CN1354556A - Method for preventing bus voltage from excessing - Google Patents
Method for preventing bus voltage from excessing Download PDFInfo
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Abstract
The invention relates to a method for preventing the voltage of dc bus in transducer from raising. The method includes following steps:. The voltage of dc bus in the transducer is controlled in closed loop, based on detected voltage. The closed loop control is realized by following procedure. Whether the negative operation for the outputting value of the voltage closed loop carriers on or not is dependent on the moving direction of electric motor. That is: when the motor moves in positive direction, the operation needs to execute; when the motor in negative direction, the operation does not need to execute. The invented method can effectively prevent dc bus in transducer from over voltage fault in slowdown process. The invention guarantees the accuracy and smoothness in controlling speed.
Description
Technical field
The present invention relates to motor technology, be specifically related to prevent in a kind of alternating current motor vector control system that the frequency changer direct current bus voltage pump from rising too high method.
Background technology
In the prior art, the vector control of alternating current motor has obtained using very widely at transmission field, its control idea is that the stator current with alternating current motor is decomposed into exciting current and torque current two parts, copy the control idea of DC motor to control the magnetic flux (excitation current component of stator current) of motor respectively and export torque (torque current component of stator current), Fig. 1 is the vector control system structure chart of most widely used in the prior art employing voltage source PWM inverter.
Stator current moment components instruction shown in Fig. 1 and excitation current component instruction all are the current values in the synchronous rotating frame, the torque current component instruction is the output of speed regulator, and the no-load current and the weak magnetic control of excitation current component instruction and motor are shaped on the pass, and weak magnetic control system generally is to carry out according to the motor speed of service that detects.The adjusting of torque current and exciting current is all carried out in synchronous rotating frame, and the output of two current regulators is stator voltage vector component on two reference axis in synchronous rotating frame.Two voltage instruction components of current regulator output obtain the instantaneous value of three-phase voltage instruction, these three input instructions that instantaneous voltage is exactly the PWM inverter after coordinate transform.On the other hand, detected three-phase electricity flow valuve obtains two the current feedback components of electric current in synchronous rotating frame through coordinate transform, the feedback that these two current components are controlled as current closed-loop on the one hand, be used to calculate the rotor magnetic flux of motor on the one hand, thereby calculate the anglec of rotation of coordinate system, it is used for aforesaid coordinate transform, can also in the vector control of Speedless sensor, be used for the rotating speed of identifying motor to form the closed-loop control of rotating speed.
In the vector control system of alternating current motor, it is too high that frequency changer direct current bus pump up voltage appears in the meeting in motor moderating process, and the DC bus-bar voltage pump from rising too high method and comprising dynamic braking, magnetic flux braking and regenerative braking several method normal preventing of adopting.Based on the system configuration of dynamic braking method as shown in Figure 2, this method between the dc bus positive and negative busbar of frequency converter, connect a switching tube (for example IGBT) and brake resistance, when detected busbar voltage arrives the voltage threshold of setting, the conducting of control switch pipe, make DC bus-bar voltage be added in the brake resistance two ends, avoid the DC bus-bar voltage pump to rise too high purpose thereby reach to dc bus discharge by brake resistance.This method has increased the complexity of cost and hardware system owing to increased a switching tube and a brake resistance.
Conventional another kind control busbar voltage pump rises the magnetic flux braking that too high method is a motor, the thinking of this method is the magnetic flux of motor of increasing exchanges in motor moderating process, allow part energy consumption at motor internal, thereby slacken the pump liter of frequency changer direct current bus voltage.This method can increase the motor magnetic flux by the method that increases the motor input voltage in the frequency-changing control system of VVVF.In the vector control system of alternating current motor, the excitation component of stator current is represented the magnetic flux of motor, directly increases the stator excitation current component, and the magnetic flux of motor is increased.But this method is owing to be converted into heat loss fast in motor with the rotating energy of motor, and it is serious to cause that the motor feels hot, can not adopt in the occasion of frequent start-stop.
