CN102368673A - Power balance control method of frequency converter multi-motor dragging system and test device - Google Patents
Power balance control method of frequency converter multi-motor dragging system and test device Download PDFInfo
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- CN102368673A CN102368673A CN201110334702XA CN201110334702A CN102368673A CN 102368673 A CN102368673 A CN 102368673A CN 201110334702X A CN201110334702X A CN 201110334702XA CN 201110334702 A CN201110334702 A CN 201110334702A CN 102368673 A CN102368673 A CN 102368673A
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Abstract
The invention relates to power balance control for a multi-motor dragging system, in particular to a power balance control method of a frequency converter multi-motor dragging system for a belt conveying system and a test device. The control method comprises the following steps of: arranging a main frequency converter, and adjusting the torque of a frequency converter in rigid connection with the main frequency converter to be consistent with that of the main frequency converter; and adjusting the rotating speed of a frequency converter in flexible connection with the main frequency converter to be consistent with that of the main frequency converter. The test device comprises a plurality of motors and frequency converters and also comprises coaxial rigid dragging parts formed between every two motors and heteroaxial flexible dragging parts formed between the coaxial rigid dragging parts and other motors; the output ends of the motors are connected with torque rotating speed sensors; and the output end of the test device is connected with a load. By using the control method, the power of the multi-motor dragging system can be enabled to be balanced, and the test device is used for testing.
Description
Technical field
The present invention relates to the power-balance control of many motor driving systems, especially for the method for controlling power balance and the experimental rig of the frequency converter multimachine dragging system of belt transfer system.
Background technology
Along with the integration and upgrade of country to the colliery, the output in single colliery is increasing, and its coal conveyer belt is more and more longer.In producing the ten-million-ton scale colliery per year, Belt Length reaches 8-10Km, and its driving power surpasses 3MW, therefore on drive scheme, often adopts many motor-driven.Consider that power of motor is very big, the across-the-line starting meeting causes electrical network to impact, and the electromechanics vibration is big, many electric motor startings poor synchronization or the like shortcoming; Belt transportation system adopts the frequency converter drive motors more and more, constitutes frequency converter multimachine dragging system.
For the ribbon conveyer that multimachine drives,, must pay close attention to power-balance problem between multimachine for preventing because of the serious unbalance loading of motor causes device damage.A kind of electric current control method principle of utilizing liquid stickiness transmission device to realize the ribbon conveyer power-balance is arranged now; I.e. size through electric current in each electro-hydraulic proportional valve in the hydraulic servo control system that changes liquid stickiness transmission device institute adapted; Control oil pressure in the liquid stickiness transmission device is changed to regulate the payload of each motor; Thereby change the electric current of motor, so that multiple motors power reaches unanimity or differs in allowed limits.But this control principle relies on the performance of liquid stickiness transmission device to a great extent, influenced by it in the long-term use and does not reach expected effect.
In order to make power converter output in a basic balance,, need carry out more stable control to the power-balance of frequency converter multimachine dragging system, and verify through experimental rig to improve lifetime of system.
Summary of the invention
The technical issues that need to address of the present invention are to realize the power-balance of frequency converter multimachine dragging system.
For solving the problems of the technologies described above, the invention provides a kind of method for controlling power balance of frequency converter multimachine dragging system, may further comprise the steps,
It is primary transducer that a frequency converter is set;
Be provided with the primary transducer drive motors be connected firmly motor from frequency converter be the first kind from frequency converter, be provided with and the primary transducer drive motors be flexible coupling motor from frequency converter be second type from frequency converter;
The first kind is followed the tracks of the primary transducer torque from frequency converter, and the first kind is regulated coupled motor torque from frequency converter, makes its torque consistent with the primary transducer setpoint torque;
Follow the tracks of the primary transducer rotating speed from frequency converter for second type, regulate coupled motor speed from frequency converter for second type, make its rotating speed consistent with primary transducer setting rotating speed.
