CN102565447A - Method for searching motor rotor frequency in process of starting flying car with high voltage inverter - Google Patents
Method for searching motor rotor frequency in process of starting flying car with high voltage inverter Download PDFInfo
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- CN102565447A CN102565447A CN2011104501797A CN201110450179A CN102565447A CN 102565447 A CN102565447 A CN 102565447A CN 2011104501797 A CN2011104501797 A CN 2011104501797A CN 201110450179 A CN201110450179 A CN 201110450179A CN 102565447 A CN102565447 A CN 102565447A
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Abstract
The invention discloses a method for searching the motor rotor frequency in a process of starting a flying car with a high voltage inverter. The method comprises an initializing step, a V/F (Voltage/Frequency) calculating step, a flag calculating step and a rotor frequency searching step, and in particular comprises the following steps: according to a formula of PWM.Vout=K0*V(f), judging whether a predicted coefficient K0 is more than 0.99 and an Iover flag is equal to 0, or the output frequency of the high voltage inverter is less than 1Hz, if so, ending the searching process, and performing PWM (Pulse Width Modulation) treatment; otherwise, if the Iover flag is equal to 0, increasing the predicted coefficient K0 by a predicted coefficient increment delta k00 for searching, and when the Iover flag is equal to 1, maintaining the output voltage and reducing the frequency by a frequency decrement delta f1 for searching; then detecting whether the Iover120 flag is equal to 1, when the Iover120 flag is equal to 1, reducing the frequency by a frequency decrement delta f2 and reducing the predicted coefficient K0 by a predicted coefficient decrement delta k01 for searching, and performing the PWM treatment, so that the rotor frequency can be quickly and accurately searched. The method is fast in dynamic response speed and high in searching precision.
Description
Technical field
The searching method of rotor frequency belongs to technical field of electricity when the present invention relates to a kind of high voltage converter driving and starting.
Background technology
The high voltage converter driving starts, and is when motor stator all breaks away from frequency converter or common frequency power network, motor stator " passive "; Rotor is in rotary state; But rotating speed is uncertain of under the situation at random, and high voltage converter is inserted motor stator, make motor stator from " passive " to " active "; The motor stator rotating magnetic field is grown out of nothing, and last motor stator rotating magnetic field dragging motor rotor gets into the process of driven.
Know by Principle of Electric Engine; When motor stator speed and motor rotor speed differ is more greatly that slip is when big; Frequency converter excess current, superpotential fault alarm can occur or damage motor because frequency converter is in the stall over-current state for a long time; Therefore how to search the frequency of rotor fast and accurately, the output frequency identical with rotor frequency becomes the key that driving starts.
At present; The search of rotor frequency has two kinds of methods: first method is the V/F curve voltage relative method that stator is imported constant rated current; This implementation method remains stator when being search rate be constant rated current; Compare the magnitude of voltage on frequency converter output voltage and the V/F curve, the output frequency when the two is equal is exactly a rotor frequency; Feasible on the above theoretical method; But in fact V/F curve and stator rated current concerns that physical concept is indeterminate; Add booster tension during low frequency again as voltage compensation; Make to borrow the precision of V/F curve comparative voltage be difficult to guarantee, in addition, the dynamic response problem of constant rated current control also directly influences voltage ratio and the search precision of frequency.
Second method is a dc bus minimum current method, this implementation method be according to stator rotating magnetic field speed when identical with motor rotor speed the frequency changer direct current bus electric current minimum, borrow and detect dc bus current indirect detection rotor frequency; The weak point of this method is whether have very big ripple, this ripple to make to judge the female stream of direct current on the frequency changer direct current bus electric current be zero to be a very difficult problem, and the precision of frequency search is caused very large influence.
Existing these two kinds of rotor frequency searching methods exist dynamic responding speed slow, the not high defective of search precision.