It all is that the energy consumption that needs is fed back to the dc capacitor side in motor moderating process is fallen that the too high method of frequency converter pump up voltage is avoided for two kinds in the front, perhaps consumes in the DC side brake resistance, or consumes in motor.Also having a kind of too high method of pump up voltage that prevents is the regenerative braking of frequency converter, and this method is that the active inversion device is housed in frequency converter, electromotor feedback can be fed back to grid side to the meritorious energy of DC side by active inverter.Regenerative braking method great advantage is the energy consumption of feedback in the motor moderating process need not be fallen, energy savings, but owing to increased active inverter, the complexity of hardware cost and hardware system increases greatly, and make control system become very complicated, so generally the governing system at high-power elevating mechanism etc. adopts, general low power frequency conversion system applies is less.
In universal frequency converter, the function of stall protection is generally all arranged, the main thought of this function is the parameters such as voltage and current of real-time detecting system in the acceleration and deceleration process, stops when voltage or electric current variable exceed setting range quickening or slowing down when detecting.It is too high that the stall protection function can suppress the pump up voltage of frequency converter in moderating process effectively, stops to slow down when detecting the frequency changer direct current bus overtension, can avoid frequency changer direct current bus voltage to continue to rise.But, how does overvoltage stall realize in the vector control system of alternating current motor? detecting the reduction that DC bus-bar voltage stops the given speed of service after too high, may take place busbar voltage to lose control of and the overvoltage fault occurs, perhaps can make the speed of service instability of system, it is stepped that the rate curve of system slowdown process is occurred, and be difficult to the assurance system and can slow down with the fastest speed under the overvoltage prerequisite not occurring.
Summary of the invention
The technical problem to be solved in the present invention is, how in the vector control system of motor, DC bus-bar voltage to be controlled, the system that can guarantee steadily slows down with the fastest speed under the prerequisite that the overvoltage fault do not occur, and then reaches and prevent that the frequency changer direct current bus voltage pump from rising too high purpose.
Above-mentioned technical problem of the present invention is to solve like this, construct a kind of method that prevents that the electric machine control system busbar voltage is too high, it is characterized in that, may further comprise the steps: detect DC bus-bar voltage, frequency changer direct current bus voltage is carried out closed-loop control according to detected DC bus-bar voltage.
Above-mentioned according to method provided by the invention in, describedly frequency changer direct current bus voltage is carried out closed-loop control comprise: the step of whether negate is carried out in the output of voltage close loop according to the traffic direction decision of motor, when the motor forward moves, the output of voltage close loop need be carried out reverse operating, and the output of voltage close loop need not to carry out inversion operation during the motor inverted running.
Above-mentioned according to method provided by the invention in, further comprising the steps of: as motor to be carried out the closed-loop control of speed, the output of described speed closed loop control and the closed-loop control output of described frequency changer direct current bus are superposeed, with the command value of stack result as vector control system stator current moment components.
Above-mentioned according to method provided by the invention in, further comprising the steps of: as to detect motor operating speed, when the absolute value of this speed of service absolute value less than setting speed, and the torque current command of speed closed loop output this moment helps the increase of speed absolute value, then carry out speed regulation, and the closed-loop control output of the control of speed regulation output with described frequency changer direct current bus superposeed, with the command value of stack result as vector control system stator current moment components.
Above-mentioned according to method provided by the invention in, it is characterized in that, when described speed closed loop controller is the PID controller, when speed closed loop is cut system, must guarantee that the integrator of PID is 0, join on the PID integration accumulator of Voltage loop and will go up an output of clapping speed ring when cutting out system, level and smooth to guarantee to switch.
Above-mentioned according to method provided by the invention in, it is characterized in that, when slow down beginning and moderating process finish, when voltage close loop is cut system, must guarantee that the integrator of PID is 0, join on the PID integration accumulator of Voltage loop and will go up an output of clapping speed ring when cutting out system, can take over seamlessly with the assurance system.
Above-mentioned according to method provided by the invention in, it is characterized in that, carry out following steps in moderating process: detect or debate the knowledge motor speed simultaneously in the detection d-c bus voltage value, carry out after voltage close loop PI regulates according to detected DC bus-bar voltage, determine the output of K1 value and correction speed regulator according to rotary speed direction, carrying out der Geschwindigkeitkreis PI according to feedback speed regulates, output according to rotating speed and speed ring adjuster, judge whether the condition of cancellation der Geschwindigkeitkreis is set up, if set up, then put der Geschwindigkeitkreis and be output as 0 and guarantee to seamlessly transit; If be false or put der Geschwindigkeitkreis and be output as 0, then, obtain torque current command with Voltage loop and der Geschwindigkeitkreis output addition; Carry out following steps in non-moderating process: the cancellation Voltage loop is regulated and is guaranteed and seamlessly transits; Carry out speed closed loop PI adjusting and obtain torque current command.
