated voltage, determines current goal direct-axis current；Current direct-axis current is determined in real time, and according to the current direct-axis current and the current goal direct-axis current, it is determined that current direct-axis voltage；In real time according to the current quadrature-axis voltage and the current direct-axis voltage, the motor is controlled to rotate., being capable of more easily controlled motor the invention provides a kind of method and device of controlled motor reduction of speed.
Description
Technical field
The present invention relates to motor control technology field, more particularly to a kind of method and device of controlled motor reduction of speed.
Background technology
In order to carry out reduction of speed, it is necessary to be braked to motor to the motor of high-speed cruising.
In the prior art, come to motor braking typically by way of increasing energy consumption resistance.Specifically, in the circuit of motor
The extra power circuitry for including energy consumption resistance of middle addition.The mechanical energy that motor rotates is converted to the thermal energy consumption of energy consumption resistance
Fall, realize the reduction of speed to motor.
It is visible by foregoing description, it is necessary to add extra power circuitry in existing technical scheme, add circuit
Complexity.
The content of the invention
, being capable of more easily controlled motor the embodiments of the invention provide a kind of method and device of controlled motor reduction of speed
Reduction of speed.
On the one hand, the embodiments of the invention provide a kind of method of controlled motor reduction of speed, including：
Obtain rotating speed of target；
The current rotating speed of motor in real time, when the rotating speed of target is less than the current rotating speed, perform：
In real time according to the rotating speed of target and the current rotating speed, it is determined that current quadrature-axis voltage；
Current DC voltage is gathered in real time；
Whether current DC voltage is more than predeterminated voltage described in real-time judge, if it is, according to the current direct current
Pressure and the predeterminated voltage, determine current goal direct-axis current；
Determine current direct-axis current in real time, and according to the current direct-axis current and the current goal direct-axis current, really
Settled preceding direct-axis voltage；
In real time according to the current quadrature-axis voltage and the current direct-axis voltage, the motor is controlled to rotate.
Further,
It is described that current goal direct-axis current is determined according to the current DC voltage and the predeterminated voltage, including：
According to formula one, the current goal direct-axis current is determined, wherein, the formula one is：
Id*=(V0-Vc)F；
Wherein, Id* is the current goal direct-axis current, V0For the predeterminated voltage, VcFor the current DC voltage, F
For preset constant, F is more than 0, V0More than 0.
Further,
It is described in real time according to the rotating speed of target and the current rotating speed, it is determined that current quadrature-axis voltage, including：
According to formula two, current goal quadrature axis current is determined, wherein, the formula two is：
Wherein, Iq* is the current goal quadrature axis current, and ω * are the rotating speed of target, and ω is the current rotating speed, K1
For the first rate mu-factor, T1For first integral time constant, s is differential operator, K1More than 0, T1More than 0；
Current quadrature axis current is determined in real time；
According to formula three, the current quadrature-axis voltage is determined, wherein, the formula three is：
Wherein, Vq is the current quadrature-axis voltage, and Iq is the current quadrature axis current, K2For the second rate mu-factor, T2
For second integral time constant, s is differential operator, K2More than 0, T2More than 0.
Further,
It is described according to the current direct-axis current and the current goal direct-axis current, it is determined that current direct-axis voltage, including：
According to formula four, the current direct-axis voltage is determined, wherein, the formula four is：
Wherein, Vd is the current direct-axis voltage, and Id* is the current goal direct-axis current, and Id is the current d-axis
Electric current, K3For the 3rd rate mu-factor, T3For third integral time constant, s is differential operator, K3More than 0, T3More than 0.
Further,
It is described to control the motor to rotate in real time according to the current quadrature-axis voltage and the current direct-axis voltage, including：
In real time according to the current quadrature-axis voltage and the current direct-axis voltage, generation SVPWM ((Space Vector
Pulse Width Modulation, space vector pulse width modulation) signal, control the motor to turn using the SVPWM signals
It is dynamic.
Further,
It is described gather current DC voltage in real time before, further comprise：
Whether current rotating speed is less than preset rotation speed described in real-time judge, if it is, determining the current goal d-axis electricity
Flow for 0, perform it is described determines current direct-axis current in real time, otherwise, perform and described gather current DC voltage in real time.
Further,
When judging that the current DC voltage is less than or equal to the predeterminated voltage, the current goal d-axis electricity is determined
Flow for 0.
On the other hand, the embodiments of the invention provide a kind of device of controlled motor reduction of speed, including：
Acquiring unit, for obtaining rotating speed of target；
First controller, for the current rotating speed of motor in real time, when the rotating speed of target is less than the current rotating speed
When, trigger quadrature-axis voltage determining unit and target direct-axis current determining unit；
The quadrature-axis voltage determining unit, in real time according to the rotating speed of target and the current rotating speed, it is determined that currently
Quadrature-axis voltage, the current quadrature-axis voltage is sent to the 3rd controller；
The target direct-axis current determining unit is current straight described in real-time judge for gathering current DC voltage in real time
Whether stream voltage is more than predeterminated voltage, if it is, according to the current DC voltage and the predeterminated voltage, it is determined that current mesh
Direct-axis current is marked, triggers second controller；
The second controller, for determining current direct-axis current in real time, and according to the current direct-axis current and described
Current goal direct-axis current, it is determined that current direct-axis voltage, the 3rd controller is sent to by the current direct-axis voltage；
3rd controller, for according to the current quadrature-axis voltage and the current direct-axis voltage, controlling institute in real time
State motor rotation.
