CN103187918B - Traction invertor controlling method and device - Google Patents
Traction invertor controlling method and device Download PDFInfo
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Abstract
The invention provides a traction invertor controlling method and device. The traction invertor controlling method comprises the steps of configuring parameters and entering open loop constant voltage frequency ratio control or vector control according to the parameters, and conducting pulse width modulation control on voltage signals output after control steps are carried out. The traction invertor controlling device comprises a parameter configuration and control module, an open loop constant voltage frequency ratio control module, a vector control module and a pulse width modulation module. The parameter configuration and control module is used for configuring the parameters, and corresponding control modules are called according to the parameters. The open loop constant voltage frequency ratio control module is used for executing the open loop constant voltage frequency ratio control according to received calling instruments and outputting the controlled voltage signals. The vector control module is used for executing the vector control according to the received calling instruments and outputting the controlled voltage signals. The pulse width modulation module is used for conducting pulse width modulation control on the received voltage signals. The traction invertor controlling method and device is high in control performance and good in dynamic response performance.
Description
Technical field
The present invention relates to adverser control technology, particularly relate to a kind of traction invertor control method and device.
Background technology
If high-power electric locomotive main spindle power is in the main line shipping of 1200KW or 1600KW grade or Passenger Electric Locomotive, its traction invertor is mainly used in providing power supply to traction electric machine, meets the needs of locomotive tractive characteristic and basic control function.
Traction invertor control algolithm is mainly divided into traction electric machine Characteristics Control, adhesion control and basic function control etc.Traction electric machine control algolithm mainly contains slip frequency controlled, direct torque control and vector control etc.Slip frequency controlled is the control algolithm based on motor steady-state model, and dynamic response is slower.The electromagnetic torque of direct torque control to traction electric machine directly controls, and does not have closed-loop current control, and current harmonics causes motor temperature higher compared with great Yi.Vector control carries out uneoupled control based on DC motor model to alternating current machine, modulates output pulse, and therefore dynamic response is fast and current harmonics is little and controlled.The HXD1 type mainly containing Siemens Company of current application vector control technology, the HXD2 type of Alstom, the HXD2C type of Toshiba and the electric locomotive of HXD3 type.The algorithm that domestic corporation's South China car is applied to traction invertor control is mainly direct torque control.
The existing traction invertor control algolithm based on vector control technology generally comprises pulse width modulation algorithm, traction electric machine control algolithm and locomotive speed control algolithm.Wherein, pulse width modulation algorithm employs segment sync modulator approach, according to locomotive speed, traction invertor full speed range is divided into asynchronous modulation, synchronous modulation, ovennodulation, 3 frequency divisions and square wave etc.Traction electric machine control algolithm adopts the vector control algorithm based on direct torque, employs the basic control structure of comparatively single indirect vector control system, comprises current regulation loop, decoupling unit, flux observation and pwm unit etc.Locomotive speed control algolithm adopts the method for single shaft control, and the traction invertor collection locomotive given speed of each axle and the speed of corresponding axle carry out velocity close-loop control, adopt anti-skidding slide system control algolithm to revise tractive effort set-point.
Some shortcoming below the existence of the above-mentioned traction invertor control algolithm based on vector control technology:
(1) pulse width modulation algorithm is comparatively complicated, employs Overmodulation Method after entering synchronous modulation district, needs to carry out more Nonlinear Processing, adds the burden that algorithm implements difficulty and processor.
(3) rotating speed open loop control strategy is not had in traction electric machine control algolithm, cannot verify separately that open cycle system is stablized, the correctness of pulse width modulation algorithm cannot be verified separately, in process of the test, also cannot carry out speeds control as accompanying examination equipment, correlation test environment being examined.In addition, the vector control algorithm structure that traction electric machine control algolithm adopts is single, because the characteristic variations of traction electric machine in full speed range is larger, closed-loop current control is only used to be difficult to reach full decoupled effect, and entering the traction invertor output voltage substantially constant behind constant power area, Current adjustment is ineffective.