Implement the method that prevents that the electric machine control system busbar voltage is too high provided by the invention, can prevent effectively that the overvoltage fault appears in frequency changer direct current bus in the moderating process of alternating-current actuating system motor, and do not occur making under the prerequisite of overvoltage system to slow down in system with the fastest speed, moderating process is steady simultaneously, the geard-down speed curve of motor does not occur stepped, and when relatively growing deceleration time, guarantee the accuracy of moderating process medium velocity control.
Description of drawings
Fig. 1 is an alternating current motor vector control system structure chart that adopts Voltage Source PWM Inverter.
Fig. 2 is the system construction drawing of frequency conversion speed-adjusting system dynamic braking.
Fig. 3 is a generation block diagram of regulating the torque current command of vector control system according to employing frequency changer direct current bus voltage close loop provided by the invention.
Fig. 4 is the vector control system torque current command calculation flow chart that adopts the frequency converter closed-loop control.
Fig. 5 adopts the inventive method to carry out alternating current motor control, is during by 50HZ step reduce-speed sign in velocity setting, the curve of the motor setting speed and the speed of service in the system.
Fig. 6 carries out alternating current motor control with the inventive method, the curve of motor setting speed and the speed of service in the system when velocity setting slowly descends.
Embodiment
The method that the present invention proposes is in motor moderating process, frequency changer direct current bus voltage is formed closed-loop control, guarantee that by regulating rotating speed of motor frequency changer direct current bus voltage can not surpass the voltage threshold of setting, thereby avoid the busbar voltage pump to rise the too high fault that causes.How to add the frequency changer direct current bus closed-loop control in vector control system is the emphasis of the inventive method.
In the vector control system of alternating current motor, it is permanent flux regulator that motor operates in fundamental frequency following, this moment, the stator current excitation component was the no-load current value of motor, more than the motor fundamental frequency permanent power control, this moment, the stator excitation electric current changed by weak magnetic control system rule, the excitation current component that is to say motor determines generally that under certain motor speed the moment of control motor or rotating speed are to realize by the moment components of controlling the motor stator electric current.Control of conversion device DC bus-bar voltage also is to realize by the stator current moment components of controlling motor among the present invention.
According to above thinking, the generation part of the torque current command of vector control system is adjusted, Fig. 3 is illustrated in the system based on the inventive method structure, generates the structured flowchart of torque current command.Say simply, stator current moment components command value is obtained by output of speed ring adjuster and frequency converter busbar voltage closed-loop regulator output addition in the system, and the judgment processing K1 that increases a torque current symbol in the system in the voltage regulator back (please check the bracket in the specification, the suggestion deletion), simultaneously, output back at speed regulator increases a K switch 2, according to the choice of certain conditional decision speed ring.Below in conjunction with Fig. 3, introduce the operation principle of whole vector control system in detail.
At first; the control idea of DC bus-bar voltage closed-loop regulator is: detect bus direct voltage (302); in busbar voltage than higher even when surpassing the setting voltage threshold value; need make the deceleration of motor or shut down slack-off; with the motor inverted running is example; the torque current command of motor in moderating process be on the occasion of; motor is in generating state; if at this moment the busbar voltage pump rises too high; bus regulator output torque current component must make the motor torque electric current diminish; thereby reduce the forward moment of motor; the deceleration of motor or shut down slack-off; motor reduces to direct current survey time energy regenerative by inverter, has guaranteed that DC bus-bar voltage can not surpass the setting voltage threshold value.
In Fig. 3, through after the direct current voltage regulator 301, the processing links 303 of definite moment current symbol is arranged, this link is equivalent to export superior COEFFICIENT K 1 at voltage regulator, (K1=1 or-1).Is example with the PID adjuster as bus regulator 301, the integrator initial value of supposing the PID adjuster is 0, when busbar voltage during greater than the setting voltage threshold value, Voltage loop PID adjuster is output as negative, if motor inverted running then the output valve of PID adjuster does not need reindexing, K1=1 just, if the motor forward turns round then needs the output of Voltage loop reverse, be K1=-1, how Voltage loop output all is the absolute value that reduces torque current to motor steering like this, plays and suppresses the purpose that busbar voltage further rises.