Further,
The target direct-axis current determining unit, for according to formula one, determining the current goal direct-axis current, its
In, the formula one is：
Id*=(V0-Vc)F；
Wherein, Id* is the current goal direct-axis current, V0For the predeterminated voltage, VcFor the current DC voltage, F
For preset constant, F is more than 0, V0More than 0.
Further,
The quadrature-axis voltage determining unit, for performing：
According to formula two, current goal quadrature axis current is determined, wherein, the formula two is：
Wherein, Iq* is the current goal quadrature axis current, and ω * are the rotating speed of target, and ω is the current rotating speed, K1
For the first rate mu-factor, T1For first integral time constant, s is differential operator, K1More than 0, T1More than 0；
Current quadrature axis current is determined in real time；
According to formula three, the current quadrature-axis voltage is determined, wherein, the formula three is：
Wherein, Vq is the current quadrature-axis voltage, and Iq is the current quadrature axis current, K2For the second rate mu-factor, T2
For second integral time constant, s is differential operator, K2More than 0, T2More than 0.
Further,
The second controller, for according to formula four, determining the current direct-axis voltage, wherein, the formula four is：
Wherein, Vd is the current direct-axis voltage, and Id* is the current goal direct-axis current, and Id is the current d-axis
Electric current, K3For the 3rd rate mu-factor, T3For third integral time constant, s is differential operator, K3More than 0, T3More than 0.
Further,
3rd controller, in real time according to the current quadrature-axis voltage and the current direct-axis voltage, generation
SVPWM signals, the motor is controlled to rotate using the SVPWM signals.
Further,
The target direct-axis current determining unit, be further used for it is described gather current DC voltage in real time before, it is real
When judge whether the current rotating speed is less than preset rotation speed, if it is, determining that the current goal direct-axis current is 0, trigger
The second controller, otherwise, execution is described to gather current DC voltage in real time.
Further,
The target direct-axis current determining unit, it is further used for working as and judges that the current DC voltage is less than or equal to institute
When stating predeterminated voltage, it is 0 to determine the current goal direct-axis current, triggers the second controller.
In embodiments of the present invention, current quadrature-axis voltage is determined by rotating speed of target and current rotating speed, according to current direct current
Voltage and predeterminated voltage determine current goal direct-axis current, are determined according to current direct-axis current and current goal direct-axis current current
Direct-axis voltage, rotated according to current quadrature-axis voltage and current direct-axis voltage controlled motor, controlled motor reaches the mistake of rotating speed of target
Cheng Wuxu adds new circuit, when needing to carry out reduction of speed to motor, the mechanical energy of motor is converted into electric energy, feeds back to direct current
, being capable of more easily controlled motor reduction of speed on the DC capacitor of side.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are the present invention
Some embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis
These accompanying drawings obtain other accompanying drawings.
Fig. 1 is a kind of flow chart of the method for controlled motor reduction of speed that one embodiment of the invention provides；
Fig. 2 is a kind of connection diagram for motor that one embodiment of the invention provides；
Fig. 3 is the flow chart of the method for another controlled motor reduction of speed that one embodiment of the invention provides；
Fig. 4 is a kind of schematic diagram of the device for controlled motor reduction of speed that one embodiment of the invention provides.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, rather than whole embodiments, based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained on the premise of creative work is not made, belongs to the scope of protection of the invention.
As shown in figure 1, the embodiments of the invention provide a kind of method of controlled motor reduction of speed, this method can include following
Step：
Step 100：Obtain rotating speed of target；
Step 101：The current rotating speed of motor in real time, whether rotating speed of target described in real-time judge, which is less than, described is worked as forward
Speed, if it is, performing step 102 and step 103；
Step 102：In real time according to the rotating speed of target and the current rotating speed, it is determined that current quadrature-axis voltage；
Step 103：Current DC voltage is gathered in real time；
Step 104：Whether current DC voltage is more than predeterminated voltage described in real-time judge, if it is, performing step
105；
Step 105：According to the current DC voltage and the predeterminated voltage, current goal direct-axis current is determined；
Step 106：Current direct-axis current is determined in real time, and according to the current direct-axis current and the current goal d-axis
Electric current, it is determined that current direct-axis voltage；
Step 107：In real time according to the current quadrature-axis voltage and the current direct-axis voltage, the motor is controlled to rotate.
In embodiments of the present invention, current quadrature-axis voltage is determined by rotating speed of target and current rotating speed, according to current direct current
Voltage and predeterminated voltage determine current goal direct-axis current, are determined according to current direct-axis current and current goal direct-axis current current
Direct-axis voltage, rotated according to current quadrature-axis voltage and current direct-axis voltage controlled motor, controlled motor reaches the mistake of rotating speed of target
Cheng Wuxu adds new circuit, when needing to carry out reduction of speed to motor, the mechanical energy of motor is converted into electric energy, feeds back to direct current
, being capable of more easily controlled motor reduction of speed on the DC capacitor of side.