" the frequency converter world " 74-79 page or leaf discloses the realization of a kind of high voltage converter " driving startup " function; This article is analyzed the method for Speedless sensor VVVF control high-voltage variable-frequency and variable-speed system realization " driving startup "; Proposed that the frequency converter output frequency falls progressively, the rotor frequency searching method of step-down current limliting; Reach stator rotating magnetic field and the synchronous purpose of rotor speed with torque current component indirect observation rotor frequency, realize the level and smooth startup of motor under the rotor nonstatic condition.This high voltage converter is a multilevel unit-in-series voltage-source type high voltage converter, and this method is the frequency that searches rotor through motor stator real-time current sampled value relatively during smaller or equal to the minimum torque electric current set, and effect is not very desirable.
Summary of the invention
The problem that the present invention will solve is to the above-mentioned defective on the prior art, and the searching method of rotor frequency adopts this method search rotor frequency when proposing a kind of high voltage converter driving and starting, rapid dynamic response speed, and search precision is high.
For solving above technical matters, the technical scheme that the present invention adopted is: the searching method of rotor frequency when a kind of high voltage converter driving starts, and it is characterized in that: said searching method comprises:
Initialization step; At first be provided with and the equipment performance relevant parameters; Calculate and definite V/F curve, and then given predictive coefficient K0, frequency reduction Δ f1, frequency reduction Δ f2, predictive coefficient recruitment Δ k00 and predictive coefficient reduction Δ k01, the initial value of predictive coefficient K0 is zero;
The V/F calculation procedure according to the parameter of initialization step, is calculated the output voltage values of motor by the output frequency of frequency converter;
The zone bit calculation procedure, the output current that detects high voltage converter calculates the effective value of resultant current, relatively obtains relevant zone bit with rated current;
The rotor frequency search step, according to PWM.Vout=K0*V (f), judge predictive coefficient K0 whether greater than 0.99 and the Iover zone bit whether equal 0, or the output frequency of high voltage converter is less than 1Hz, if then finish search, and carry out PWM and handle;
Otherwise, if the Iover zone bit equals 0, increase predictive coefficient K0 with predictive coefficient increment Delta k00 and search for, when the Iover zone bit equals 1, keep that output voltage is constant to reduce frequency search with frequency reduction Δ f1;
Detect the Iover120 zone bit then and whether equal 1, when the Iover120 zone bit equals 1, reduce frequency and reduce predictive coefficient K0 with predictive coefficient reduction Δ k01 and search for, carry out PWM again and handle with frequency reduction Δ f2.
Further improvement as technique scheme:
Be provided with in the said initialization step with the corresponding systematic parameter of equipment performance and comprise: frequency K2 and rated output voltage K4 that Irms, Irms120, the Irms180 of motor, the frequency K1 of torque magnification cut off, permanent torque switching point are set.
Said V/F calculation procedure comprises:
Whether the output frequency of judging frequency converter is less than the frequency of permanent power turning point; If then get into step S203; Otherwise, get into step S204;
At step S203, whether the output frequency of judging frequency converter is less than torque magnification cut off frequency K1; If then get into step S205; Otherwise, get into step S206;
At step S204, the output motor rated voltage gets into step S207;
At step S205, carry out torque magnification control, get into step S207 then;
At step S206, carry out permanent torque control, get into step S207 then;
At step S207, output V/F curve voltage.
Said zone bit calculation procedure comprises:
Utilize the three-phase current of frequency converter to calculate the synthetic effective value out-I of frequency converter output current, get into step S304 then;
At step S304, judge that whether effective value out-I is greater than Irms180; If get into step S305; Otherwise, get into step S306;
At step S305, motor overcurrent mark position 1 gets into step S306 then;
At step S306, judge that whether out-I is greater than Irms120; If get into step S307; Otherwise, get into step S308;
At step S307,, get into step S309 then with Iover120 mark position 1;
At step S308,, get into step S309 then with Iover120 mark position 0;
At step S309, judge that whether out-I is greater than Irms; If get into step S310; Otherwise, get into step S311;
At step S310,, get into step S312 then with Iover mark position 1;
At step S311,, get into step S312 then with Iover mark position 0;
Flow process ends at step S312.
In the said zone bit calculation procedure, Hall current sensor detects two phase output currents of frequency converter, gets into step S302;
At step S302, two phase output currents are isolated arrangement, get into step S303;
At step S303, calculate the third phase electric current after the filtering smoothing processing, calculate the synthetic effective value out-I of frequency converter output current again.
