CN103346713A - Simplified algorithm of synchronous frequency conversion soft starting motor rotor position detection - Google Patents
Simplified algorithm of synchronous frequency conversion soft starting motor rotor position detection Download PDFInfo
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- CN103346713A CN103346713A CN2013102418474A CN201310241847A CN103346713A CN 103346713 A CN103346713 A CN 103346713A CN 2013102418474 A CN2013102418474 A CN 2013102418474A CN 201310241847 A CN201310241847 A CN 201310241847A CN 103346713 A CN103346713 A CN 103346713A
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Abstract
The invention discloses a simplified algorithm of synchronous frequency conversion soft starting motor rotor position detection. According to the simplified algorithm, motor stator three-phase voltage waveforms at different rotation speeds are collected through a voltage hall circuit and an analog sampling circuit and are compared synchronously, and the position of a motor rotator is judged. An appropriate contravariant pulse is given according to the judged real-time rotor position to enable a corresponding thyristor to be opened, and a motor rotates in the process of starting. By means of the simplified algorithm, a rotator position detecting device does not need to be connected to the outer side of the motor, the processes of field installation and debugging of equipment are greatly simplified, the occurrence that different rotor position detecting devices need to be additionally arranged for different devices is avoided, and therefore complex external connection and maintaining cost can be reduced. The simplified algorithm is simple, practical and easy to achieve, not affected by different parameters such as motor manufacturers, types and power and suitable for synchronous frequency conversion soft starting devices of different motors.
Description
Technical field
The invention belongs to electrician and electronic technology field, relate in particular to a kind of synchronous frequency conversion soft start motor rotor position probing shortcut calculation.
Background technology
Synchronous motor is with its adjustable power factor and export torque to the good runnability of the insensitive grade of voltage ripple of power network, come out top at high-power electric transmission field, be the preferred type that drives large fan, water pump, compressor, blast furnace blower, short circuit experiment unit, the requisite key equipment of hydroenergy storage station especially.Synchronous motor not only itself has good power factor, can also present lagging reactive power to electrical network by regulating rotor excitation current, thereby be conducive to improve the power factor of electrical network.Though synchronous motor has many good qualities, its disadvantage is starting difficulty, can not across-the-line starting.At present, the Start-up of Synchronous Motor method mainly contains asynchronous starting method, stand-by motor method of starting and frequency variable synchronous method of starting.Wherein, utilize the principle of load-commutated motor, it is widely used soft-start mode that large synchronous motor or generator are carried out the frequency variable synchronous starting.
Existing synchronous frequency conversion soft starter device mainly is made up of current transformer and control unit.The current source type ac-dc-ac frequency converter that the current transformer main circuit is made up of rectifier bridge, inverter bridge and dc flat-wave reactor, when being used in the load commutation synchronous motor governing system, it is different with the thyristor AC-DC-AC inverter of general meaning, need not to force commutation capacitor and series diode, by the back-emf commutation of synchronous motor, the torque of synchronous motor and rotating speed are controlled by direct current and inverter frequency respectively.The effect of control unit mainly is analyzing from the signal of rotor position detector (BQ), after distinguishing the actual position and rotating speed of rotor, produce control signal by certain control strategy, frequency, amplitude and the phase place size of control frequency converter output three-phase current (voltage), the output frequency that guarantees frequency converter keeps realizing the autocontrol frequency changing start up process synchronously with motor speed all the time.
Rotor position detection unit provides inverter bridge to control needed rotor space positional information, its testing result accurately, reliability directly has influence on the normal operation of autocontrol frequency conversion system.Usually the direct way that adopts in engineering is used is at rotor rotor position detector to be installed, as photoelectric type, magnetic inductive or near switch etc., thereby increased maintenance load after equipment cost and system go into operation, and the motor that a lot of situations are on-the-spot various different models all is in place, can not give the place of installation site detector again, therefore a kind of proposition of detection method of the simple and reliable position-sensor-free scene that can improve product greatly is suitable for ability, also can satisfy different capacity, the rotor-position of the synchronous machine under the different connected modes detects.
At present varied at the algorithm of motor position, as the open loop computational methods based on the motor ideal model, based on the closed loop algorithm of various observer model, the method for estimating according to the motor salient pole etc.These algorithms have advantage separately, but that ubiquity relies on the parameter of motor is many, if can not the good given parameter of electric machine or motor model, tend to cause detecting deviation.