The embodiment of the present invention is mainly used in the process of motor reduction, it is, when rotating speed of target is less than current rotating speed,
Perform step 103-107.
In an embodiment of the present invention, it is described according to the current DC voltage and the predeterminated voltage, it is determined that current mesh
Direct-axis current is marked, including：
According to formula one, the current goal direct-axis current is determined, wherein, the formula one is：
Id*=(V0-Vc)F；
Wherein, Id* is the current goal direct-axis current, V0For the predeterminated voltage, VcFor the current DC voltage, F
For preset constant, F is more than 0, V0More than 0.
In embodiments of the present invention, when current dc source is more than predeterminated voltage, current mesh is determined by formula one
Direct-axis current is marked, from formula one, when current dc source is more than predeterminated voltage, current goal direct-axis current is negative value,
Moreover, current DC voltage is bigger, the absolute value of current goal direct-axis current is bigger.By the way that current goal direct-axis current is set
For negative value so that the electric energy that mechanical energy during motor braking is changed is passed through motor itself by motor itself winding as energy consumption resistance
The heating of winding consumes, and then inhibits the rising of the voltage on the DC capacitor of DC side, avoid DC capacitor because plus
The voltage of load is excessive and damages, and ensure that the safety of DC capacitor.
In embodiments of the present invention, F can determine according to the power of motor.Such as：The power of motor is bigger, and F is bigger.
V0It can be determined according to the pressure voltage of each DC capacitor of DC side.Such as：V0More than 0, and V0Less than or equal to each direct current
Minimum value in the pressure voltage of electric capacity.
In an embodiment of the present invention, it is described gather current DC voltage in real time before, further comprise：
Whether current rotating speed is less than preset rotation speed described in real-time judge, if it is, determining the current goal d-axis electricity
Flow for 0, perform it is described determines current direct-axis current in real time, otherwise, perform and described gather current DC voltage in real time.
In embodiments of the present invention, when current rotating speed is less than preset rotation speed, illustrate that current rotating speed is relatively low, in order to avoid right
The influence of motor low speed operation, 0 is arranged to by current goal direct-axis current.In addition, now motor speed is smaller, comprising machinery
Can be also smaller, even if being all converted to electric energy, it voltage on the DC capacitor of DC side is had big rising.By this hair
Bright embodiment can ensure DC side DC capacitor it is safe while, moreover it is possible to avoid to motor low speed operation cause shadow
Ring.
In embodiments of the present invention, preset rotation speed can determine according to the rated speed of motor.Such as：Motor it is specified
Rotating speed is higher, and preset rotation speed is bigger.
In an embodiment of the present invention, when judging that the current DC voltage is less than or equal to the predeterminated voltage, really
The fixed current goal direct-axis current is 0.
In embodiments of the present invention, when current DC voltage is less than or equal to predeterminated voltage, each direct current of DC side
Appearance is safe, without being controlled to direct-axis current.
In an embodiment of the present invention, it is described in real time according to the current quadrature-axis voltage and the current direct-axis voltage, control
The motor is made to rotate, including：
In real time according to the current quadrature-axis voltage and the current direct-axis voltage, SVPWM signals are generated, using described
SVPWM signals control the motor to rotate.
In embodiments of the present invention, the SVPWM signals of generation can be sent to frequency converter corresponding to motor, pass through the frequency conversion
Device carrys out the rotation of controlled motor.
A kind of as shown in Fig. 2 connection diagram of motor provided in an embodiment of the present invention.Shown in figure rectifier bridge 201,
DC capacitor 202, frequency converter 203 and motor 204.Wherein, city supplies electricity to rectifier bridge power supply.
As shown in Fig. 2 the motor in the embodiment of the present invention is controlled by variable frequency control system of motor.The motor frequency conversion
Control system is " AC-DC-AC " frequency conversion, using field-oriented vector control.First by the AC rectification of civil power into direct current, then
Inverse of the DC into AC drive control motor.By AC rectification in the system of direct current, typically using uncontrollable rectifier,
This method for rectifying is unidirectional, i.e., can only realize flowing of the electric energy from mains to direct current, it is impossible to carries out direct current to civil power
The flowing of exchange.Electric energy caused by motor braking, mainly feeds back on DC capacitor.
In an embodiment of the present invention, it is described according to the rotating speed of target and the current rotating speed, it is determined that current quadrature axis electricity
Pressure, including：
According to formula two, current goal quadrature axis current is determined, wherein, the formula two is：
Wherein, Iq* is the current goal quadrature axis current, and ω * are the rotating speed of target, and ω is the current rotating speed, K1
For the first rate mu-factor, T1For first integral time constant, s is differential operator, K1More than 0, T1More than 0；
Current quadrature axis current is determined in real time；
According to formula three, the current quadrature-axis voltage is determined, wherein, the formula three is：
Wherein, Vq is the current quadrature-axis voltage, and Iq is the current quadrature axis current, K2For the second rate mu-factor, T2
For second integral time constant, s is differential operator, K2More than 0, T2More than 0.
In embodiments of the present invention, according to formula two, current goal quadrature axis is determined using rotating speed of target and current rotating speed
Electric current, according to formula three, using current goal quadrature axis current and current quadrature axis current, determine current quadrature-axis voltage.In formula
Two and formula three in, K1、T1、K2And T2It can be arranged as required to.