(4) locomotive speed control algolithm is based on single shaft control, because the reasons such as wheel wear will cause the speed of every shaft detection to have certain deviation, therefore under may there is synchronization, the phenomenon that part axle is in traction working condition, part axle is in damped condition of locomotive is all irrational for basic logic and Energy Saving Control.
Summary of the invention
The invention provides a kind of traction invertor control method and device, to overcome above-mentioned each defect, improve control performance.
One aspect of the present invention is to provide a kind of traction invertor control method, comprising:
Configuration parameter, enters open loop constant voltage constant frequency control or vector control according to described parameter; And
Pulse width modulation controlled is carried out to the voltage signal exported after above-mentioned rate-determining steps;
Wherein, described open loop constant voltage constant frequency control, realizes as follows:
The instruction input of climbing of given frequency is carried out according to setting slope; And
Instruction of climbing according to the given frequency of input calculates corresponding voltage signal respectively, and described voltage signal comprises voltage magnitude information and angle information;
Described vector control, realizes as follows:
Judge whether that constant speed control command inputs, be, gathered locomotive actual speed signal and given speed value, and calculate given torque value according to described rate signal and given speed value; Otherwise, calculate given torque value according to curve of traction characteristics;
Based on adhesion control algolithm, given torque value is revised;
Vector control algorithm foundation based on full speed range calculates voltage signal through revised described given torque value, and described voltage signal comprises voltage magnitude information and angle information.
Another aspect of the present invention is to provide a kind of traction invertor control device, comprising:
Parameter configuration and control module, for configuration parameter, according to the corresponding control module of parameter call;
Open loop constant voltage constant frequency control module, for performing open loop constant voltage constant frequency control according to the call instruction received and exporting the voltage signal after controlling;
Vector control module, for performing vector control according to the call instruction received and exporting the voltage signal after controlling; And
Pulse width modulation module, carries out pulse width modulation controlled for the voltage signal exported described open loop constant voltage constant frequency control module and described vector control module, exports the pulse signal after modulation;
Wherein, described voltage signal comprises: voltage magnitude information and angle information.
The technique effect of the present invention first aspect is: the control method that the present invention proposes is applicable to high-power electric locomotive traction inverter control.This control method provides open loop constant voltage constant frequency control and vector control two kinds of control strategies, can be selected by configuration relevant parameter.When adopting open loop constant voltage constant frequency control, the present invention not only can be used for verifying separately the stability of open cycle system and the correctness of pulse width modulation algorithm, as accompanying examination equipment to carry out speeds control in process of the test, can also examine correlation test environment.When adopting vector control, the present invention can improve the control performance of traction electric machine effectively.In addition, the present invention additionally uses motorcycle constant-speed and controls, and the phenomenon that part axle is in traction working condition, part axle is in damped condition that efficiently avoid locomotive under synchronization occurs.
The technique effect of another aspect of the present invention is: adopt control device of the present invention can effectively solve the defect proposed in background technology, and effectively can improve control performance to inverter control, reduces the dynamic response time of control.
Accompanying drawing explanation
Fig. 1 is the schematic flow sheet of the embodiment one of traction invertor control method provided by the invention;
Fig. 2 is the schematic flow sheet of the embodiment two of traction invertor control method provided by the invention;
Fig. 3 is the schematic diagram of the vector control algorithm of full speed range in embodiment provided by the invention;
Fig. 4 is the structural representation of traction invertor control device embodiment one provided by the invention;
Fig. 5 is the structural representation of traction invertor control device embodiment two provided by the invention;
Fig. 6 is an instantiation schematic diagram of curve of traction characteristics.