CN101719753B provides a kind of " energy-accumulating power station static frequency-conversion starting motor rotor initial position detection method draws water ", this method is judged rotor by rational setting and is just encouraged constantly, for correct starting integral operation is given security, adopt self adaptation to regulate the magnetic flux device and calculate, thereby calculate motor rotor position quickly and accurately.Though this method has solved the problem that initial position of rotor is judged, especially be under the static situation at rotor, by corresponding integral algorithm, filter circuit, guaranteed the accuracy of calculating, do not had under the situation of rotation but only only limit to rotor that the rotor-position in the electric rotating machine can be in time followed the tracks of in the delay that its integral algorithm brings, especially under fast state, just more can not having met the demands of its corresponding ms of being in level.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art, provide a kind of for the synchronous frequency conversion soft starter device, when electric motor starting, need not machinery or external checkout gear, be not subjected to the influence of the parameter of electric machine, do not need to pay close attention to the real time position of rotor, only according to the conversion of rotor between the setting district constantly, provide crucial triggering and conducting waveform, guarantee the synchronous frequency conversion soft start motor rotor position probing shortcut calculation of motor synchronous rotation.
The objective of the invention is such realization: a kind of synchronous frequency conversion soft start motor rotor position probing shortcut calculation is characterized in that comprising following steps:
1. by the synchronous motor stator three-phase voltage waveform under voltage Hall and the analog sampling circuit collection different rotating speeds, feed the AD thief hatch, DSP handles three road voltage sampling signals by control;
2. compare the positive and negative state of synchronous motor stator three-phase voltage waveform and mutual size synchronously, judge the motor rotor position of this moment;
3. according to the real-time rotor-position of synchronous machine, the residing control interval that judge with judge that current motor speed is in low speed or is in High-speed Control, sends the corresponding thyristor of trigger impulse conducting.
Described motor stator three-phase voltage is three-phase line voltage or three-phase phase voltage.
Described control interval is divided into 6 intervals according to the positive and negative half-wave of distinguishing three-phase voltage, perhaps distinguishes behind the positive and negative half-wave more relatively the three-phase voltage size and then tells 12 intervals.
The real-time motor rotor position that the positive and negative state of described motor stator three-phase voltage waveform, mutual magnitude relationship determine and residing control interval when low speed and high speed and the corresponding relation of conducting thyristor as follows:
Size compares: AB〉CAAB＜CABC〉CABC＜CABC〉ABBC＜ABCA〉ABCA＜ABCA〉BCCA＜BCAB〉BCAB＜BC conduction pipe (low speed) VT
2And VT
3VT
3And VT
4VT
4And VT
5VT
5And VT
6VT
1And VT
6VT
1And VT
2Conduction pipe (at a high speed) VT
3And VT
4VT
4And VT
5VT
5And VT
6VT
1And VT
6VT
1And VT
2VT
2And VT
3
Above-mentioned AB, BC, CA are the motor stator three-phase line voltage; Symbol+,-the positive and negative state of voltage waveform respectively, voltage waveform be in 0～180 when spending on the occasion of, being in 180～360 is negative value when spending; When size relatively compares for voltage waveform, compare with two voltage waveforms of symbol, the voltage waveform of another road distinct symbols does not compare; Low speed is that inverter thyristor is in the motor speed of forcing turn off process, is in the motor speed in natural commutation stage at a high speed for inverter thyristor.
Shortcut calculation of the present invention is to guarantee under the correct situation of motor terminal voltage sampling, motor terminal voltage is taked mutually the relatively mode of size, rotor is divided into 6 or 12 intervals at 0～360 °, 6 kinds of inversion output states in conjunction with frequency converter, indicate position between current rotor location to system, guidance system provides suitable trigger impulse, makes corresponding inverter thyristor open-minded.
Compared with prior art, advantage of the present invention is:
1, avoids at the external detecting apparatus for rotor position of motor side, make the device context Installation and Debugging simplify greatly, avoided simultaneously need installing different detecting apparatus for rotor position additional for being suitable for distinct device, not only reduced loaded down with trivial details outside and connected, and reduced rate of breakdown and maintenance cost.