In an embodiment of the present invention, it is described according to the current direct-axis current and the current goal direct-axis current, really
Settled preceding direct-axis voltage, including：
According to formula four, the current direct-axis voltage is determined, wherein, the formula four is：
Wherein, Vd is the current direct-axis voltage, and Id* is the current goal direct-axis current, and Id is the current d-axis
Electric current, K3For the 3rd rate mu-factor, T3For third integral time constant, s is differential operator, K3More than 0, T3More than 0.
In embodiments of the present invention, according to formula four, determined using current goal direct-axis current and current direct-axis current
Current direct-axis voltage, K3And T3It can configure as needed.
As shown in figure 3, the embodiments of the invention provide a kind of method of controlled motor reduction of speed, this method can include following
Step：
Step 301：Obtain rotating speed of target.
Specifically, the rotating speed of target can be that user inputs as needed, such as：Can be defeated by modes such as buttons
Enter.The rotating speed of target can also be that outside detection device inputs, such as：Outside detection device is temperature sensor, when
When temperature sensor detects that temperature is higher than default temperature value, rotating speed of target is generated, to reduce the rotating speed of motor, reaches cooling
Purpose.
In embodiments of the present invention, the rotating speed of motor is constantly close to rotating speed of target, until reaching rotating speed of target.
After step 301, the rotating speed of motor is progressively adjusted, until reaching rotating speed of target, and it is attached to maintain rotating speed of target
Closely, dynamic equilibrium is reached, with the adjustment of the rotating speed of motor, parameters are also changing, after step 301, Ge Gebu
Rapid is all periodically to perform, and is a dynamic process.
Step 302：Whether the current rotating speed of motor in real time, real-time judge rotating speed of target are less than current rotating speed, if
It is then to perform step 303, step 304 and step 306.
Specifically, as the adjustment of motor speed, current rotating speed are also constantly changing, general trend be to rotating speed of target not
It is disconnected close.
When rotating speed of target is less than current rotating speed, step 303- steps 313 are performed.
Step 303：In real time according to rotating speed of target and current rotating speed, current goal quadrature axis current is determined.
Specifically, current goal quadrature axis current can be calculated by formula two.Wherein, formula two is：
Wherein, Iq* is current goal quadrature axis current, and ω * are rotating speed of target, and ω is current rotating speed, K1Put for the first ratio
Big coefficient, T1For first integral time constant, s is differential operator, K1More than 0, T1More than 0.
Specifically, the desired value of current goal quadrature axis current i.e. quadrature axis current, quadrature axis current are handed over to the current goal
Shaft current is close, and certainly, current goal quadrature axis current is also as current speed dynamic changes.
In motor braking, rotating speed of target is less than current rotating speed, and it can be seen from formula two, current goal quadrature axis current is negative
Value, quadrature axis current is close to the current goal quadrature axis current, and quadrature axis current also gradually becomes negative value, at this moment, can produce one with
The opposite torque of direction of motor rotation, realizes the braking of motor.In addition, adjusting the size of this torque, motor braking can adjust
Speed, so as to realize to motor carry out fast braking.
Step 304：Current quadrature axis current is determined in real time.
Specifically, current quadrature axis current is close to current goal quadrature axis current.With adjustment process, current quadrature axis current
In dynamic change.
Step 305：In real time according to current goal quadrature axis current and current quadrature axis current, it is determined that current quadrature-axis voltage.
Specifically, according to formula three, it is determined that current quadrature-axis voltage, wherein, formula three is：
Wherein, Vq is current quadrature-axis voltage, and Iq is current quadrature axis current, K2For the second rate mu-factor, T2For the second product
Point time constant, s are differential operator, K2More than 0, T2More than 0.
Specifically, current quadrature-axis voltage is with current goal quadrature axis current and current quadrature axis current dynamic change.
Step 306：Whether the current rotating speed of real-time judge is less than preset rotation speed, if it is, performing step 307, otherwise, holds
Row step 308.
Specifically, when current rotating speed is less than preset rotation speed, without carrying out the control of direct-axis current.
Step 307：It is 0 to determine current goal direct-axis current, performs step 312.
Specifically, direct-axis current can be close to 0, and this is, electric energy caused by motor braking mainly feeds back to DC side
On DC capacitor.
Step 308：Current DC voltage is gathered in real time.
Specifically, DC voltage refers to the voltage at the DC capacitor both ends of DC side.DC capacitor as shown in Figure 2.
Step 309：Whether the current DC voltage of real-time judge is more than predeterminated voltage, if it is, step 310 is performed, it is no
Then, step 311 is performed.
Specifically, when current DC voltage is more than predeterminated voltage, illustrate that the voltage on DC capacitor is larger, exist certain
Potential safety hazard, it is necessary to the control of direct-axis current be carried out, to suppress the rising of the DC voltage on DC capacitor.
Step 310：According to current DC voltage and predeterminated voltage, current goal direct-axis current is determined, performs step 312.
Specifically, according to formula one, current goal direct-axis current is determined, wherein, formula one is：
Id*=(V0-Vc)F；
Wherein, Id* is current goal direct-axis current, V0For predeterminated voltage, VcFor current DC voltage, F is preset constant, F
More than 0, V0More than 0.