The present invention also provides a kind of power-balance experimental rig of verifying frequency converter multimachine dragging system; Comprise a plurality of motors and frequency converter; Said each motor all is connected with frequency converter, and said experimental rig comprises that the coaxial hard rigidity that constitutes between motor and the motor drags part and coaxial rigid drags the different axle Flexible Drag part that forms between part and other motors; The output of said motor is connected with torque rotary speed sensor; The output of said experimental rig is connected with load.
After adopting said method and experimental provision, coaxial rigid drags that the torque of part is consistent, and the rotating speed of Flexible Drag part is consistent, makes the power-balance of the interior motor of experimental rig like this.
Description of drawings
Below in conjunction with accompanying drawing and embodiment the present invention is done further detailed explanation.
Fig. 1 is the flow chart of the first kind of the present invention from the frequency converter torque adjustment.
Fig. 2 is second type of flow chart from the frequency converter rotational speed regulation of the present invention.
Fig. 3 is the structural representation of experimental rig of the present invention.
Among the figure: VSI1 is a primary transducer, VSI2 be the first kind from frequency converter, VSI3 be second type from frequency converter
Embodiment
Frequency converter multimachine dragging system method for controlling power balance of the present invention may further comprise the steps,
A frequency converter is set earlier is primary transducer in beginning, confirms a benchmark that makes multimachine dragging system power-balance.Be provided with then with the primary transducer drive motors be connected firmly motor from frequency converter be the first kind from frequency converter, said here hard connection motor is and the coaxial motor that links to each other of primary transducer drive motors; Be provided with the primary transducer drive motors be flexible coupling motor from frequency converter be second type from frequency converter, the said here motor of motor that be flexible coupling for being connected through belt or other flexible way with primary transducer.
The first kind is followed the tracks of the primary transducer torque from frequency converter, and the first kind is regulated coupled motor torque from frequency converter, makes its torque consistent with the primary transducer setpoint torque, said here consistent be identical or within the deviation range of permission.The first kind is following from the process of frequency converter torque adjustment, and is as shown in Figure 1, sets primary transducer given rotating speed ω
*, primary transducer feedback speed ω
r, with ω
*And ω
rCompare, judge whether and to make adjustment.If desired, with ω
*And ω
rDifference obtain torque current set-point i through speed regulator ASR
T *Because it is coaxial connection that the first kind is connected with the motor of primary transducer from the motor of frequency converter firmly, so rotating speed of motor is identical.The primary transducer and the first kind are from frequency converter feedback speed ω like this
rWith given rotating speed ω
*Difference also be the same, so can be with torque current set-point i
T *The benchmark of adjusting from frequency converter simultaneously as the primary transducer and the first kind.Meanwhile, obtain primary transducer and the first kind from frequency converter exciting current set-point according to the parameter of electric machine, setting primary transducer exciting current set-point is i
M *, the first kind is i from frequency converter exciting current set-point
M1 *, the given exciting current value here during according to machine operation magnetic field intensity confirm.Output current through motor calculates primary transducer and the first kind from frequency converter current torque electric current again, and primary transducer current torque electric current is made as i
T, the first kind is made as i from frequency converter current torque electric current
T1
Respectively the primary transducer and the first kind are compared from frequency converter current torque electric current with the torque current set-point, be about to primary transducer current torque current i
TWith torque current set-point i
T *, with the first kind from frequency converter current torque current i
T1With torque current set-point i
T *Relatively.Respectively the primary transducer and the first kind are compared from current exciting current of frequency converter and exciting current set-point simultaneously, be about to the current exciting current i of primary transducer
MExciting current set-point i with primary transducer
M *, the first kind is from the current exciting current value i of frequency converter
M1With first the exciting current value set-point i from frequency converter
M1 *Compare, primary transducer and be according to the direction in three-phase output current and rotor magnetic field from the current exciting current value of frequency converter obtains through the Park conversion here.Respectively the primary transducer and the first kind are passed through torque controller ATR from frequency converter torque current contrast difference; Obtain the primary transducer and first kind T shaft voltage vector under the frequency converter synchronous rotating frame respectively, exciting current is contrasted difference obtain primary transducer and first kind M shaft voltage vector under the frequency converter synchronous rotating frame respectively through field regulator AMR.