2, the detection signal of Xu Yaoing is simple, only is the three-phase voltage waveform of motor, does not have stator current waveforms or other semaphore, and designing requirement reduces greatly for primary system.
3, be applicable to the design of different motors, be not subjected to the influence of different parameters such as motor manufacturer, model, power, also avoided in motor starting process, parameter causes detecting deviation with variation of temperature.
Description of drawings
Fig. 1 is motor stator three-phase voltage waveform and rotor angle corresponding diagram.
Fig. 2 is existing synchronous frequency conversion soft starter device and motor equivalent model.
Equivalent electric circuit when Fig. 3 is inverter bridge A, the change of current of B phase of Fig. 2.
Fig. 4 is A, the B opposite potential waveform of Fig. 3.
Among the figure: VR is rectifying part, and VT is the inversion part, and BQ rotor position detector, ABC are the motor stator port, the reactance of Ld direct current, if exciting current.
Embodiment
The invention will be further described below in conjunction with drawings and Examples.
A kind of synchronous frequency conversion soft start motor rotor of the present invention position probing shortcut calculation comprises following steps:
1. by the synchronous motor stator three-phase voltage waveform under voltage Hall and the analog sampling circuit collection different rotating speeds, feed the AD thief hatch, DSP handles three road voltage sampling signals by control;
In this step, behind the electric motor starting, motor terminal voltage becomes low-voltage signal by the voltage hall sensing to secondary side, by the analog sampling circuit voltage level is adjusted to suitable amplitude then, feed the AD thief hatch, DSP handles three road voltage sampling signals by control.
Motor stator three-phase voltage waveform is the three-phase line voltage waveform, also can be the three-phase phase voltage waveform.Present embodiment is the three-phase line voltage waveform.The interval corresponding relation of line voltage and phase voltage is referring to Fig. 1, and the angle above the waveform is rotor position angle, and following numeral is the interval of branch.
2. compare the positive and negative state of synchronous motor stator three-phase voltage waveform and mutual size synchronously, in conjunction with the inversion output state of frequency converter, judge the motor rotor position of this moment;
In this step, after the set end voltage collection came, except carrying out necessary filtering, anti-tampering processing reached outward outside the level conversion, does not need extra waveform processing, can directly enter deterministic process.
3. according to the real-time rotor-position of synchronous machine, the residing control interval that judge with judge that current motor speed is in low speed or is in High-speed Control, send suitable trigger impulse, the corresponding thyristor of conducting.
In this step, control interval is divided into 6 intervals according to the positive and negative half-wave of distinguishing three-phase voltage, perhaps distinguishes behind the positive and negative half-wave more relatively the three-phase voltage size and then is divided into 12 intervals.Present embodiment is for being divided into 12 intervals.
When judging rotor-position behind a certain control interval, judge that more current motor speed is in low speed or is in High-speed Control.Motor speed was not higher than 10% rated speed when low speed referred to start, different motors have different values, as long as the inverter thyristor of soft starter device is in the pressure turn off process, just all belong to low-speed range, refer to that inverter thyristor is in the natural commutation stage at a high speed.
The control in different rotating speeds interval requires different, this be since during motor low speed set end voltage big inadequately, cutoff thyristor needs to turn-off in advance fast and effectively.And when high speed, come on the motor speed, thereby thyristor can realize that the voltage reversal of pipe own realizes from turn-offing by motor terminal voltage.
The real-time motor rotor position that the positive and negative state of motor stator three-phase voltage waveform, mutual magnitude relationship determine and residing control interval when low speed and high speed and the corresponding relation of conducting thyristor as follows:
Size compares: AB〉CAAB＜CABC〉CABC＜CABC〉ABBC＜ABCA〉ABCA＜ABCA〉BCCA＜BCAB〉BCAB＜BC conduction pipe (low speed): VT
2And VT
3VT
3And VT
4VT
4And VT
5VT
5And VT
6VT
1And VT
6VT
1And VT
2Conduction pipe (at a high speed): VT
3And VT
4VT
4And VT
5VT
5And VT
6VT
1And VT
6VT
1And VT
2VT
2And VT
3
Above-mentioned corresponding relation is listed as follows:
AB, BC, CA represent the line voltage of motor stator side respectively in the table; + ,-the representative voltage waveform is in the scopes of 0～180,180～360 degree respectively, 0～180 when spending, voltage waveform be on the occasion of, 180～360 when spending, voltage waveform is negative value.