Embodiment
As described in Figure 1, the schematic flow sheet of the embodiment one of traction invertor control method provided by the invention.The present embodiment comprises:
Step S1, configuration parameter, enter open loop constant voltage constant frequency control or vector control according to described parameter;
Step S2, pulse width modulation controlled is carried out to the voltage signal exported after above-mentioned steps S1;
Wherein, the open loop constant voltage constant frequency control described in step S1, realizes as follows:
Step S101, foundation setting slope carry out the instruction input of climbing of given frequency;
The instruction of climbing of the given frequency of step S102, foundation input calculates corresponding voltage signal respectively, and described voltage signal comprises voltage magnitude information and angle information;
Vector control described in step S1, realizes as follows:
Step S103, judge whether that constant speed control command inputs, be, gathered locomotive actual speed signal and given speed value, and calculate given torque value according to described rate signal and given speed value; Otherwise, calculate given torque value according to curve of traction characteristics; Wherein, described curve of traction characteristics is the inherent characteristic of each locomotive traction unit, obtains, as shown in Figure 6 by experimentation.
Step S104, based on adhesion control algolithm given torque value is revised;
Step S105, based on the vector control algorithm of full speed range according to calculating voltage signal through revised described given torque value; Described voltage signal comprises voltage magnitude information and angle information.
Present embodiments provide open loop constant voltage constant frequency control and vector control two kinds of control strategies, carry out the needs selected with satisfied test or operation by configuration relevant parameter, there is good applicability; In addition adopt the control method that provides of the present embodiment effectively can improve the control performance of traction electric machine, and control to avoid the phenomenon that part axle is in traction working condition, part axle is in damped condition of locomotive under synchronization by constant speed and occur.When practical application, described configuration parameter resets effectively, so just can reconfigure parameter according to the demand of reality after system electrification is restarted, according to the corresponding control strategy of Selecting parameter.Calculate given torque value according to described rate signal and given speed value in step S103, rate signal and given speed value input pi regulator can be calculated when practical application, draw given torque value.
As shown in Figure 2, the schematic flow sheet of the embodiment two of traction invertor control method provided by the invention.The present embodiment is based on embodiment one, and the vector control algorithm of full speed range in step S105 described in embodiment one, is implemented as follows:
The rotating speed of Real-Time Monitoring motor, judges whether described rotating speed is less than the first preset rotation speed, if so, adopts magnetic linkage open loop control algorithm; Otherwise, continue next step;
Judge whether described rotating speed is greater than described first preset rotation speed and is less than the second preset rotation speed, if so, adopt magnetic linkage closed-loop control algolithm; Otherwise, continue next step;
Judge whether described rotating speed is greater than described second preset rotation speed, adopt scalar control algolithm; Otherwise this rotating speed is exceptional value, return the rotating speed of again monitoring motor.
Embodiment two adopts different vector control modes according to the rotating speed of motor, overcomes second shortcoming in background technology, effectively improves the control performance of traction electric machine.
Schematic diagram described in composition graphs 3, the implementation procedure of the vector control algorithm of full speed range in each embodiment of traction invertor control method provided by the invention is as follows:
Step a, according to setting slope carry out given torque climb instruction input;
Step b, calculate torque current set-point respectively according to the instruction of climbing of given torque of input, described torque current set-point and torque current detected value are carried out deviation and calculate output voltage Q axle component; This step large deviations calculates can adopt torque current regulator, and this torque current regulator can be proportional and integral controller.
Step c, calculate flux linkage set value according to motor speed and magnetic linkage opisometer, by described flux linkage set value with adopt the flux observation value presetting Flux Observation Model observation to calculate exciting current set-point through flux regulating device; Described exciting current set-point and exciting current detected value are carried out deviation and calculate output voltage D axle component; Deviation described in this step calculates can adopt exciting current controller, and this exciting current controller can be proportional and integral controller.
Steps d, by above-mentioned voltage Q axle component and voltage D axle component respectively and corresponding feed-forward voltage be added after to obtain amplitude and the angle of output voltage through coordinate transform;
Wherein, motor full speed range is divided into three ranges of speeds, and described default Flux Observation Model is within the scope of different rotating speeds at described motor speed and adopts different Flux Observation Models.It should be noted that in addition, Q axle in above-mentioned steps b, c and d and the definition of D axle: in AC Motor Control, in order to the control characteristic of similar direct current machine can be obtained, rotor establishes a coordinate system, this coordinate system and rotor synchronous axial system, getting direction, rotor field is D axle, is Q axle perpendicular to direction, rotor field.