Should be noted that; the adjusting of this busbar voltage is that motor slows down or the speed of shutdown avoids frequency converter pump up voltage too high by weakening; this is equivalent to the stall protection in the universal frequency converter; this method can guarantee automatically that system slows down with prestissimo, reach a kind of adjusting result of optimum in that busbar voltage is surpassed under the situation of setting threshold.
Another important link is the K switch 2 (306) of speed regulator 304 output back.The controlled target of AC speed regulating control system is in that to guarantee to guarantee under fail-safe prerequisite that good velocity control accuracy adds that speed closed loop (305) can be guaranteed to control stable.But Voltage loop acts on and may make the predetermined deceleration of motor speed reducing ratio slow under the different motor ruuning situation, also may make predetermined fast of motor speed reducing ratio, like this Voltage loop in some cases the adjusting of its control action and speed ring be inconsistent, the K switch 2 (306) in the system is exactly to regulate this contradiction.
If the deceleration time of default is very short, with the given signal of default speed is that the reduce-speed sign of a step is an example, an independent voltage regulator is just passable in the system in this case, system only need get final product guaranteeing that busbar voltage is no more than to slow down as early as possible under the prerequisite of setting voltage threshold value, do not need speed regulator 304 to come governing speed, this moment, K switch 2 (306) disconnected, if setting speed is not a step signal, but as long as guaranteeing that than system busbar voltage is no more than weak point deceleration time the fastest under the setting voltage threshold value situation deceleration time of setting, K switch 2 just should be opened; If the deceleration time of default is relatively long, an independent voltage close loop adjuster may make faster that the speed reducing ratio of motor sets, and causes speed control inaccurate, at this moment needs der Geschwindigkeitkreis is cut system, and K switch 2 needs closure.Specifically, the condition of K switch 2 closures is: when motor speed of service absolute value less than the setting speed absolute value, and the torque current command of speed closed loop output this moment helps the increase of speed absolute value.The condition that why adds the back is because near motor decelerating to zero-speed the time, the motor speed appearance oppositely or only is that the speed of identification and detection occurs oppositely, leans on the state of the big or small determine switch K2 of setting speed and feedback speed absolute value to make the mistake easily in this case merely.
System works normally for assurance, also have a bit extremely important: Voltage loop works in control system always in moderating process, can not surpass setting threshold so can guarantee the frequency converter busbar voltage, but speed closed loop is to add system under motor slows down too fast situation, be the due effect of playing that can be very fast after the assurance speed closed loop incision system, the output violent change of speed regulator should be bigger than the output violent change of Voltage loop, the gain height of the ratio of gains voltage regulator of speed regulator, can both bring into play the effect that Voltage loop prevents overvoltage like this, guarantee the precision and the control stabilization degree of speed control again.
In addition, because system medium speed adjuster back is a switch, if speed regulator and voltage regulator thereof using PID adjuster, then there is a problem that seamlessly transits, that is to say when K switch 2 disconnects, the output of speed regulator becomes 0 from original value, can cause the system speed operation not steady.In numerical control system, directly join in the integrator of Voltage loop PID adjuster if when K switch 2 disconnects, will go up an output of clapping speed regulator, can very simply realize seamlessly transitting like this.On the other hand, after moderating process finished, the regulation loop of busbar voltage should be rejected from system, needed equally here to remove seamlessly transitting of Voltage loop, and last one output of clapping joined in the der Geschwindigkeitkreis adjuster and gets final product when Voltage loop PID adjuster was cut out system.Before speed ring and voltage close loop incision system, must guarantee that the integration accumulator initial value of two PID adjusters is 0.
Through K1, K2 handles the back addition with the output of above-mentioned voltage close loop adjuster and the output of speed closed loop adjuster, as the torque current command of vector control system, and the effect that can be well controlled of the closed-loop control by torque current.Can guarantee that any moderating process system the overvoltage fault of slowing down can not occur, system slowdown process medium velocity operates steadily, and speed control is accurate under deceleration time relatively long situation.