From formula one, DC voltage is more, and current goal direct-axis current is bigger, and then make it that direct-axis current is bigger,
Increase the loss in machine winding, and then increase the suppression to DC voltage.
Because current DC voltage is more than predeterminated voltage, therefore, current goal direct-axis current is negative value, and then causes motor
Part electric energy is converted to the heat energy of the winding of motor caused by braking.
In embodiments of the present invention, in motor braking, an extra direct-axis current is introduced, it is extra straight using this
Heating of the shaft current in machine winding, the heating loss for increasing motor, it will can be converted by electromechanics during motor reduction
Power consumption fall, as little as possible by the electric energy feedback that electromechanics can be changed to DC capacitor, so as to realize to direct current
The suppression of pressure.
Step 311：It is 0 to determine current goal direct-axis current, performs step 312.
Specifically, when current DC voltage is less than or equal to predeterminated voltage, illustrate that the voltage on DC capacitor is smaller, direct current
Potential safety hazard is not present in electric capacity, without carrying out the control of direct-axis current.
Step 312：Determine current direct-axis current in real time, and according to current direct-axis current and current goal direct-axis current, really
Settled preceding direct-axis voltage.
Specifically, according to formula four, it is determined that current direct-axis voltage, wherein, formula four is：
Wherein, Vd is current direct-axis voltage, and Id* is current goal direct-axis current, and Id is current direct-axis current, K3For the 3rd
Rate mu-factor, T3For third integral time constant, s is differential operator, K3More than 0, T3More than 0.
Specifically, current direct-axis voltage dynamically becomes with the change of current goal direct-axis current and current direct-axis current
Change.
Step 313：In real time according to current quadrature-axis voltage and current direct-axis voltage, SVPWM signals are generated, are believed using SVPWM
Number controlled motor rotates.
Specifically, under the control for the SVPWM signals that current quadrature-axis voltage and current direct-axis voltage generate, the rotating speed of motor
It is gradually close to rotating speed of target.
As shown in figure 4, a kind of device for controlled motor reduction of speed that the present embodiment provides, including：
Acquiring unit 400, for obtaining rotating speed of target；
First controller 401, for the current rotating speed of motor in real time, when the rotating speed of target works as forward less than described
When fast, triggering quadrature-axis voltage determining unit 402 and target direct-axis current determining unit 403；
The quadrature-axis voltage determining unit 402, in real time according to the rotating speed of target and the current rotating speed, it is determined that working as
Preceding quadrature-axis voltage, the current quadrature-axis voltage is sent to the 3rd controller 405；
The target direct-axis current determining unit 403, it is current described in real-time judge for gathering current DC voltage in real time
Whether DC voltage is more than predeterminated voltage, if it is, according to the current DC voltage and the predeterminated voltage, it is determined that currently
Target direct-axis current, trigger second controller；
The second controller 404, for determining current direct-axis current in real time, and according to the current direct-axis current and institute
Current goal direct-axis current is stated, it is determined that current direct-axis voltage, the 3rd controller is sent to by the current direct-axis voltage；
3rd controller 405, in real time according to the current quadrature-axis voltage and the current direct-axis voltage, control
The motor rotates.
In embodiments of the present invention, current quadrature-axis voltage is determined by rotating speed of target and current rotating speed, according to current direct current
Voltage and predeterminated voltage determine current goal direct-axis current, are determined according to current direct-axis current and current goal direct-axis current current
Direct-axis voltage, rotated according to current quadrature-axis voltage and current direct-axis voltage controlled motor, controlled motor reaches the mistake of rotating speed of target
Cheng Wuxu adds new circuit, when needing to carry out reduction of speed to motor, the mechanical energy of motor is converted into electric energy, feeds back to direct current
, being capable of more easily controlled motor on the DC capacitor of side.
In an embodiment of the present invention, the target direct-axis current determining unit, for according to formula one, it is determined that described work as
Preceding target direct-axis current, wherein, the formula one is：
Id*=(V0-Vc)F；
Wherein, Id* is the current goal direct-axis current, V0For the predeterminated voltage, VcFor the current DC voltage, F
For preset constant, F is more than 0, V0More than 0.
In an embodiment of the present invention, the quadrature-axis voltage determining unit, for performing：
According to formula two, current goal quadrature axis current is determined, wherein, the formula two is：
Wherein, Iq* is the current goal quadrature axis current, and ω * are the rotating speed of target, and ω is the current rotating speed, K1
For the first rate mu-factor, T1For first integral time constant, s is differential operator, K1More than 0, T1More than 0；
Current quadrature axis current is determined in real time；
According to formula three, the current quadrature-axis voltage is determined, wherein, the formula three is：
Wherein, Vq is the current quadrature-axis voltage, and Iq is the current quadrature axis current, K2For the second rate mu-factor, T2
For second integral time constant, s is differential operator, K2More than 0, T2More than 0.
In an embodiment of the present invention, the second controller, for according to formula four, determining the current d-axis electricity
Pressure, wherein, the formula four is：
Wherein, Vd is the current direct-axis voltage, and Id* is the current goal direct-axis current, and Id is the current d-axis
Electric current, K3For the 3rd rate mu-factor, T3For third integral time constant, s is differential operator, K3More than 0, T3More than 0.