In embodiment two, the vector control algorithm of full speed range divides the transverse direction of control algolithm, and the corresponding different range of speeds adopts different control to improve control performance.And the vector control algorithm of full speed range described in Fig. 3 divides the longitudinal direction of control algolithm, the corresponding different range of speeds all adopts the algorithm shown in Fig. 3 substantially, difference is only that the default Flux Observation Model be within the scope of different rotating speeds should adopt different Flux Observation Models, and the account form calculating exciting current set-point is different.
As shown in Figure 2, traction invertor control method embodiment three of the present invention, the present embodiment, based on the basis of the various embodiments described above, before described step S1, also comprises:
Voltage and current information in step S ' 101, sampling pulliung circuit, and digitized processing is carried out to the information of sampling;
Step S ' 102, real-time inspection and control instruction and state information; Wherein, described control command comprises: traffic direction and/or handle level, and state information comprises: malfunction and/or command status;
Step S ' 103, the voltage and current information of foundation sampling and the control command of Real-Time Monitoring or state information, judge whether motor meets entry condition, if do not meet, enter shutdown processing procedure; Otherwise, perform subsequent step.
The setting of step S ' 101 and S ' 102 is to provide required relevant information in subsequent step, and can provide the judgment basis of entry condition when electric motor starting.The setting of step S ' 103 is to enter shutdown processing procedure in time when motor can not normally start, avoiding misoperation.
Preferably, the pulse width modulation controlled described in the various embodiments described above, can adopt following steps to realize:
Step S201,4 switch speed values increased successively are set, are respectively First Speed value, second speed value, third speed value and the 4th velocity amplitude, increase successively to described 4th velocity amplitude from described First Speed value;
Step S202, the speed interval be less than before First Speed point adopt asynchronous modulation;
Speed interval between step S203, First Speed point to second speed point adopts 15 frequency division synchronous modulation;
Speed interval between step S204, second speed point to third speed point adopts 7 frequency division synchronous modulation;
Speed interval between step S205, third speed o'clock to the 4th speed point adopts 3 frequency division synchronous modulation;
The speed interval employing square-wave frequency modulation that step S206, the 4th speed point are later.
The pulse width modulation control method of said process, overcome the first defect in background technology, have employed segment sync modulation system, in the whole frequency range that traction invertor exports, use asynchronous modulation, 15 frequency division synchronous modulation, 7 frequency division synchronous modulation, 3 frequency division synchronous modulation and square-wave frequency modulation method.In addition, between each modulation system, preferably use seamlessly transits strategy and Hysteresis control.Wherein seamlessly transitting strategy is select based on carrying out condition to switching point to ensure that transient process no current impacts.Hysteresis control is the very wide closed loop current tracking and controlling method of a kind of application, usually with fast response time and structure simple and famous.In various converter control system, Hysteresis control unit generally has two kinds of functions concurrently simultaneously, first as closed loop current adjuster, second plays a part PWM device, and current reference signal dress is changed to corresponding switching instruction signals.Hysteresis control described in the present invention can adopt Hysteresis control theory of the prior art to realize, and all arrange a Hysteresis control band at each switch speed point place, each switch speed point and hysteresis band are configured by parameter.In addition, it should be noted that here: it is fixed that the maximum switching frequency that above-mentioned each velocity amplitude can allow according to motor speed and power model is offered.
One of ordinary skill in the art will appreciate that: all or part of step realizing above-mentioned each embodiment of the method can have been come by the hardware that program command is relevant.Aforesaid program can be stored in a computer read/write memory medium.This program, when performing, performs the step comprising above-mentioned each embodiment of the method; And aforesaid storage medium comprises: ROM, RAM, magnetic disc or CD etc. various can be program code stored medium.