In universal frequency converter; the general user can select motor to shut down the method for braking; comprise the deceleration halt mode that has busbar voltage control of selecting dynamic braking, magnetic flux braking and introduction of the present invention; can be used as a kind of independent method according to method provided by the invention, select to use according to the concrete condition of system by the user.Introduce implementation and the control effect of method in a kind of vector control universal frequency converter that the present invention introduces below.
Related vector control system is basic consistent with the system architecture diagram of Fig. 1, and speed feedback can be that code-disc tests the speed also can be speed according to the magnetic flux Model Distinguish, speed regulator employing pi regulator.The generation such as the structure of torque current command are shown in Figure 3, and voltage regulator also adopts pi regulator.Control method according to the busbar voltage of the inventive method can all be finished by software, and the control cycle of system is 2MS, and the integration accumulator of two pi regulators adopts 32 Double Word structure to guarantee the control effect.Fig. 4 is a control flow chart of realizing that busbar voltage is regulated.As shown in Figure 4, start from frame 401, in frame 402, judge whether to be in moderating process; As be in moderating process, then in frame 403, detect or debate the knowledge motor speed simultaneously in the detection d-c bus voltage value; In frame 404, carry out voltage close loop PI according to detected DC bus-bar voltage and regulate, in frame 405, determine the output of K1 value and correction speed regulator according to rotary speed direction; In frame 406, carry out der Geschwindigkeitkreis PI according to feedback speed and regulate, in frame 407,, judge whether the condition of cancellation der Geschwindigkeitkreis is set up according to the output of rotating speed and speed ring adjuster, if set up, then be output as 0 and also guarantee to seamlessly transit at frame 408 mid-der Geschwindigkeitkreis; If be false or put der Geschwindigkeitkreis and be output as 0, then in frame 409 with Voltage loop and der Geschwindigkeitkreis output addition, obtain torque current command; Be in non-moderating process if judge in frame 402, then in frame 410, the cancellation Voltage loop is regulated and is guaranteed and seamlessly transits; In frame 411, carry out speed closed loop PI adjusting and obtain torque current command, end at frame 412 at last.
For guaranteeing the voltage-controlled accuracy of frequency changer direct current bus, the sample frequency that direct voltage detects is high more, and the busbar voltage of control is steady more.Fig. 5 is when reduce-speed sign is step signal, and the curve of the 15KW motor setting speed and the speed of service, Fig. 6 are in deceleration time when long (T=20S), the curve of the 15KW motor setting speed and the speed of service.From the control result, setting deceleration time very in short-term, this method can guarantee that busbar voltage is controlled at and can not occur the overvoltage fault near the setting voltage threshold value, and set when relatively growing deceleration time, the velocity control accuracy of this method is very accurately, can not influence the control of speed closed loop owing to the adding of Voltage loop.
It may be noted that this method also can be used in combination with other retarding braking method.If in vector control system, the exciting current of suitable raising system in the moderating process has just been realized the mix use of magnetic flux braking with this busbar voltage control method; Perhaps when decelerating to a certain setpoint frequency, system's output dc voltage then can be realized the DC injection braking of shutting down.In the product of the inventive method embodiment, multiple braking method can be combined, to satisfy the many-sided demand of user.
In AC vector control system based on the inventive method, frequency changer direct current bus voltage is carried out closed-loop control, the output of closed-loop regulator is as the part of vector control system torque command, by the speed that regulating system moderating process speed descends, guarantee that dc bus overvoltage fault does not appear in the system slowdown process.In the moderating process of AC vector control system, the output of frequency changer direct current bus voltage close loop adjuster and the output sum of system speed adjuster are as the command value of vector control system stator current moment components, and the moment of two common regulating systems of adjuster is exported.Voltage close loop is used for guaranteeing that the direct current overvoltage does not appear in moderating process, and speed closed loop is used for guaranteeing that speed control is accurate.Wherein, the voltage close loop of dc bus works in system in whole moderating process always, and speed regulator then determines its choice according to certain Rule of judgment.The condition of system's adding speed regulator is in the moderating process: the absolute value of motor operating speed is less than the absolute value of setting speed, and the torque current command of speed closed loop output this moment helps the increase of speed absolute value.The output of frequency changer direct current bus voltage regulator deceleration effect to system under the forward of motor and inverted running situation is different, and whether system must carry out negate to the output of voltage close loop according to the traffic direction decision of motor.That is, need be when the motor forward moves with the output negate of voltage close loop, and the output of voltage close loop does not need negate during the motor inverted running.