In the said zone bit calculation procedure, Hall current sensor detects the three-phase output current of frequency converter, and two phase output currents are isolated arrangement, and the filtering smoothing processing calculates the synthetic effective value out-I of frequency converter output current again.
The present invention adopts above technical scheme, compares with the prior art scheme, has the following advantages: will come given frequency by the frequency given way that maximum output frequency successively decreases, and calculate the output voltage values of V/F curve through V/F; The effective value that the output current of detection high voltage converter calculates resultant current relatively obtains relevant zone bit with rated current, with the excess current in the limit frequency search procedure; When predictive coefficient K0 greater than 0.99 the time, in the present invention K0 is thought 1 approx, it is PWM.Vout=V (f) that the output voltage of high voltage converter is followed the tracks of the output voltage of going up motor V/F curve, the frequency of this moment is the rotor frequency that will search for.Can search the frequency of rotor fast and accurately, rapid dynamic response speed, search precision is high.
Below in conjunction with accompanying drawing and embodiment the present invention is described further.
Description of drawings
Accompanying drawing 1 is the process flow diagram of searching method in the embodiment of the invention;
Accompanying drawing 2 is the process flow diagram of V/F calculation procedure in the embodiment of the invention;
Accompanying drawing 3 is the process flow diagram of zone bit calculation procedure in the embodiment of the invention;
Accompanying drawing 4 is the steering logic figure of embodiment of the invention medium frequency search.
Embodiment
Embodiment, the searching method of rotor frequency comprised initialization step, V/F calculation procedure, zone bit calculation procedure and rotor frequency search step when a kind of high voltage converter driving started;
In the present invention, the motor rated current representes with Irms that usually 120% usefulness Irms120 of rated current representes that 180% usefulness Irms180 of rated current representes that the rated current zone bit representes that with Iover 120% zone bit of rated current is represented with Iover120.
As shown in Figure 1, be the process flow diagram of searching method, this flow process starts from step S101.Then; At step S102; According to the demand of system and the technical load requirement of equipment; Systematic parameter is carried out initialization: at first, the Irms, Irms120, Irms180, the frequency K1 of torque magnification cut off, the frequency K2 of permanent torque switching point, rated output voltage K4 of motor is set, calculates then and definite V/F curve; Through the given predictive coefficient K0 of man-machine interface, frequency reduction Δ f1, frequency reduction Δ f2, predictive coefficient recruitment Δ k00, predictive coefficient reduction Δ k01, the initial value of initialization predictive coefficient K0 is zero;
The excess current degree that can bear according to motor of choosing of current value quantity is selected; Generally choose load current value, maximum excess current value and one or two current value between the two, selected load current value, maximum excess current value and a current value between the two in this example.
At step S103, according to initialized systematic parameter among the step S102, calculate the magnitude of voltage of the V/F curve of motor according to the output frequency of frequency converter, get into step S104 then;
At step S104, judge motor excess current whether under given frequency, the biphase current of sampling frequency converter output in step S104 obtains the value of electric current zone bit;
At step S105, judge whether to carry out the rotor frequency search.If, promptly receive the enabling signal that rotor frequency is searched for, then get into step S106; If, then do not get into step S113;
At step S106, relation: PWM.Vout=K0*V (f) below the output voltage V (f) of the output voltage PWM.Vout of high voltage converter and V/F curve satisfies;
Judge predictive coefficient K0 whether greater than 0.99 and the Iover zone bit whether equal 0; When maximum output frequency begins to search for rotor frequency; The predictive coefficient K0 variation of starting from scratch, when being increased to 0.99, and output current not have excess current be that Iover equals zero; The output voltage of high voltage converter is followed the tracks of the output voltage of going up the V/F curve, searches the frequency of rotor;
Perhaps the output frequency of high voltage converter does not promptly all search the frequency of rotor less than 1Hz from maximum output frequency to minimum output frequency;
If above two conditions satisfy one of which, get into step S107, if do not satisfy, then get into step S108;
At step S113, after motor stops operating, start with direct startup or dynamic braking Starting mode, get into step S114 then;
At step S107, finish search, get into step S114 then;
At step S108, judge whether the Iover zone bit is 0.If, do not get into step S109; If then get into step S110;
At step S109, according to functional expression f-=Δ f1, f1 reduces frequency search with frequency reduction Δ, gets into step S111 then;
At step S110, according to functional expression K0+=Δ k00, k00 increases predictive coefficient search with the predictive coefficient increment Delta, gets into step S111 then;
At step S111, judge whether the Iover120 zone bit is 1.If get into step S112; Otherwise, get into step S114;
At step S112, according to functional expression f-=Δ f2, f2 reduces frequency with frequency reduction Δ, and simultaneously according to functional expression K0-=Δ k01, k01 reduces predictive coefficient search with predictive coefficient reduction Δ.When PWM.Vout=V (f), when the output voltage of high voltage converter was followed the tracks of the output voltage of going up the V/F curve and output current and do not had excess current, the frequency that search this moment was the frequency of rotor, gets into step S114 then;
At step S114, carry out PWM and handle;
Flow process ends at step S115.