Size relatively compares for voltage waveform, when voltage waveform compares, two voltage waveforms with symbol compare, the voltage waveform of another road distinct symbols does not compare, and the symbol of 12 and 1 interval, 2 and 3 intervals, 4 and 5 intervals, 6 and 7 intervals, 8 and 9 intervals, 10 and 11 interval interior voltages can not change, the free sign change that voltage is just arranged in interval conversion does not in twos have sign modification when for example 12～1 intervals change, CA is just transferred to by negative during 1～2 interval the variation.3～4 intervals, 5～6 intervals, 7～8 intervals, 9～10 intervals, 11～12 intervals are not always the case.Therefore, when reality was judged use, what need at first judgement was the positive negative value of three voltage waveforms, and two voltage waveforms with symbol compare then, and comparison procedure all is that tape symbol carries out.
Behind the interval that the judgement waveform is in, according to above-mentioned corresponding relation, send corresponding triggering signal to thyristor.VT
1, VT
2, VT
3, VT
4, VT
5, VT
6For the thyristor of inversion side, referring to Fig. 2, for relating to leading problem, if at 12 and 1 interval, VT during low speed
2And VT
3Open-minded, other pipes are not open-minded; VT during high speed
3And VT
4Open-minded, other pipes are not open-minded.
During the operation of synchronous machine automatic control frequency conversion voltage adjusting, inversion advance angle γ
0Adjust more for a short time, average torque is more big, and torque pulsation is more little.In order to obtain good torque-output characteristics, ideally inverter bridge can be pressed γ
0=0 ° of conduction mode work.Referring to Fig. 3, be located at expectation change of current point k thyristor VT before
1, VT
2Conducting, the electric current stator armature winding AC phase of flowing through.AC is conducted switch to BC to be conducted, if according to the normal position change of current, should when the k point, triggers thyristor VT
3, and turn-off VT
1Referring to Fig. 4, if trigger thyristor VT at the k point
3, back-emf e after this
A≤ e
B, thyristor VT
1To continue conducting because not bearing counter voltage, cause commutation failure.In order to allow load current change to the B phase mutually from A, change of current point need be shifted to an earlier date certain electrical degree, S point (γ as shown in Figure 4
0=60 °), if trigger thyristor VT at this moment
3, because back-emf e
A＞e
B, and in 60 ° of electrical degrees subsequently, all will keep e
A＞e
BThyristor VT
1To bear a back-pressure e
AB=e
A-e
B＞0, this back-pressure is impelled thyristor VT
1, VT
3And produce a short circuit current i in the loop that forms between motor stator A, B phase winding
k, force the A phase current from load current I
dDrop to zero gradually, VT
1Turn-off, load current is all transferred to B and is circulated mutually, realizes the smooth change of current of load current from A to the B phase.
The rotor rotating magnetic potential rotates the stator induction that produces in the space back electromotive force is one to one, and be control object with the frequency conversion, be purpose with the smooth change of current of inverter, directly pay close attention to the change procedure of back-emf, just can guarantee the smooth change of current of thyristor, also can directly follow the tracks of the real time position of rotor, and corresponding one by one.
Can know rotor in rotary course by interval judgement, drop on each interval time, therefore adopt 6 intervals or adopt 12 intervals all can calculate the real-time rotating speed of motor.But under the low speed situation, especially from forcing thyristor to turn-off thyristor nature off-phases, the rotating speed of this moment is generally 10% rated speed, the real-time update time of rotating speed is minimum for 33ms when adopting 6 intervals, and minimum be 16ms the update time of adopting 12 rotating speeds interval the time, and obviously precision can be higher.The control effect of rotary speed precision can better be brought in 12 intervals in the rotating speed of motor closed loop procedure.
The present invention is simple and practical, be easy to realize, and be not subjected to the influence of different parameters such as motor manufacturer, model, power, doing necessary filtering except needs handles, can directly realize by hardware circuit, also can realize by the software that prestores, be suitable for design use in the synchronous frequency conversion soft starter device of different motors.