As shown in Figure 4, the structural representation of traction invertor control device embodiment one of the present invention.The described traction invertor control method that the various embodiments described above provide can adopt the traction invertor control device described in the present embodiment to realize.Described in the present embodiment, traction invertor control device comprises: parameter configuration and control module 1, open loop constant voltage constant frequency control module 2, vector control module 3 and pulse width modulation module 4.The control command output of described parameter configuration and control module 1 communicates to connect with described open loop constant voltage constant frequency control module 2 and described vector control module 3 respectively, and described open loop constant voltage constant frequency control module 2 and the signal output part of described vector control module 3 and the signal input part of described pulse width modulation module 4 communicate to connect.Described parameter configuration and control module 1 for configuration parameter, according to parameter call corresponding control module.Described open loop constant voltage constant frequency control module 2 is for performing open loop constant voltage constant frequency control according to the call instruction received and exporting the voltage signal after controlling.Described vector control module 3 is for performing vector control according to the call instruction received and exporting the voltage signal after controlling.Described pulse width modulation module 4 carries out pulse width modulation controlled for the voltage signal exported described open loop constant voltage constant frequency control module and described vector control module, exports the pulse signal after modulation.Wherein, described voltage signal comprises: voltage magnitude information and angle information.
Traction invertor control device described in the present embodiment selects open loop constant voltage constant frequency control and these two kinds of control strategies of vector control by configuration relevant parameter, solve the shortcoming in background technology, effectively provide control performance, reduce the dynamic response time of control.
As shown in Figure 5, the structural representation of traction invertor control device embodiment two provided by the invention.Based on embodiment one, the vector control module described in the present embodiment comprises: motor speed detects and control submodule 301, magnetic linkage opened loop control submodule 302, magnetic linkage closed-loop controls submodule 303 and scalar controls submodule 304.The control command output of described motor speed detection and control submodule 301 controls submodule 303 with described magnetic linkage opened loop control submodule 302, described magnetic linkage closed-loop respectively and is connected with the control command input that described scalar controls submodule 304.Wherein, described motor speed detects and controls submodule 301 for detecting the rotating speed of motor in real time, and magnetic linkage opened loop control submodule is called when described rotating speed is less than the first preset rotation speed, be greater than when described first preset rotation speed is less than the second preset rotation speed at described rotating speed and call magnetic linkage closed-loop control submodule, call scalar when described rotating speed is greater than described second preset rotation speed and control submodule.Described magnetic linkage opened loop control submodule 302 is for performing magnetic linkage opened loop control according to the call instruction received and exporting the voltage signal after controlling.Described magnetic linkage closed-loop controls submodule 303 and controls for performing magnetic linkage closed-loop according to the call instruction received and export the voltage signal after controlling.Described scalar controls submodule 304 and controls for performing scalar according to the call instruction received and export the voltage signal after controlling.The present embodiment vector control module can adopt different control submodules according to the rotating speed of motor, effectively overcomes second shortcoming in background technology, improves the control performance of traction electric machine.
Further, based on the various embodiments described above, the 3rd embodiment of the traction inversion control device that the present embodiment provides.The present embodiment has set up following module on the basis of the various embodiments described above, is respectively: sampling module, detection module and determination module.The sample information output of described sampling module and open loop constant voltage constant frequency control module and/or vector control module communicate to connect, and also communicate to connect with described determination module simultaneously; The monitoring information output of described detection module and open loop constant voltage constant frequency control module and/or vector control module communicate to connect; Also communicate to connect with described determination module simultaneously.Wherein, the voltage and current parameter of sampling module for sampling in pulliung circuit, and digitized processing is carried out to the parameter of sampling.Detection module is used for real-time inspection and control instruction and state information; Wherein, described control command comprises: traffic direction and/or handle level, and state information comprises: malfunction and/or command status.Determination module is used for the voltage and current information of foundation sampling and the control command of Real-Time Monitoring or state information and judges whether motor meets entry condition, enters shutdown processing procedure if do not meet.
Described sampling module and described detection module can be the relevant information that other modules provide required when performing control procedure, can also provide the judgment basis of entry condition when electric motor starting.Described determination module can enter shutdown processing procedure in time when motor can not normally start, and avoids misoperation.