As shown in Figure 2, be the V/F calculation procedure.Step S103 among Fig. 1 comprises step S201 to 207.Flow process starts from step S201.At step S202, whether the output frequency of judging frequency converter is less than the frequency of permanent power turning point, if then get into step S203; Otherwise, get into step S204;
At step S203, whether the output frequency of judging frequency converter is less than torque magnification cut off frequency K1.If then get into step S205; Otherwise, get into step S206;
At step S204, the output motor rated voltage gets into step S207;
At step S205, carry out torque magnification control, get into step S207 then;
At step S206, carry out permanent torque control, get into step S207 then;
At step S207, output V/F curve voltage.
As shown in Figure 3, be the zone bit calculation procedure, the step S104 among Fig. 1 comprises step S301 to 312, starts from step S301, Hall current sensor detects two phase output currents of frequency converter, gets into step S302;
At step S302, two phase output currents are isolated arrangement, get into step S303;
At step S303, calculate the third phase electric current after the filtering smoothing processing, utilize three-phase current to calculate the synthetic effective value out-I of frequency converter output current, get into step S304 then;
At step S304, judge that whether effective value out-I is greater than Irms180.If, get into step S305, otherwise, step S306 got into;
At step S305, motor overcurrent mark position 1 gets into step S306 then;
At step S306, judge that whether out-I is greater than Irms120.If, get into step S307, otherwise, step S308 got into;
At step S307,, get into step S309 then with Iover120 mark position 1;
At step S308,, get into step S309 then with Iover120 mark position 0;
At step S309, judge that whether out-I is greater than Irms.If, get into step S310, otherwise, step S311 got into;
At step S310,, get into step S312 then with Iover mark position 1;
At step S311,, get into step S312 then with Iover mark position 0;
Flow process ends at step S312.
As shown in Figure 4; Embodiment adopts multilevel unit-in-series voltage-source type high voltage converter among the present invention; After starting " driving startup " function, will come given frequency, calculate the output voltage values of V/F curve through V/F by the frequency given way that maximum output frequency successively decreases.The effective value that the output current of detection high voltage converter calculates resultant current relatively obtains relevant zone bit with rated current, with the excess current in the limit frequency search procedure.When predictive coefficient K0 greater than 0.99 the time, in the present invention K0 is thought 1 approx, it is PWM.Vout=V (f) that the output voltage of high voltage converter is followed the tracks of the output voltage of going up motor V/F curve, the frequency of this moment is the rotor frequency that will search for.
Among the V/F calculation procedure S104 of the present invention, synthetic effective value out-I can also calculate through the detected three-phase current of Hall current sensor.
Searching method of the present invention and V/F curve voltage relative method, dc bus minimum current method are applied to the frequency search test of identical rotor; Be applied in the simulation system; Motor in the simulation system is 6KW; Proofread with the photoelectric velocity measurement scrambler, the frequency search deviation is less than 0.3 Hz, and frequency reduction Δ f1 value is 0.03, frequency reduction Δ f2 value is 0.06, predictive coefficient recruitment Δ k00 value is 0.02, predictive coefficient reduction Δ k01 value is 0.08; Motor to different system; The value of frequency reduction Δ f1, frequency reduction Δ f2, predictive coefficient recruitment Δ k00, predictive coefficient reduction Δ k01 can be different, and those skilled in the art can record its corresponding optimization numerical value according to test on the basis of technical scheme of the present invention.
