CN103259487A - Transducer motor controlling method and transducer - Google Patents
Transducer motor controlling method and transducer Download PDFInfo
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- CN103259487A CN103259487A CN2013101332211A CN201310133221A CN103259487A CN 103259487 A CN103259487 A CN 103259487A CN 2013101332211 A CN2013101332211 A CN 2013101332211A CN 201310133221 A CN201310133221 A CN 201310133221A CN 103259487 A CN103259487 A CN 103259487A
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Abstract
The invention discloses a transducer motor controlling method which comprises the steps lower bridge arms of three phases are in serial connection with sampling resistors, driving of one phase of the three phases is closed, driving of an upper bridge arm of one phase of the two rest phases is closed, driving of a lower bridge arm is completely opened, the duty ratio of pulse width modulation signals on driving of an upper bridge arm of the other phase of the two rest phases gradually increases from zero, driving of a lower bridge arm of the other phase of the two rest phases is closed, sampling current of the lower bridge arm of one phase of the two rest phases is detected and adjusted to be stabilized at a first preset value I, voltage U1 of a bus and the duty ratio D1 of the bus are recorded, sampling current of the lower bridge arm of one phase of the two rest phases is detected and adjusted to be stabilized at a second preset value I', voltage U2 of the bus and the duty ratio D2 of the bus are recorded, and resistance values between two adjacent phases of the three phases are calculated to serve as the stator resistance of a motor. The invention further discloses a transducer using the method. The method and the transducer are simple and accurate in current sampling.
Description
Technical field
The present invention relates to converter technology, particularly relate to a kind of method and a kind of frequency converter of Frequency Converter Control motor.
Background technology
Therefore frequency converter can be used for controlling easily rotating speed of motor owing to can change frequency and the voltage of alternating current.The groundwork principle of frequency converter is by rectification power frequency (generally being 50Hz) alternating current to be become direct current earlier, carries out filtering then and handles, and then direct current is converted to the alternating current with expected frequence through inversion.As shown in Figure 1, be a kind of circuit theory diagrams of inverter commonly used.This inverter comprises three road IGBT pipe, is the boundary with three-phase output node U, V, W, and every road all is divided into last brachium pontis and the following brachium pontis that comprises an IGBT pipe.The grid input of each IGBT pipe has the waveform of the pwm signal control output voltage of certain duty ratio, thereby obtains three-phase voltage.
On parameter of electric machine identification and Electric Machine Control, the accuracy of current sample is most important.In the high-end field, adopt Hall effect to respond to and come sample rate current, but it does not possess advantage in the low-cost field of low side.Just be based on the bus sample rate current in addition, need complicated software control, and this method can't be effectively protected to phase fault.
Summary of the invention
Based on this, be necessary to provide a kind of method of Frequency Converter Control motor, current sample mode wherein is simple relatively and accurate.
In addition, also provide a kind of frequency converter.
A kind of method of Frequency Converter Control motor comprises the parameter of electric machine identification step before the control, and the described parameter of electric machine is stator resistance, and described identification step specifically comprises: the brachium pontis sampling resistor of connecting respectively under the three-phase of inverter; The wherein driving of a phase in the three-phase is closed, the last brachium pontis of the wherein phase in the remaining two-phase drives and closes, the brachium pontis driving is open-minded fully down, and the duty ratio of the pulse-width signal that the last brachium pontis of the other phase in the remaining two-phase drives is started from scratch and increased gradually, brachium pontis drives and closes down; The wherein sample rate current of the following brachium pontis of a phase that detects and regulate in the described remaining two-phase makes it be stabilized in the first preset value I, and record busbar voltage U1 and duty ratio D1; The wherein sample rate current of the following brachium pontis of a phase that detects and regulate in the described remaining two-phase makes it be stabilized in the second preset value I ', and record busbar voltage U2 and duty ratio D2; Calculate the alternate resistance R of described remaining two-phase according to following formula:
Calculate the average of alternate resistance in twos of resulting three-phase as the stator resistance of motor.
Therein among embodiment, also comprise: after alternate resistance calculations is finished in twos of three-phase, calculate the deviation of three alternate resistance, if surpass default deviation, then report alternate imbalance fault, otherwise get the average of described three alternate resistance as the stator resistance of motor.