Two voltage vectors are input to the driving pulse that SVPWM obtains inverter switch device,, make the torque of motor make corresponding adjustment through inverter switch device control motor.
Repeat said process, constantly feedback speed is compared with given rotating speed, make corresponding adjustment by difference.Make the first kind consistent with the primary transducer motor, thereby make the first kind reach power-balance from frequency converter and primary transducer from the torque of frequency converter motor.
Follow the tracks of the primary transducer rotating speed from frequency converter for second type, regulate coupled motor speed from frequency converter for second type, make its rotating speed consistent with primary transducer setting rotating speed, said here unanimity is the meaning identical or within the permissible variation scope equally.Because second type from motor that frequency converter connects and primary transducer motor for being flexible coupling; So guarantee second type consistent with the primary transducer motor speed or within the range of permission from the frequency converter motor speed, otherwise can make that the belt between the motor can't operate as normal.Under second type of prerequisite that can make the belt operate as normal from the frequency converter motor speed, need make second type from frequency converter motor and primary transducer power of motor balance.Because the voltage of motor is the same, so the balance that need come guaranteed output through the output current that changes motor self.Second type of process from the frequency converter rotational speed regulation is following, as shown in Figure 2, with primary transducer given rotating speed ω
*With primary transducer feedback speed ω
rDiffering from, is the adjustment for primary transducer self so equally, so that reach the rotating speed of setting.In order to revise second type of output current, output current is adjusted through proportional controller, simultaneously the average current i of system from frequency converter
AvgWith second type of difference i from frequency converter self output current
OutK is added to primary transducer given rotating speed ω after multiply by correction factor
*, again with both with the value with second type of frequency converter feedback speed ω
rDiffer from.
Convert above-mentioned primary transducer and second type into primary transducer torque current set-point and second type from frequency converter torque current set-point from the rotating speed difference of frequency converter through speed regulator ASR respectively, setting primary transducer torque current set-point is i
T *, second type is i from frequency converter torque current set-point
T2 *Simultaneously obtain primary transducer and second type of frequency converter exciting current set-point respectively according to the parameter of electric machine, setting primary transducer exciting current set-point is i
M *, second type from frequency converter exciting current set-point i
M2 *
Output current through motor calculates primary transducer and second type respectively from frequency converter current torque electric current, and setting primary transducer current torque electric current is i
T, second type is i from frequency converter current torque electric current
T2
Respectively primary transducer and second type are compared from frequency converter current torque electric current and torque current set-point, respectively primary transducer and second type are compared from current exciting current value of frequency converter and exciting current simultaneously.Promptly obtain primary transducer current torque current i
TWith torque current set-point i
T *Difference, the current exciting current i of primary transducer
MWith exciting current set-point i
M *Difference; Second type from frequency converter current torque current i
T2With torque current set-point i
T2 *Difference, second type from the current exciting current i of frequency converter
M2With exciting current set-point i
M2 *Difference.Second type from the frequency converter timing process exciting current set-point and current exciting current and the first kind turn square from frequency converter to obtain these two worth methods identical.
Obtain primary transducer and second type T shaft voltage vector under the frequency converter synchronous rotating frame according to torque current contrast difference respectively through torque controller ATR, obtain primary transducer and second type M shaft voltage vector under the frequency converter synchronous rotating frame respectively through field regulator AMR according to exciting current contrast difference; Two voltage vectors are input to the driving pulse that SVPWM obtains inverter switch device, adjust through inverter switch device control motor.