Because in the system slowdown process, control system may repeatedly be cut and cut out to speed closed loop, so must guarantee that speed ring is cut and seamlessly transitting when cutting out system.To closed loop controller is the system of PID controller, must guarantee that the integrator of PID is 0 during speed closed loop incision system, joins on the PID integration accumulator of Voltage loop and will go up an output of clapping speed ring when cutting out system.Equally, when slow down beginning and moderating process finished, the voltage close loop adjuster system that cuts out also needed to take over seamlessly.
Claims (7)
1, a kind of method that prevents that busbar voltage is too high is characterized in that, may further comprise the steps: detect DC bus-bar voltage, according to detected DC bus-bar voltage frequency changer direct current bus voltage is carried out closed-loop control.
2, according to the described method of claim 1, it is characterized in that, describedly frequency changer direct current bus voltage is carried out closed-loop control comprise: the step of whether negate is carried out in the output of voltage close loop according to the traffic direction decision of motor, when the motor forward moves, the output of voltage close loop need be carried out reverse operating, and the output of voltage close loop need not to carry out inversion operation during the motor inverted running.
3, according to the described method of claim 1, it is characterized in that, further comprising the steps of: as motor to be carried out the closed-loop control of speed, the output of described speed closed loop control and the closed-loop control output of described frequency changer direct current bus are superposeed, with the command value of stack result as vector control system stator current moment components.
4, according to claim 1 or 2 described methods, it is characterized in that, further comprising the steps of: as to detect motor operating speed, when the absolute value of this speed of service absolute value less than setting speed, and the torque current command of speed closed loop output this moment helps the increase of speed absolute value, then carry out speed regulation, and the closed-loop control output of the control of speed regulation output with described frequency changer direct current bus superposeed, with the command value of stack result as vector control system stator current moment components.
5, according to the described method of claim 4, it is characterized in that, when described speed closed loop controller is the PID controller, when speed closed loop is cut system, must guarantee that the integrator of PID is 0, join on the PID integration accumulator of Voltage loop and will go up an output of clapping speed ring when cutting out system, level and smooth to guarantee to switch.
6, according to the described method of claim 5, it is characterized in that, when slow down beginning and moderating process finish, when voltage close loop is cut system, must guarantee that the integrator of PID is 0, join on the PID integration accumulator of Voltage loop and will go up an output of clapping speed ring when cutting out system, can take over seamlessly with the assurance system.
7, according to the described method of claim 1, it is characterized in that, carry out following steps in moderating process: detect or debate the knowledge motor speed simultaneously in the detection d-c bus voltage value, carry out after voltage close loop PI regulates according to detected DC bus-bar voltage, determine the output of K1 value and correction speed regulator according to rotary speed direction, carrying out der Geschwindigkeitkreis PI according to feedback speed regulates, output according to rotating speed and speed ring adjuster, judge whether the condition of cancellation der Geschwindigkeitkreis is set up, if set up, then put der Geschwindigkeitkreis and be output as 0 and guarantee to seamlessly transit; If be false or put der Geschwindigkeitkreis and be output as 0, then, obtain torque current command with Voltage loop and der Geschwindigkeitkreis output addition; Carry out following steps in non-moderating process: the cancellation Voltage loop is regulated and is guaranteed and seamlessly transits; Carry out speed closed loop PI adjusting and obtain torque current command.
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| CNB01130040XA CN1177406C (en) | 2001-11-28 | 2001-11-28 | Method for preventing bus voltage from excessing |
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| CNB01130040XA CN1177406C (en) | 2001-11-28 | 2001-11-28 | Method for preventing bus voltage from excessing |
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| CN1177406C CN1177406C (en) | 2004-11-24 |
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| CNB01130040XA Expired - Fee Related CN1177406C (en) | 2001-11-28 | 2001-11-28 | Method for preventing bus voltage from excessing |
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