Average result after test of many times such as following table:
。
Can find out from last table; Begin to searching identical rotor frequency from the maximum output frequency of frequency converter; Be 0.55-0.8s the search time of V/F curve voltage relative method, and be 0.75-0.9s the search time of dc bus minimum current method, and be 0.23-0.5s the search time of searching method of the present invention; The search precision of V/F curve voltage relative method is 6-8.1%, and the search precision of dc bus minimum current method is 7.8-10%, searching method of the present invention search precision be 3.3-5.2%.Adopt method search rotor frequency of the present invention, rapid dynamic response speed, search precision is high, can search the frequency of rotor fast and accurately.
Be applied in other blower fan system, the average fast 0.2s of dynamic responding speed, the high 0.3Hz of search precision, test of many times did not have excess current and the generation of magnetic flux saturated phenomenon when the frequency converter driving started, and had realized the smooth starting of high voltage converter.
Claims (6)
1. the searching method of rotor frequency when a high voltage converter driving starts, it is characterized in that: said searching method comprises:
Initialization step; At first be provided with and the equipment performance relevant parameters; Calculate and definite V/F curve, and then given predictive coefficient K0, frequency reduction Δ f1, frequency reduction Δ f2, predictive coefficient recruitment Δ k00 and predictive coefficient reduction Δ k01, the initial value of predictive coefficient K0 is zero;
The V/F calculation procedure according to the parameter of initialization step, is calculated the output voltage values of motor by the output frequency of frequency converter;
The zone bit calculation procedure, the output current that detects high voltage converter calculates the effective value of resultant current, relatively obtains relevant zone bit with rated current;
The rotor frequency search step, according to PWM.Vout=K0*V (f), judge predictive coefficient K0 whether greater than 0.99 and the Iover zone bit whether equal 0, or the output frequency of high voltage converter is less than 1Hz, if then finish search, and carry out PWM and handle;
Otherwise, if the Iover zone bit equals 0, increase predictive coefficient K0 with predictive coefficient increment Delta k00 and search for, when the Iover zone bit equals 1, keep that output voltage is constant to reduce frequency search with frequency reduction Δ f1;
Detect the Iover120 zone bit then and whether equal 1, when the Iover120 zone bit equals 1, reduce frequency and reduce predictive coefficient K0 with predictive coefficient reduction Δ k01 and search for, carry out PWM again and handle with frequency reduction Δ f2.
2. the searching method of rotor frequency when high voltage converter driving as claimed in claim 1 starts is characterized in that: setting comprises with the corresponding systematic parameter of equipment performance in the said initialization step:
The frequency K2 and the rated output voltage K4 of Irms, Irms120, the Irms180 of motor, the frequency K1 of torque magnification cut off, permanent torque switching point are set.
3. the searching method of rotor frequency when according to claim 1 or claim 2 high voltage converter driving starts, it is characterized in that: said V/F calculation procedure comprises:
Whether the output frequency of judging frequency converter is less than the frequency of permanent power turning point; If then get into step S203; Otherwise, get into step S204;
At step S203, whether the output frequency of judging frequency converter is less than torque magnification cut off frequency K1; If then get into step S205; Otherwise, get into step S206;
At step S204, the output motor rated voltage gets into step S207;
At step S205, carry out torque magnification control, get into step S207 then;
At step S206, carry out permanent torque control, get into step S207 then;
At step S207, output V/F curve voltage.