Repeat said process, make second type consistent from the frequency converter rotating speed of motor with the primary transducer motor.Though it is consistent with primary transducer surely to make that through the average current and the correction of output current second type of rotating speed from frequency converter differs; But can keep second type of frequency converter and primary transducer in the time of synchronous (just the rotating speed deviation within the specific limits), the system that makes reaches power-balance.
Fig. 3 is the structural representation of experimental rig of the present invention, and this experimental provision mainly is in order to simulate the multimachine dragging system, and whether simultaneously can well detect multimachine dragging system method for controlling power balance correct.Said experimental rig comprises has selected three motors for use, and wherein motor 1 is connected through axle 7 with motor 2, forms coaxial rigid and drags part, forms the Flexible Drag part between while and the motor 3.Said Flexible Drag partly drags the axle 7 of part for coaxial rigid and the output of motor 3 is provided with belt pulley 8, connects with belt 9 between said two belt pulleys 8.Coaxial rigid drags part and has partly just formed a test platform that multimachine drags with Flexible Drag like this.
Said motor 1, motor 2 are connected with frequency converter 4, frequency converter 5 and frequency converter 6 respectively with motor 3, and the output of said three motors all is connected with torque rotary speed sensor 10.During checking, the frequency converter 4 that will link to each other with motor 1 is set at primary transducer, because motor 2 is coaxial the connection with motor 1, promptly connect firmly, and be that the first kind is from frequency converter so set the frequency converter 5 that links to each other with motor 2; Again because motor 3 and motor 1 for flexibly connecting, promptly are flexible coupling, thus the frequency converter 6 that setting is connected with motor 3 be second type from frequency converter.Use above-mentioned multimachine dragging system method for controlling power balance, make motor 1 reach consistent, make motor 3 reach consistent simultaneously with the rotating speed of motor 1 with the output torque of motor 2.In control procedure, torque rotary speed sensor 10 can provide feedback speed to frequency converter, can verify whether rotational speed and torque reaches consistent through torque rotary speed sensor 10 simultaneously.
The output of said experimental rig is connected with load; Said load is an eddy current dynamometer 12, because the length of belt is very long in reality, the belt in the experimental rig does not reach such length; In order well to convey goods on the simulation belt, need connect load simultaneously at the output of experimental rig.
The output of said each motor also is connected with speed-changing gear box 11; Said speed-changing gear box 11 is arranged on the transmission output shaft of each motor; Speed-changing gear box 11 can reduce the output speed of motor; The gearratio of each speed-changing gear box 11 is set to the same, can so be synchronous so that the output of each motor is appointed like this.The output speed that speed-changing gear box 11 reduces motor is in order to make the transmission and the actual conditions of belt more press close to, also to make frequency converter more convenient to the adjusting of motor speed.
Certainly; Experimental rig also can adopt the motor more than 3; Those of skill in the art in the present technique field should be appreciated that embodiment of the present invention only is invention for example, can make numerous variations or modification to execution mode; And not deviating from principle of the present invention and essence, these all drop within protection scope of the present invention.
Claims (7)
1. a frequency converter multimachine dragging system method for controlling power balance is characterized in that, may further comprise the steps,
It is primary transducer that a frequency converter is set;
Be provided with the primary transducer drive motors be connected firmly motor from frequency converter be the first kind from frequency converter, be provided with and the primary transducer drive motors be flexible coupling motor from frequency converter be second type from frequency converter;
The first kind is followed the tracks of the primary transducer torque from frequency converter, and the first kind is regulated coupled motor torque from frequency converter, makes its torque consistent with the primary transducer setpoint torque;
Follow the tracks of the primary transducer rotating speed from frequency converter for second type, regulate coupled motor speed from frequency converter for second type, make its rotating speed consistent with primary transducer setting rotating speed.