Among embodiment, the described parameter of electric machine comprises rotor resistance, stator leakage inductance and rotor leakage inductance therein, and identification step specifically comprises: make the wherein one-phase open circuit in the three-phase, alternately apply alternating current and make electric current reach the rated current of motor other two; Detect the phase place zero point of sample rate current; According to voltage-phase zero point and current phase zero point, calculate the phase difference θ of voltage and current; Calculate described rotor resistance, stator leakage inductance and rotor leakage inductance according to described phase difference θ and motor steady-state model;
Wherein, the step at phase place zero point of described detection sample rate current is: adopt first sample frequency to carry out current sample, when detecting two adjacent current symbol when opposite, described two adjacent electric currents are taken absolute value addition as judgment threshold; Continue to adopt first sample frequency to carry out current sample, when detecting current instantaneous value less than described judgment threshold, adopt second sample frequency to carry out current sample; Described second sample frequency is greater than first sample frequency; When detecting two adjacent current symbol when opposite, the phase place of two electric currents was averaged as phase place zero point.
Among embodiment, also comprise the step of motor being carried out normal vector control therein, described vector control comprises the three-phase current sampling, the moment of described current sample for the following brachium pontis of each phase open in the middle of constantly.
Therein among embodiment, brachium pontis driving time under U, the V of the last bat constantly of current sample rate current, the W three-phase is compared, a phase current of driving time minimum is synthetic by other biphase current.
A kind of frequency converter comprises parameter of electric machine identification module, and described parameter of electric machine identification module is used for the stator resistance of identification motor, the brachium pontis sampling resistor of connecting respectively under the three-phase of the inverter of described frequency converter; Described parameter of electric machine identification module identification during stator resistance specifically: the wherein driving of a phase in the three-phase is closed, the last brachium pontis of the wherein phase in the remaining two-phase drives and closes, the brachium pontis driving is open-minded fully down, and the duty ratio of the pulse-width signal that the last brachium pontis of the other phase in the remaining two-phase drives is started from scratch and increased gradually, brachium pontis drives and closes down; The wherein sample rate current of the following brachium pontis of a phase that detects and regulate in the described remaining two-phase makes it be stabilized in the first preset value I, and record busbar voltage U1 and duty ratio D1; The wherein sample rate current of the following brachium pontis of a phase that detects and regulate in the described remaining two-phase makes it be stabilized in the second preset value I ', and record busbar voltage U2 and duty ratio D2; Calculate the alternate resistance R of described remaining two-phase according to following formula:
Calculate the average of alternate resistance in twos of resulting three-phase as the stator resistance of motor.
Among embodiment, described parameter of electric machine identification module also is used for therein: after alternate resistance calculations is finished in twos of three-phase, calculate the deviation of three alternate resistance, if surpass default deviation, then report alternate imbalance fault.
Among embodiment, described parameter of electric machine identification module also is used for identification rotor resistance, stator leakage inductance and rotor leakage inductance therein: make the wherein one-phase open circuit of three-phase, alternately apply alternating current and make electric current reach the rated current of motor other two; Detect the phase place zero point of sample rate current; According to voltage-phase zero point and current phase zero point, calculate the phase difference θ of voltage and current; Calculate described rotor resistance, stator leakage inductance and rotor leakage inductance according to described phase difference θ and motor steady-state model;
Wherein, the step at phase place zero point of described detection sample rate current is: adopt first sample frequency to carry out current sample, when detecting two adjacent current symbol when opposite, described two adjacent electric currents are taken absolute value addition as judgment threshold; Continue to adopt first sample frequency to carry out current sample, when detecting current instantaneous value less than described judgment threshold, adopt second sample frequency to carry out current sample; Described second sample frequency is greater than first sample frequency; When detecting two adjacent current symbol when opposite, the phase place of two electric currents was averaged as phase place zero point.
Among embodiment, comprise vector control module therein, be used for the middle time trigger opened at the following brachium pontis of each phase to the sampling of three-phase current.
Among embodiment, described vector control module also is used for brachium pontis driving time under U, the V of current sample rate current last bat constantly, the W three-phase is compared, and a phase current of driving time minimum is synthetic by other biphase current therein.