In embodiments of the present invention, the first controller can be made up of the first PI controllers and the 2nd PI controllers.Wherein,
First PI controllers have K1And T1Two parameter configurations form.2nd PI controllers are by K2And T2Two parameter configurations form.By mesh
The difference of mark rotating speed and current rotating speed is input in the first PI controllers, the first PI controllers output current goal quadrature axis current.
Current quadrature axis current and current goal quadrature axis current are input in the 2nd PI controllers, export current quadrature-axis voltage.
In an embodiment of the present invention, the 3rd controller, in real time according to the current quadrature-axis voltage and described
Current direct-axis voltage, SVPWM signals are generated, control the motor to rotate using the SVPWM signals.
In embodiments of the present invention, frequency converter can be included in the 3rd controller, SVPWM signals are input to frequency converter
In, rotated by frequency converter come controlled motor.
In an embodiment of the present invention, the target direct-axis current determining unit, it is further used in the collection in real time
Before current DC voltage, whether current rotating speed is less than preset rotation speed described in real-time judge, if it is, determining the current mesh
It is 0 to mark direct-axis current, triggers the second controller, and otherwise, execution is described to gather current DC voltage in real time.
In an embodiment of the present invention, the target direct-axis current determining unit, it is further used for working as and judges described work as
When preceding DC voltage is less than or equal to the predeterminated voltage, it is 0 to determine the current goal direct-axis current, triggering second control
Device.
The each embodiment of the present invention at least has the advantages that：
1st, in embodiments of the present invention, current quadrature-axis voltage is determined by rotating speed of target and current rotating speed, according to current straight
Stream voltage and predeterminated voltage determine current goal direct-axis current, determine to work as according to current direct-axis current and current goal direct-axis current
Preceding direct-axis voltage, rotated according to current quadrature-axis voltage and current direct-axis voltage controlled motor, controlled motor reaches rotating speed of target
Process need not add new circuit, and when needing to carry out reduction of speed to motor, the mechanical energy of motor is converted into electric energy, feed back to straight
, being capable of more easily controlled motor reduction of speed on the DC capacitor for flowing side.
2nd, in embodiments of the present invention, when current dc source is more than predeterminated voltage, determined currently by formula one
Target direct-axis current, from formula one, when current dc source is more than predeterminated voltage, current goal direct-axis current is negative
Value, moreover, current DC voltage is bigger, the absolute value of current goal direct-axis current is bigger.By by current goal direct-axis current
It is arranged to negative value so that the electric energy that mechanical energy during motor braking is changed is passed through motor by motor itself winding as energy consumption resistance
The heating of itself winding consumes, and then inhibits the rising of the voltage on the DC capacitor of DC side, avoid DC capacitor because
For the excessive safety damaged, ensure that DC capacitor of voltage of loading.
3rd, in embodiments of the present invention, when current rotating speed is less than preset rotation speed, illustrate that current rotating speed is relatively low, in order to avoid
Influence to the operation of motor low speed, 0 is arranged to by current goal direct-axis current.In addition, now motor speed is smaller, comprising machine
Tool can be also smaller, even if being all converted to electric energy, voltage on the DC capacitor of DC side is had big rising.Pass through this
Inventive embodiments can ensure DC side DC capacitor it is safe while, moreover it is possible to avoid to motor low speed operation cause shadow
Ring.
It should be noted that herein, such as first and second etc relational terms are used merely to an entity
Or operation makes a distinction with another entity or operation, and not necessarily require or imply and exist between these entities or operation
Any this actual relation or order.Moreover, term " comprising ", "comprising" or its any other variant be intended to it is non-
It is exclusive to include, so that process, method, article or equipment including a series of elements not only include those key elements,
But also the other element including being not expressly set out, or also include solid by this process, method, article or equipment
Some key elements.In the absence of more restrictions, the key element limited by sentence " including one ", is not arranged
Except other identical factor in the process including the key element, method, article or equipment being also present.
One of ordinary skill in the art will appreciate that：Realizing all or part of step of above method embodiment can pass through
Programmed instruction related hardware is completed, and foregoing program can be stored in computer-readable storage medium, the program
Upon execution, the step of execution includes above method embodiment；And foregoing storage medium includes：ROM, RAM, magnetic disc or light
Disk etc. is various can be with the medium of store program codes.
It is last it should be noted that：Presently preferred embodiments of the present invention is the foregoing is only, is merely to illustrate the skill of the present invention
Art scheme, is not intended to limit the scope of the present invention.Any modification for being made within the spirit and principles of the invention,
Equivalent substitution, improvement etc., are all contained in protection scope of the present invention.
Claims (10)
- A kind of 1. method of controlled motor reduction of speed, it is characterised in that including：Obtain rotating speed of target；The current rotating speed of motor in real time, when the rotating speed of target is less than the current rotating speed, perform：In real time according to the rotating speed of target and the current rotating speed, it is determined that current quadrature-axis voltage；Current DC voltage is gathered in real time；Whether current DC voltage is more than predeterminated voltage described in real-time judge, if it is, according to the current DC voltage and The predeterminated voltage, determine current goal direct-axis current；Current direct-axis current is determined in real time, and according to the current direct-axis current and the current goal direct-axis current, it is determined that working as Preceding direct-axis voltage；In real time according to the current quadrature-axis voltage and the current direct-axis voltage, the motor is controlled to rotate.