2. according to the described frequency converter multimachine of claim 1 dragging system method for controlling power balance, it is characterized in that the step that the said first kind is followed the tracks of the primary transducer torque from frequency converter is further comprising the steps of,
Primary transducer given rotating speed and primary transducer feedback speed is poor;
Convert both differences into the torque current set-point through speed regulator, obtain primary transducer and the first kind exciting current value set-point through the parameter of electric machine simultaneously from frequency converter;
Output current through motor calculates primary transducer and the first kind from frequency converter current torque electric current;
Respectively the primary transducer and the first kind are compared from frequency converter current torque electric current and torque current set-point, respectively the primary transducer and the first kind are compared from current exciting current of frequency converter and exciting current set-point simultaneously;
Torque current is contrasted difference obtain primary transducer and first kind T shaft voltage vector under the frequency converter synchronous rotating frame respectively, exciting current is contrasted difference obtain primary transducer and first kind M shaft voltage vector under the frequency converter synchronous rotating frame respectively through field regulator through torque controller;
Two voltage vectors are input to the driving pulse that SVPWM obtains inverter switch device, through inverter switch device control motor;
Repeat said process, make the first kind consistent with the primary transducer motor from the torque of frequency converter motor.
3. according to the described frequency converter multimachine of claim 1 dragging system method for controlling power balance, it is characterized in that second type of step from frequency converter tracking primary transducer rotating speed is further comprising the steps of,
Primary transducer given rotating speed and primary transducer feedback speed is poor; Be added to the primary transducer given rotating speed after simultaneously system's average current and second type of difference from frequency converter self output current being multiply by correction factor, again poor with both with value and second type of frequency converter feedback speed;
Convert above-mentioned primary transducer and second type into primary transducer torque current set-point and second type from frequency converter torque current set-point from the rotating speed difference of frequency converter through speed regulator respectively, obtain primary transducer and second type of frequency converter exciting current set-point respectively according to the parameter of electric machine simultaneously;
Output current through motor calculates primary transducer and second type of frequency converter current torque electric current respectively;
Respectively primary transducer and second type are compared from frequency converter current torque electric current and torque current set-point, respectively primary transducer and second type are compared from current exciting current value of frequency converter and exciting current simultaneously;
Obtain primary transducer and second type T shaft voltage vector under the frequency converter synchronous rotating frame according to torque current contrast difference respectively through torque controller, obtain primary transducer and second type M shaft voltage vector under the frequency converter synchronous rotating frame respectively through field regulator according to exciting current contrast difference;
Two voltage vectors are input to the driving pulse that SVPWM obtains inverter switch device, through inverter switch device control motor;
Repeat said process, make second type consistent from the frequency converter rotating speed of motor with the primary transducer motor.
4. frequency converter multimachine dragging system power-balance experimental rig; Comprise a plurality of motors and frequency converter; Said each motor all is connected with frequency converter, it is characterized in that: said experimental rig comprises that the coaxial rigid that constitutes between motor and the motor drags part and coaxial rigid drags the different axle Flexible Drag part that forms between part and other motors; The output of said motor is connected with torque rotary speed sensor; The output of said experimental rig is connected with load.
5. according to the described frequency converter multimachine of claim 4 dragging system power-balance experimental rig, it is characterized in that: said Flexible Drag partly drags the axle of part for coaxial rigid and the output of other motors is provided with belt pulley; Connect with belt between the said belt pulley.
6. according to the described frequency converter multimachine of claim 4 dragging system power-balance experimental rig, it is characterized in that: said load is an eddy current dynamometer.
7. according to the described frequency converter multimachine of claim 4 dragging system power-balance experimental rig, it is characterized in that: the output of said each motor also is connected with gear reduction box.