The method of above-described embodiment and frequency converter, by at inverter brachium pontis up-sampling electric current, can be simply and finish current sample exactly, and use it for parameter of electric machine identification and motor vector control.
Description of drawings
Fig. 1 is the circuit theory diagrams figure of the inverter of traditional frequency converter;
Fig. 2 is the circuit theory diagrams of inverter of the frequency converter of an embodiment;
Fig. 3 is the current direction schematic diagram;
Fig. 4 is the current sample schematic diagram.
Embodiment
As shown in Figure 2, be the circuit theory diagrams of inverter of the frequency converter of an embodiment.This inverter is on the basis of traditional inverter structure, at the following brachium pontis series connection sampling resistor R of each phase
U, R
V, R
WThe electric current of each phase is respectively applied to sample.
Based on above-mentioned inverter structure, provide the method for the Frequency Converter Control motor of an embodiment.This method comprises the current sample when controlling preceding parameter of electric machine identification step and normal vector control.When frequency converter connects controlled motor, the parameters of motor is not understood, and the parameter of motor to be frequency converter carry out that Electric Machine Control is necessary.When frequency converter is connected with motor first or undesired needs of Electric Machine Control when redefining the parameter of electric machine, need carry out the step of above-mentioned parameter of electric machine identification.The above-mentioned parameter of electric machine mainly comprises stator resistance, rotor resistance, stator leakage inductance and rotor leakage inductance etc.
The step of identification stator resistance specifically comprises the alternate resistance in twos of identifying three-phase, also is the alternate resistance of UV, the alternate resistance of UW and the alternate resistance of VW.Step is as follows:
Step S101: the wherein driving of a phase in the three-phase is closed, the last brachium pontis of the wherein phase in the remaining two-phase drives and closes, the brachium pontis driving is open-minded fully down, and the duty ratio of the pulse-width signal that the last brachium pontis of the other phase in the remaining two-phase drives is started from scratch and increased gradually, brachium pontis drives and closes down.Be example with identification UV alternate resistance, this step is specially: the driving of W phase is closed, it is open-minded fully that the last brachium pontis driving (also being T1) of U phase is closed, brachium pontis drives (also being T2) down, and the duty ratio of the pulse-width signal of the last brachium pontis driving (also being T3) of V phase is started from scratch and increased gradually, brachium pontis driving (also being T4) is closed down.This moment, the flow direction of electric current was the alternate resistance → T2 of the UV → negative busbar (-) of positive bus-bar (+) → T3 → electrode, also was that electric current can descend brachium pontis to flow through from U fully mutually, with reference to figure 3.
Step S102: the wherein sample rate current of the following brachium pontis of a phase that detects and regulate in the described remaining two-phase makes it be stabilized in the first preset value I, and record busbar voltage U1 and duty ratio D1.Be example with identification UV alternate resistance, this step is specially: detect and also regulate the sample rate current that U descend brachium pontis mutually, also namely detect by the electric current on the sampling resistor RU, and process PI regulating measure makes it be stabilized in the first preset value I.During at the first preset value I, corresponding bus lines voltage is U1 in current stabilization, and the duty ratio that V goes up brachium pontis mutually is D1.The pressure drop of supposing two IGBT pipes is X, and then Ci Shi circuit equation is:
U1×D1＝X+X+R×I。
Step S103: the wherein sample rate current of the following brachium pontis of a phase that detects and regulate in the described remaining two-phase makes it be stabilized in the second preset value I ', and record busbar voltage U2 and duty ratio D2.Be example with identification UV alternate resistance, this step is specially: detect and also regulate the sample rate current that U descend brachium pontis mutually, also namely detect and pass through sampling resistor R
UOn electric current, and make it be stabilized in the second preset value I ' through the PI regulating measure.During at the second preset value I ', corresponding bus lines voltage is U2 in current stabilization, and the duty ratio that V goes up brachium pontis mutually is D2.Then Ci Shi circuit equation is:
U2×D2＝X+X+R×I'。
Step S104: the alternate resistance R that calculates described remaining two-phase according to following formula:
The formula of this step is obtained by step S102 and step S103 two steps simultaneous solution equation.Wherein the first preset value I can be half of rated current, and the second preset value I ' is rated current, perhaps also can adopt other to be no more than the value of rated current.