4. the searching method of rotor frequency when high voltage converter driving as claimed in claim 3 starts, it is characterized in that: said zone bit calculation procedure comprises:
Utilize the three-phase current of frequency converter to calculate the synthetic effective value out-I of frequency converter output current, get into step S304 then;
At step S304, judge that whether effective value out-I is greater than Irms180; If get into step S305; Otherwise, get into step S306;
At step S305, motor overcurrent mark position 1 gets into step S306 then;
At step S306, judge that whether out-I is greater than Irms120; If get into step S307; Otherwise, get into step S308;
At step S307,, get into step S309 then with Iover120 mark position 1;
At step S308,, get into step S309 then with Iover120 mark position 0;
At step S309, judge that whether out-I is greater than Irms; If get into step S310; Otherwise, get into step S311;
At step S310,, get into step S312 then with Iover mark position 1;
At step S311,, get into step S312 then with Iover mark position 0;
Flow process ends at step S312.
5. the searching method of rotor frequency when high voltage converter driving as claimed in claim 4 starts is characterized in that: in the said zone bit calculation procedure, Hall current sensor detects two phase output currents of frequency converter, gets into step S302;
At step S302, two phase output currents are isolated arrangement, get into step S303;
At step S303, calculate the third phase electric current after the filtering smoothing processing, calculate the synthetic effective value out-I of frequency converter output current again.
6. the searching method of rotor frequency when high voltage converter driving as claimed in claim 4 starts; It is characterized in that: in the said zone bit calculation procedure; Hall current sensor detects the three-phase output current of frequency converter; Two phase output currents are isolated arrangement, and the filtering smoothing processing calculates the synthetic effective value out-I of frequency converter output current again.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201110450179.7A CN102565447B (en) | 2011-12-29 | 2011-12-29 | Method for searching motor rotor frequency in process of starting flying car with high voltage inverter |
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| CN201110450179.7A CN102565447B (en) | 2011-12-29 | 2011-12-29 | Method for searching motor rotor frequency in process of starting flying car with high voltage inverter |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102868330A (en) * | 2012-10-24 | 2013-01-09 | 上海新时达电气股份有限公司 | Method for frequency converter to achieve flying start and frequency converter capable of achieving method |
| CN103078563A (en) * | 2013-01-07 | 2013-05-01 | 安徽颐和新能源科技股份有限公司 | Software implementation method for starting runaway of high voltage inverter at fixed frequency |
| CN108923629A (en) * | 2018-06-06 | 2018-11-30 | 广东明阳龙源电力电子有限公司 | A kind of high voltage crossing control system and method for high-voltage frequency converter |
| CN109039213A (en) * | 2018-06-22 | 2018-12-18 | 卧龙电气集团辽宁荣信高科电气有限公司 | A kind of Fly a car start method based on nine phase motor power frequency shear frequencies |
| CN109660179A (en) * | 2018-12-29 | 2019-04-19 | 西安西驰电气股份有限公司 | A kind of fast starting method of frequency converter inspection |
| CN109839592A (en) * | 2017-11-27 | 2019-06-04 | 维谛技术有限公司 | It is a kind of identification synchronous motor it is static/rotation method, relevant device and frequency converter |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102868330A (en) * | 2012-10-24 | 2013-01-09 | 上海新时达电气股份有限公司 | Method for frequency converter to achieve flying start and frequency converter capable of achieving method |
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| CN103078563A (en) * | 2013-01-07 | 2013-05-01 | 安徽颐和新能源科技股份有限公司 | Software implementation method for starting runaway of high voltage inverter at fixed frequency |
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| CN109839592A (en) * | 2017-11-27 | 2019-06-04 | 维谛技术有限公司 | It is a kind of identification synchronous motor it is static/rotation method, relevant device and frequency converter |
| CN108923629A (en) * | 2018-06-06 | 2018-11-30 | 广东明阳龙源电力电子有限公司 | A kind of high voltage crossing control system and method for high-voltage frequency converter |
| CN109039213A (en) * | 2018-06-22 | 2018-12-18 | 卧龙电气集团辽宁荣信高科电气有限公司 | A kind of Fly a car start method based on nine phase motor power frequency shear frequencies |
| CN109660179A (en) * | 2018-12-29 | 2019-04-19 | 西安西驰电气股份有限公司 | A kind of fast starting method of frequency converter inspection |
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| Publication number | Publication date |
|---|---|
| CN102565447B (en) | 2014-06-04 |
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