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102769417A (en) * | 2012-08-06 | 2012-11-07 | 中联重科物料输送设备有限公司 | Method and device for controlling multi-motor variable-frequency drive of belt conveyor |
| CN102857171A (en) * | 2012-09-20 | 2013-01-02 | 北京合康亿盛变频科技股份有限公司 | Multi-motor synchronous control system |
| CN103475290A (en) * | 2013-08-15 | 2013-12-25 | 江苏云意电气股份有限公司 | Double-motor parallel load balanced distribution universal voltage regulator |
| CN103501136A (en) * | 2013-10-22 | 2014-01-08 | 中国船舶重工集团公司第七一二研究所 | Multi-motor synchronous coordination control method |
| WO2014176861A1 (en) * | 2013-04-28 | 2014-11-06 | 深圳市英威腾电气股份有限公司 | Signal transmission method and fault handling method, and multi-machine master-slave control system of frequency converter |
| CN105048885A (en) * | 2015-06-15 | 2015-11-11 | 中煤科工集团上海研究院 | Master-slave control method for belt conveyor driven by multiple motors |
| CN105186963A (en) * | 2015-07-15 | 2015-12-23 | 武汉船用机械有限责任公司 | Load balance adjustment method of lifting system and device |
| CN107819417A (en) * | 2016-08-29 | 2018-03-20 | 湖南中车时代电动汽车股份有限公司 | More motor integrated manipulator Support Capacitor capacity calculation methods |
| CN108183635A (en) * | 2017-12-29 | 2018-06-19 | 南京埃斯顿自动控制技术有限公司 | A kind of hypotactic motor synchronous control method |
| CN108880341A (en) * | 2018-07-21 | 2018-11-23 | 山东东风双隆机械有限公司 | A kind of two motor Hard link revolving speed automatic balancing methods |
| CN108880338A (en) * | 2018-07-27 | 2018-11-23 | 中车长春轨道客车股份有限公司 | The closed loop control method of the more motors of mechanical parallel |
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| CN103475290A (en) * | 2013-08-15 | 2013-12-25 | 江苏云意电气股份有限公司 | Double-motor parallel load balanced distribution universal voltage regulator |
| CN103475290B (en) * | 2013-08-15 | 2016-04-20 | 江苏云意电气股份有限公司 | The universal voltage regulator of a kind of bi-motor shunt load equilibrium assignment |
| CN103501136A (en) * | 2013-10-22 | 2014-01-08 | 中国船舶重工集团公司第七一二研究所 | Multi-motor synchronous coordination control method |
| CN105048885B (en) * | 2015-06-15 | 2018-07-10 | 中煤科工集团上海研究院 | A kind of master-slave control method of ribbon conveyer multiple-motor driving |
| CN105048885A (en) * | 2015-06-15 | 2015-11-11 | 中煤科工集团上海研究院 | Master-slave control method for belt conveyor driven by multiple motors |
| CN105186963A (en) * | 2015-07-15 | 2015-12-23 | 武汉船用机械有限责任公司 | Load balance adjustment method of lifting system and device |
| CN105186963B (en) * | 2015-07-15 | 2018-03-20 | 武汉船用机械有限责任公司 | The load equalization adjusting method and device of jacking system |
| CN107819417A (en) * | 2016-08-29 | 2018-03-20 | 湖南中车时代电动汽车股份有限公司 | More motor integrated manipulator Support Capacitor capacity calculation methods |
| CN107819417B (en) * | 2016-08-29 | 2020-01-14 | 湖南中车时代电动汽车股份有限公司 | Method for calculating supporting capacitor capacity for multi-motor integrated controller |
| CN108183635A (en) * | 2017-12-29 | 2018-06-19 | 南京埃斯顿自动控制技术有限公司 | A kind of hypotactic motor synchronous control method |
| CN108183635B (en) * | 2017-12-29 | 2021-02-09 | 南京埃斯顿自动化股份有限公司 | Motor synchronous control method of master-slave structure |
| CN108880341A (en) * | 2018-07-21 | 2018-11-23 | 山东东风双隆机械有限公司 | A kind of two motor Hard link revolving speed automatic balancing methods |
| CN108880338A (en) * | 2018-07-27 | 2018-11-23 | 中车长春轨道客车股份有限公司 | The closed loop control method of the more motors of mechanical parallel |
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