Further, for avoiding bigger deviation, in the above-mentioned steps, also comprise: after alternate resistance calculations is finished in twos of three-phase, calculate the deviation of three alternate resistance, if surpass default deviation, then report alternate imbalance fault, otherwise get the average of described three alternate resistance as the stator resistance of motor.
The identification step of other parameters of electric machine such as rotor resistance, stator leakage inductance and rotor leakage inductance specifically comprises:
Step S201: make the wherein one-phase open circuit in the three-phase, apply alternating current and make electric current reach the rated current of motor in other two-phase.W is opened a way mutually, apply alternating current between the UV phase, make electric current reach the rated current of motor, the mode of employing is to carry out PI to regulate equally.According to the motor steady-state model, can under the situation of the phase difference that obtains electric current and voltage, calculate rotor resistance, stator and rotor leakage inductance.
Step S202: the phase place zero point of detecting sample rate current.Phase place is a comparatively crucial timing node zero point, arrives moment at zero point from phase place, and current phasor periodically changed according to regular time.Therefore phase place is most important for the parameter of electric machine computational accuracy zero point accurately.This step specifically can adopt following method to detect.
Step S221: adopt first sample frequency to carry out current sample, when detecting two adjacent current symbol when opposite, described two adjacent electric currents are taken absolute value addition as judgment threshold.As shown in Figure 4, when the phase place zero crossing, electric current must be by just becoming negative or just being become by negative, also is that symbol can change.Simultaneously, the absolute value of these two current sampling datas is also less, that is to say, when the phase place zero crossing, current amplitude is also less.The two electric current is taken absolute value addition as judgment threshold, as the basis of further judgement.
Step S222: continue to adopt first sample frequency to carry out current sample, when detecting current instantaneous value less than described judgment threshold, adopt second sample frequency to carry out current sample; Described second sample frequency is greater than first sample frequency.When sample rate current during less than above-mentioned judgment threshold, can adopt the first bigger sample frequency of sample frequency to sample to judge phase place zero point.
Preferably, above-mentioned first sample frequency is that 10KHz(is to be 100 μ s in the sampling period), above-mentioned second sample frequency is that 200KHz(is to be 5 μ s in the sampling period).
Step S223: when detecting two adjacent current symbol when opposite, the phase place of electric current is averaged as current current phase.
Step S203: according to voltage-phase zero point and current phase zero point, calculate the phase difference θ of voltage and current.Can obtain electric current and voltage phase place more accurately by top processing
It should be noted that when alternate when applying alternating voltage, this alternating voltage is divided into positive and negative half-wave voltage.When applying positive voltage, this moment, the control mode of inverter was that T2 often opens, and T1 often closes, V phase copped wave output.By analysis, this kind situation current direction has 2 kinds of possibilities: a kind of is that electric current is for just, from positive bus-bar → T3 → motor → T2 → negative busbar; Another is that electric current is negative, from negative busbar → D2 → motor → D3 → positive bus-bar.No matter which kind of situation, this moment, current of electric descended brachium pontis sampling resistor R through U always mutually
USo, during positive voltage, need sampling U to descend the brachium pontis sample rate current as actual current mutually.
And when applying negative voltage, this moment, the control mode of inverter was that: T4 often opens, and T3 often closes, U phase copped wave output.By analysis, this kind current direction has 2 kinds of possibilities: a kind of is that electric current is for just, from negative busbar → D4 → motor → D1 → positive bus-bar; Be that a kind of electric current is for negative, from positive bus-bar → T1 → motor → T4 → negative busbar in addition.From top two kinds, this moment, current of electric descend the brachium pontis sampling resistor through V always mutually, so during negative voltage, need sampling V descend the brachium pontis sample rate current as actual current mutually.
Step S204: calculate described rotor resistance, stator leakage inductance and rotor leakage inductance according to described phase difference θ and motor steady-state model.
Through parameter of electric machine identification, frequency converter just can correctly be controlled motor.