Claims (4)
1. synchronous frequency conversion soft start motor rotor position probing shortcut calculation is characterized in that comprising following steps:
1. by the synchronous motor stator three-phase voltage waveform under voltage Hall and the analog sampling circuit collection different rotating speeds, feed the AD thief hatch, DSP handles three road voltage sampling signals by control;
2. compare the positive and negative state of synchronous motor stator three-phase voltage waveform and mutual size synchronously, judge the motor rotor position of this moment;
3. according to the real-time rotor-position of synchronous machine, the residing control interval that judge with judge that current motor speed is in low speed or is in High-speed Control, sends the corresponding thyristor of trigger impulse conducting.
2. synchronous frequency conversion soft start motor rotor position probing shortcut calculation according to claim 1 is characterized in that described motor stator three-phase voltage is three-phase line voltage or three-phase phase voltage.
3. a kind of synchronous frequency conversion soft start motor rotor position probing shortcut calculation according to claim 1, it is characterized in that described control interval is divided into 6 intervals according to the positive and negative half-wave of distinguishing three-phase voltage, perhaps distinguish behind the positive and negative half-wave more relatively the three-phase voltage size and then tell 12 intervals.
4. according to each described a kind of synchronous frequency conversion soft start motor rotor position probing shortcut calculation of claim 1～3, it is characterized in that real-time motor rotor position that the positive and negative state of described motor stator three-phase voltage waveform, mutual magnitude relationship determine and residing control interval when low speed and high speed and the corresponding relation of conducting thyristor as follows:
Size compares: AB〉CAAB＜CABC〉CABC＜CABC〉ABBC＜ABCA〉ABCA＜ABCA〉BCCA＜BCAB〉BCAB＜BC conduction pipe (low speed) VT
2And VT
3VT
3And VT
4VT
4And VT
5VT
5And VT
6VT
1And VT
6VT
1And VT
2Conduction pipe (at a high speed) VT
3And VT
4VT
4And VT
5VT
5And VT
6VT
1And VT
6VT
1And VT
2VT
2And VT
3
Above-mentioned AB, BC, CA are the motor stator three-phase line voltage; Symbol+,-the positive and negative state of voltage waveform respectively, voltage waveform be in 0～180 when spending on the occasion of, being in 180～360 is negative value when spending; When size relatively compares for voltage waveform, compare with two voltage waveforms of symbol, the voltage waveform of another road distinct symbols does not compare; Low speed is that inverter thyristor is in the motor speed of forcing turn off process, is in the motor speed in natural commutation stage at a high speed for inverter thyristor.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106323646A (en) * | 2016-08-18 | 2017-01-11 | 深圳市保千里电子有限公司 | Method and system for identifying starting of vehicle based on battery voltage |
| CN106849775A (en) * | 2017-03-09 | 2017-06-13 | 燕山大学 | Using the Continuity signal synthetic method of brshless DC motor three or three of SIN function computing |
| CN108988716A (en) * | 2017-05-31 | 2018-12-11 | 徐州安邦信汽车电机科技有限公司 | Vector-control frequency converter for electric motor of automobile |
| CN109286341A (en) * | 2018-12-07 | 2019-01-29 | 大力电工襄阳股份有限公司 | Synchronous High voltage variable frequency soft start device |
| CN109510514A (en) * | 2018-11-15 | 2019-03-22 | 上海发电设备成套设计研究院有限责任公司 | A kind of rotor-position detection of starting of static frequency conversion device and method for controlling number of revolution |
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2013
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106323646A (en) * | 2016-08-18 | 2017-01-11 | 深圳市保千里电子有限公司 | Method and system for identifying starting of vehicle based on battery voltage |
| CN106849775A (en) * | 2017-03-09 | 2017-06-13 | 燕山大学 | Using the Continuity signal synthetic method of brshless DC motor three or three of SIN function computing |
| CN108988716A (en) * | 2017-05-31 | 2018-12-11 | 徐州安邦信汽车电机科技有限公司 | Vector-control frequency converter for electric motor of automobile |
| CN109510514A (en) * | 2018-11-15 | 2019-03-22 | 上海发电设备成套设计研究院有限责任公司 | A kind of rotor-position detection of starting of static frequency conversion device and method for controlling number of revolution |
| CN109286341A (en) * | 2018-12-07 | 2019-01-29 | 大力电工襄阳股份有限公司 | Synchronous High voltage variable frequency soft start device |
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Application publication date: 20131009 |