- 2. according to the method for claim 1, it is characterised in thatIt is described that current goal direct-axis current is determined according to the current DC voltage and the predeterminated voltage, including：According to formula one, the current goal direct-axis current is determined, wherein, the formula one is：Id*=(V0-Vc)F；Wherein, Id* is the current goal direct-axis current, V0For the predeterminated voltage, VcFor the current DC voltage, F is pre- If constant, F is more than 0, V0More than 0.
- 3. according to the method for claim 1, it is characterised in thatIt is described in real time according to the rotating speed of target and the current rotating speed, it is determined that current quadrature-axis voltage, including：According to formula two, current goal quadrature axis current is determined, wherein, the formula two is：<mrow> <mi>I</mi> <mi>q</mi> <mo>*</mo> <mo>=</mo> <msub> <mi>K</mi> <mn>1</mn> </msub> <mrow> <mo>(</mo> <mi>&omega;</mi> <mo>*</mo> <mo>-</mo> <mi>&omega;</mi> <mo>)</mo> </mrow> <mo>+</mo> <mfrac> <mn>1</mn> <mrow> <msub> <mi>T</mi> <mn>1</mn> </msub> <mi>s</mi> </mrow> </mfrac> <mrow> <mo>(</mo> <mi>&omega;</mi> <mo>*</mo> <mo>-</mo> <mi>&omega;</mi> <mo>)</mo> </mrow> <mo>;</mo> </mrow>Wherein, Iq* is the current goal quadrature axis current, and ω * are the rotating speed of target, and ω is the current rotating speed, K1For first Rate mu-factor, T1For first integral time constant, s is differential operator, K1More than 0, T1More than 0；Current quadrature axis current is determined in real time；According to formula three, the current quadrature-axis voltage is determined, wherein, the formula three is：<mrow> <mi>V</mi> <mi>q</mi> <mo>=</mo> <msub> <mi>K</mi> <mn>2</mn> </msub> <mrow> <mo>(</mo> <mi>I</mi> <mi>q</mi> <mo>*</mo> <mo>-</mo> <mi>I</mi> <mi>q</mi> <mo>)</mo> </mrow> <mo>+</mo> <mfrac> <mn>1</mn> <mrow> <msub> <mi>T</mi> <mn>2</mn> </msub> <mi>s</mi> </mrow> </mfrac> <mrow> <mo>(</mo> <mi>I</mi> <mi>q</mi> <mo>*</mo> <mo>-</mo> <mi>I</mi> <mi>q</mi> <mo>)</mo> </mrow> <mo>;</mo> </mrow>Wherein, Vq is the current quadrature-axis voltage, and Iq is the current quadrature axis current, K2For the second rate mu-factor, T2For Two integration time constants, s are differential operator, K2More than 0, T2More than 0.
- 4. according to any described method in claim 1-3, it is characterised in thatIt is described according to the current direct-axis current and the current goal direct-axis current, it is determined that current direct-axis voltage, including：According to formula four, the current direct-axis voltage is determined, wherein, the formula four is：<mrow> <mi>V</mi> <mi>d</mi> <mo>=</mo> <msub> <mi>K</mi> <mn>3</mn> </msub> <mrow> <mo>(</mo> <mi>I</mi> <mi>d</mi> <mo>*</mo> <mo>-</mo> <mi>I</mi> <mi>d</mi> <mo>)</mo> </mrow> <mo>+</mo> <mfrac> <mn>1</mn> <mrow> <msub> <mi>T</mi> <mn>3</mn> </msub> <mi>s</mi> </mrow> </mfrac> <mrow> <mo>(</mo> <mi>I</mi> <mi>d</mi> <mo>*</mo> <mo>-</mo> <mi>I</mi> <mi>d</mi> <mo>)</mo> </mrow> <mo>;</mo> </mrow>Wherein, Vd is the current direct-axis voltage, and Id* is the current goal direct-axis current, and Id is the current direct-axis current, K3For the 3rd rate mu-factor, T3For third integral time constant, s is differential operator, K3More than 0, T3More than 0；And/orIt is described to control the motor to rotate in real time according to the current quadrature-axis voltage and the current direct-axis voltage, including：In real time according to the current quadrature-axis voltage and the current direct-axis voltage, space vector pulse width modulation SVPWM signals are generated, The motor is controlled to rotate using the SVPWM signals.
- 5. according to any described method in claim 1-3, it is characterised in thatIt is described gather current DC voltage in real time before, further comprise：Whether current rotating speed is less than preset rotation speed described in real-time judge, if it is, determining that the current goal direct-axis current is 0, execution is described to determine current direct-axis current in real time, and otherwise, execution is described to gather current DC voltage in real time；And/orWhen judging that the current DC voltage is less than or equal to the predeterminated voltage, determine that the current goal direct-axis current is 0。
- A kind of 6. device of controlled motor reduction of speed, it is characterised in that including：Acquiring unit, for obtaining rotating speed of target；First controller, for the current rotating speed of motor in real time, when the rotating speed of target is less than the current rotating speed, touch Send out quadrature-axis voltage determining unit and target direct-axis current determining unit；The quadrature-axis voltage determining unit, in real time according to the rotating speed of target and the current rotating speed, it is determined that current quadrature axis Voltage, the current quadrature-axis voltage is sent to the 3rd controller；The target direct-axis current determining unit, for gathering current DC voltage, current direct current described in real-time judge in real time Whether pressure is more than predeterminated voltage, if it is, according to the current DC voltage and the predeterminated voltage, determines that current goal is straight Shaft current, trigger second controller；The second controller, for determining current direct-axis current in real time, and according to the current direct-axis current and described current Target direct-axis current, it is determined that current direct-axis voltage, the 3rd controller is sent to by the current direct-axis voltage；3rd controller, for according to the current quadrature-axis voltage and the current direct-axis voltage, controlling the electricity in real time Machine rotates.