Based on inverter structure shown in Figure 2, the method for present embodiment is come three-phase current is sampled when motor is carried out normal vector control in the following manner: the described current sample of opening at the following brachium pontis of each phase of middle time trigger.When motor normally moved, brachium pontis sampling resistor electric current was differentiated with actual each brachium pontis outflow electric current under the three-phase.Needing special processing, could guarantee that the brachium pontis sample rate current is actual output current down, as shown in Figure 2, is the example explanation with U mutually, has only when electric current passes through T2 or D2 following brachium pontis electric current R
UJust be equal to this brachium pontis output current.When electric current was by T1 or D1 else if, following brachium pontis there is no sample rate current.For this reason, with middle the time trigger all opened at the following brachium pontis of each phase of sampling at every turn, namely be the electric current of sampling resistor with regard to the electric current that can guarantee to flow through brachium pontis like this.Concrete, present embodiment adopts TI(Texas Instrument) C2000 series DSP 28035 chips produced, utilize the function of its EPWM module that carries to realize timing sampling to the AD current sample.The moment of timing sampling is come the trigger current sampling by the component register setting of EPWM module being realized down brachium pontis constantly in the middle of opening.
In addition, because during the higher generation ovennodulation of output voltage, can occur the situation that this descend brachium pontis to close fully mutually at certain phase brachium pontis, mistake will appear in sample rate current at this moment.For avoiding occurring this situation, present embodiment compares brachium pontis driving time under U, the V of the last bat constantly of current sample rate current, the W three-phase, gives up that phase current of driving time minimum.This phase current calculates by other biphase current is synthetic.
The frequency converter of one embodiment, its inverter adopts circuit structure as shown in Figure 2, and comprises parameter of electric machine identification module and vector control module.Wherein parameter of electric machine identification module is identified the parameters such as stator resistance, rotor resistance, stator leakage inductance and rotor leakage inductance of motor according to the method for above-described embodiment, and vector control module then obtains sample rate current according to the method for above-described embodiment.
The method of above-described embodiment and frequency converter, by at inverter brachium pontis up-sampling electric current, can be simply and finish current sample exactly, and use it for parameter of electric machine identification and motor vector control.
The above embodiment has only expressed several execution mode of the present invention, and it describes comparatively concrete and detailed, but can not therefore be interpreted as the restriction to claim of the present invention.Should be pointed out that for the person of ordinary skill of the art without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection range of patent of the present invention should be as the criterion with claims.
Claims (10)
1. the method for a Frequency Converter Control motor comprises the parameter of electric machine identification step that control is preceding, it is characterized in that the described parameter of electric machine is stator resistance, and described identification step specifically comprises:
The brachium pontis sampling resistor of connecting respectively under the three-phase of inverter;
The wherein driving of a phase in the three-phase is closed, the last brachium pontis of the wherein phase in the remaining two-phase drives and closes, the brachium pontis driving is open-minded fully down, and the duty ratio of the pulse-width signal that the last brachium pontis of the other phase in the remaining two-phase drives is started from scratch and increased gradually, brachium pontis drives and closes down;
The wherein sample rate current of the following brachium pontis of a phase that detects and regulate in the described remaining two-phase makes it be stabilized in the first preset value I, and record busbar voltage U1 and duty ratio D1;
The wherein sample rate current of the following brachium pontis of a phase that detects and regulate in the described remaining two-phase makes it be stabilized in the second preset value I ', and record busbar voltage U2 and duty ratio D2;
Calculate the alternate resistance R of described remaining two-phase according to following formula:
Calculate the average of alternate resistance in twos of resulting three-phase as the stator resistance of motor.
2. the method for Frequency Converter Control motor according to claim 1 is characterized in that, also comprises:
After alternate resistance calculations is finished in twos of three-phase, calculate the deviation of three alternate resistance, if surpass default deviation, then report alternate imbalance fault, otherwise get the average of described three alternate resistance as the stator resistance of motor.