Last it is noted that above each embodiment is only in order to illustrate technical scheme of the present invention, be not intended to limit; Although with reference to foregoing embodiments to invention has been detailed description, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein some or all of technical characteristic; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the scope of various embodiments of the present invention technical scheme.
Claims (10)
1. a traction invertor control method, is characterized in that, comprising:
Configuration parameter, enters open loop constant voltage constant frequency control or vector control according to described parameter; And
Pulse width modulation controlled is carried out to the voltage signal exported after above-mentioned rate-determining steps;
Wherein, described open loop constant voltage constant frequency control, realizes as follows:
The instruction input of climbing of given frequency is carried out according to setting slope; And
Instruction of climbing according to the given frequency of input calculates corresponding voltage signal respectively, and described voltage signal comprises voltage magnitude information and angle information;
Described vector control, realizes as follows:
Judge whether that constant speed control command inputs, be, gathered locomotive actual speed signal and given speed value, and calculate given torque value according to described rate signal and given speed value; Otherwise, calculate given torque value according to curve of traction characteristics;
Based on adhesion control algolithm, given torque value is revised;
Vector control algorithm foundation based on full speed range calculates voltage signal through revised described given torque value, and described voltage signal comprises voltage magnitude information and angle information.
2. traction invertor control method according to claim 1, is characterized in that, the vector control algorithm of described full speed range, comprises the steps:
The rotating speed of Real-Time Monitoring motor, judges whether described rotating speed is less than the first preset rotation speed, if so, adopts magnetic linkage open loop control algorithm; Otherwise, continue next step;
Judge whether described rotating speed is greater than described first preset rotation speed and is less than the second preset rotation speed, if so, adopt magnetic linkage closed-loop control algolithm; Otherwise, continue next step;
Judge whether described rotating speed is greater than described second preset rotation speed, adopt scalar control algolithm; Otherwise this rotating speed is exceptional value, return the rotating speed of again monitoring motor.
3. traction invertor control method according to claim 1, is characterized in that, the vector control algorithm of described full speed range, comprises the steps:
The instruction input of climbing of given torque is carried out according to setting slope;
Instruction of climbing according to the given torque of input calculates torque current set-point respectively, described torque current set-point and torque current detected value is carried out deviation and calculates output voltage Q axle component;
Calculate flux linkage set value according to motor speed, the flux observation value that described flux linkage set value and employing preset Flux Observation Model observation is calculated exciting current set-point through adjuster; Described exciting current set-point and exciting current detected value are carried out deviation and calculate output voltage D axle component;
Obtain amplitude and the angle of output voltage through coordinate transform after above-mentioned voltage Q axle component and voltage D axle component being added with corresponding feed-forward voltage respectively;
Wherein, motor full speed range is divided into three ranges of speeds, and described default Flux Observation Model is within the scope of different rotating speeds at described motor speed and adopts different Flux Observation Models.
4. traction invertor control method according to claim 1, is characterized in that, before configuration parameter, also comprises:
Voltage and current information in sampling pulliung circuit, and digitized processing is carried out to the information of sampling;
Real-time inspection and control instruction and state information; Wherein, described control command comprises: traffic direction and/or handle level, and state information comprises: malfunction and/or command status;
The control command of the voltage and current information that foundation is sampled and Real-Time Monitoring or state information, judge whether motor meets entry condition, if do not meet, enter shutdown processing procedure; Otherwise, perform subsequent step.
5. traction invertor control method according to claim 1, is characterized in that, described pulse width modulation controlled, comprising:
4 switch speed values increased successively are set, are respectively First Speed value, second speed value, third speed value and the 4th velocity amplitude, increase successively to described 4th velocity amplitude from described First Speed value;
The speed interval be less than before First Speed point adopts asynchronous modulation;
Speed interval between First Speed point to second speed point adopts 15 frequency division synchronous modulation;
Speed interval between second speed point to third speed point adopts 7 frequency division synchronous modulation;
Speed interval between third speed o'clock to the 4th speed point adopts 3 frequency division synchronous modulation;
The speed interval employing square-wave frequency modulation that 4th speed point is later.