- 7. device according to claim 6, it is characterised in thatThe target direct-axis current determining unit, for according to formula one, determining the current goal direct-axis current, wherein, institute Stating formula one is：Id*=(V0-Vc)F；Wherein, Id* is the current goal direct-axis current, V0For the predeterminated voltage, VcFor the current DC voltage, F is pre- If constant, F is more than 0, V0More than 0.
- 8. device according to claim 6, it is characterised in thatThe quadrature-axis voltage determining unit, for performing：According to formula two, current goal quadrature axis current is determined, wherein, the formula two is：<mrow> <mi>I</mi> <mi>q</mi> <mo>*</mo> <mo>=</mo> <msub> <mi>K</mi> <mn>1</mn> </msub> <mrow> <mo>(</mo> <mi>&omega;</mi> <mo>*</mo> <mo>-</mo> <mi>&omega;</mi> <mo>)</mo> </mrow> <mo>+</mo> <mfrac> <mn>1</mn> <mrow> <msub> <mi>T</mi> <mn>1</mn> </msub> <mi>s</mi> </mrow> </mfrac> <mrow> <mo>(</mo> <mi>&omega;</mi> <mo>*</mo> <mo>-</mo> <mi>&omega;</mi> <mo>)</mo> </mrow> <mo>;</mo> </mrow>Wherein, Iq* is the current goal quadrature axis current, and ω * are the rotating speed of target, and ω is the current rotating speed, K1For first Rate mu-factor, T1For first integral time constant, s is differential operator, K1More than 0, T1More than 0；Current quadrature axis current is determined in real time；According to formula three, the current quadrature-axis voltage is determined, wherein, the formula three is：<mrow> <mi>V</mi> <mi>q</mi> <mo>=</mo> <msub> <mi>K</mi> <mn>2</mn> </msub> <mrow> <mo>(</mo> <mi>I</mi> <mi>q</mi> <mo>*</mo> <mo>-</mo> <mi>I</mi> <mi>q</mi> <mo>)</mo> </mrow> <mo>+</mo> <mfrac> <mn>1</mn> <mrow> <msub> <mi>T</mi> <mn>2</mn> </msub> <mi>s</mi> </mrow> </mfrac> <mrow> <mo>(</mo> <mi>I</mi> <mi>q</mi> <mo>*</mo> <mo>-</mo> <mi>I</mi> <mi>q</mi> <mo>)</mo> </mrow> <mo>;</mo> </mrow>Wherein, Vq is the current quadrature-axis voltage, and Iq is the current quadrature axis current, K2For the second rate mu-factor, T2For Two integration time constants, s are differential operator, K2More than 0, T2More than 0.
- 9. according to any described device in claim 6-8, it is characterised in thatThe second controller, for according to formula four, determining the current direct-axis voltage, wherein, the formula four is：<mrow> <mi>V</mi> <mi>d</mi> <mo>=</mo> <msub> <mi>K</mi> <mn>3</mn> </msub> <mrow> <mo>(</mo> <mi>I</mi> <mi>d</mi> <mo>*</mo> <mo>-</mo> <mi>I</mi> <mi>d</mi> <mo>)</mo> </mrow> <mo>+</mo> <mfrac> <mn>1</mn> <mrow> <msub> <mi>T</mi> <mn>3</mn> </msub> <mi>s</mi> </mrow> </mfrac> <mrow> <mo>(</mo> <mi>I</mi> <mi>d</mi> <mo>*</mo> <mo>-</mo> <mi>I</mi> <mi>d</mi> <mo>)</mo> </mrow> <mo>;</mo> </mrow>Wherein, Vd is the current direct-axis voltage, and Id* is the current goal direct-axis current, and Id is the current direct-axis current, K3For the 3rd rate mu-factor, T3For third integral time constant, s is differential operator, K3More than 0, T3More than 0；And/or3rd controller, in real time according to the current quadrature-axis voltage and the current direct-axis voltage, generation space arrow Pulsewidth modulation SVPWM signals are measured, control the motor to rotate using the SVPWM signals.
- 10. according to any described device in claim 6-8, it is characterised in thatThe target direct-axis current determining unit, be further used for it is described gather current DC voltage in real time before, sentence in real time Whether the disconnected current rotating speed is less than preset rotation speed, if it is, determining that the current goal direct-axis current is 0, described in triggering Second controller, otherwise, execution is described to gather current DC voltage in real time；And/orThe target direct-axis current determining unit, it is further used for working as and judges the current DC voltage less than or equal to described pre- If during voltage, it is 0 to determine the current goal direct-axis current, triggers the second controller.
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