3. the method for Frequency Converter Control motor according to claim 1 is characterized in that, the described parameter of electric machine comprises rotor resistance, stator leakage inductance and rotor leakage inductance, and identification step specifically comprises:
Make the wherein one-phase open circuit in the three-phase, alternately apply alternating current and make electric current reach the rated current of motor other two;
Detect the phase place zero point of sample rate current;
According to voltage-phase zero point and current phase zero point, calculate the phase difference θ of voltage and current;
Calculate described rotor resistance, stator leakage inductance and rotor leakage inductance according to described phase difference θ and motor steady-state model;
Wherein, the step at phase place zero point of described detection sample rate current is:
Adopt first sample frequency to carry out current sample, when detecting two adjacent current symbol when opposite, described two adjacent electric currents are taken absolute value addition as judgment threshold;
Continue to adopt first sample frequency to carry out current sample, when detecting current instantaneous value less than described judgment threshold, adopt second sample frequency to carry out current sample; Described second sample frequency is greater than first sample frequency;
When detecting two adjacent current symbol when opposite, the phase place of two electric currents was averaged as phase place zero point.
4. the method for Frequency Converter Control motor according to claim 1, it is characterized in that, also comprise the step of motor being carried out normal vector control, described vector control comprises the three-phase current sampling, the middle moment that the moment of described current sample opens for the following brachium pontis of each phase.
5. the method for Frequency Converter Control motor according to claim 4 is characterized in that, brachium pontis driving time under U, the V of the last bat constantly of current sample rate current, the W three-phase is compared, and a phase current of driving time minimum is synthetic by other biphase current.
6. a frequency converter comprises parameter of electric machine identification module, it is characterized in that, described parameter of electric machine identification module is used for the stator resistance of identification motor, the brachium pontis sampling resistor of connecting respectively under the three-phase of the inverter of described frequency converter;
Described parameter of electric machine identification module identification during stator resistance specifically:
The wherein driving of a phase in the three-phase is closed, the last brachium pontis of the wherein phase in the remaining two-phase drives and closes, the brachium pontis driving is open-minded fully down, and the duty ratio of the pulse-width signal that the last brachium pontis of the other phase in the remaining two-phase drives is started from scratch and increased gradually, brachium pontis drives and closes down;
The wherein sample rate current of the following brachium pontis of a phase that detects and regulate in the described remaining two-phase makes it be stabilized in the first preset value I, and record busbar voltage U1 and duty ratio D1;
The wherein sample rate current of the following brachium pontis of a phase that detects and regulate in the described remaining two-phase makes it be stabilized in the second preset value I ', and record busbar voltage U2 and duty ratio D2;
Calculate the alternate resistance R of described remaining two-phase according to following formula:
Calculate the average of alternate resistance in twos of resulting three-phase as the stator resistance of motor.
7. frequency converter according to claim 6, it is characterized in that described parameter of electric machine identification module also is used for: after alternate resistance calculations is finished in twos of three-phase, calculate the deviation of three alternate resistance, if surpass default deviation, then report alternate imbalance fault.
8. frequency converter according to claim 6 is characterized in that, described parameter of electric machine identification module also is used for identification rotor resistance, stator leakage inductance and rotor leakage inductance:
Make the wherein one-phase open circuit in the three-phase, alternately apply alternating current and make electric current reach the rated current of motor other two;
Detect the phase place zero point of sample rate current;
According to voltage-phase zero point and current phase zero point, calculate the phase difference θ of voltage and current;
Calculate described rotor resistance, stator leakage inductance and rotor leakage inductance according to described phase difference θ and motor steady-state model;
Wherein, the step at phase place zero point of described detection sample rate current is:
Adopt first sample frequency to carry out current sample, when detecting two adjacent current symbol when opposite, described two adjacent electric currents are taken absolute value addition as judgment threshold;
Continue to adopt first sample frequency to carry out current sample, when detecting current instantaneous value less than described judgment threshold, adopt second sample frequency to carry out current sample; Described second sample frequency is greater than first sample frequency;
When detecting two adjacent current symbol when opposite, the phase place of two electric currents was averaged as phase place zero point.
9. frequency converter according to claim 6 is characterized in that, comprises vector control module, for the sampling of the middle time trigger of opening at the following brachium pontis of each phase to three-phase current.
10. frequency converter according to claim 6, it is characterized in that, described vector control module also is used for brachium pontis driving time under U, the V of current sample rate current last bat constantly, the W three-phase is compared, and a phase current of driving time minimum is synthetic by other biphase current.
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