6. traction invertor control method according to claim 5, is characterized in that, described pulse width modulation algorithm also comprises: adopt between above-mentioned each modulated process and seamlessly transit strategy.
7. traction invertor control method according to claim 5, is characterized in that, described pulse width modulation algorithm also comprises: all arrange a Hysteresis control band at each switch speed point place, each switch speed point and hysteresis band are configured by parameter.
8. a traction invertor control device, is characterized in that, comprising:
Parameter configuration and control module, for configuration parameter, according to the corresponding control module of parameter call;
Open loop constant voltage constant frequency control module, for performing open loop constant voltage constant frequency control according to the call instruction received and exporting the voltage signal after controlling;
Vector control module, for performing vector control according to the call instruction received and exporting the voltage signal after controlling; And
Pulse width modulation module, carries out pulse width modulation controlled for the voltage signal exported described open loop constant voltage constant frequency control module and described vector control module, exports the pulse signal after modulation;
Wherein, described open loop constant voltage constant frequency control module is specifically for performing described open loop constant voltage constant frequency control in the following way: the instruction input of climbing carrying out given frequency according to setting slope; And calculate corresponding voltage signal respectively according to the instruction of climbing of the given frequency of input;
Described vector control module is specifically for performing described vector control in the following way: judged whether that constant speed control command inputs, be, gather locomotive actual speed signal and given speed value, and calculate given torque value according to described rate signal and given speed value; Otherwise, calculate given torque value according to curve of traction characteristics; Based on adhesion control algolithm, given torque value is revised; Vector control algorithm foundation based on full speed range calculates voltage signal through revised described given torque value;
Wherein, described voltage signal comprises: voltage magnitude information and angle information.
9. traction invertor control device according to claim 8, is characterized in that, described vector control module comprises: motor speed detects and control submodule, magnetic linkage opened loop control submodule, magnetic linkage closed-loop controls submodule and scalar controls submodule; Wherein,
Described motor speed detects and controls submodule, for detecting the rotating speed of motor in real time, and magnetic linkage opened loop control submodule is called when described rotating speed is less than the first preset rotation speed, be greater than when described first preset rotation speed is less than the second preset rotation speed at described rotating speed and call magnetic linkage closed-loop control submodule, call scalar when described rotating speed is greater than described second preset rotation speed and control submodule;
Described magnetic linkage opened loop control submodule, for performing magnetic linkage opened loop control according to the call instruction received and exporting the voltage signal after controlling;
Described magnetic linkage closed-loop controls submodule, controls for performing magnetic linkage closed-loop according to the call instruction received and exports the voltage signal after controlling;
Described scalar controls submodule, controls for performing scalar according to the call instruction received and exports the voltage signal after controlling.
10. traction invertor control device according to claim 8, is characterized in that, also comprise:
Sampling module, for the voltage and current parameter of sampling in pulliung circuit, and carries out digitized processing to the parameter of sampling;
Detection module, for real-time inspection and control instruction and state information; Wherein, described control command comprises: traffic direction and/or handle level, and state information comprises: malfunction and/or command status;
Determination module, for judging whether motor meets entry condition according to the voltage and current information of sampling and the control command of Real-Time Monitoring or state information, enters shutdown processing procedure if satisfied.
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| CN109327175B (en) * | 2017-07-26 | 2020-11-06 | 比亚迪股份有限公司 | Middle 60-degree modulation method and system based on DSP |
| CN110875709B (en) * | 2018-08-30 | 2021-10-22 | 比亚迪股份有限公司 | Protection method and system of inverter and vehicle |
| CN110816560B (en) * | 2019-11-20 | 2021-03-05 | 株洲中车时代软件技术有限公司 | Control method and device for traction inverter of rail transit vehicle |
| CN111756305B (en) * | 2020-06-21 | 2022-06-14 | 中车永济电机有限公司 | Locomotive auxiliary converter topological structure |
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