CN103944458A - Dynamic braking method and device - Google Patents
Dynamic braking method and device Download PDFInfo
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- CN103944458A CN103944458A CN201410175841.6A CN201410175841A CN103944458A CN 103944458 A CN103944458 A CN 103944458A CN 201410175841 A CN201410175841 A CN 201410175841A CN 103944458 A CN103944458 A CN 103944458A
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Abstract
The invention relates to a braking technology and discloses a dynamic braking method and device. The dynamic braking method comprises the following steps that a user presets a braking control mode of a frequency changer; the braking control mode is a vector braking mode or a scalar braking mode; whether the preset braking control mode is the vector braking mode is judged; if yes, the vector braking mode is carried out, and vector braking is carried out on a motor; and otherwise, the scalar braking mode is carried out, and scalar braking is carried out on the motor. Compared with the prior art, under the condition that periphery parts are not increased, the motor is braked, cost is saved, meanwhile, the motor can be braked at whole frequency bands, practicability is high, braking speed is high, and the service life of the motor is prolonged.
Description
Technical field
The present invention relates to braking technology, particularly a kind of dynamic braking method and device.
Background technology
Frequency converter dynamic braking at present mainly contains two kinds of methods: brake by brake resistance (1); (2) use DC injection braking mode to brake.First method need to increase peripheral components, increases cost, has reduced the reliability of entire system simultaneously; Second method braking effect is not obvious especially, and can only under low frequency state, use, and the method is all depleted to energy on motor simultaneously, can affect electrical machinery life.
Summary of the invention
The object of the present invention is to provide a kind of dynamic braking method and device, make under the condition that does not increase peripheral components, can to brake motor, cost-saving; , can also brake motor in full rate section meanwhile, practical; And retro-speed is fast, can extend electrical machinery life.
For solving the problems of the technologies described above, the invention provides a kind of dynamic braking method, comprise following steps:
User sets in advance the braking control model of frequency converter; Wherein, described braking control model is vector braking mode or scalar braking mode;
Judge whether default braking control model is described vector braking mode;
If so, enter described vector braking mode, motor is carried out to vector braking; If not, enter described scalar braking mode, described motor is carried out to scalar braking.
The present invention also provides a kind of energy consuming brake, comprises: frequency converter;
Wherein, described frequency converter comprises: module, judge module, vector brake module and scalar brake module are set;
The described module that arranges, for setting in advance the braking control model of frequency converter; Wherein, described braking control model is vector braking mode or scalar braking mode;
Described judge module, for judging whether default braking control model is described vector braking mode; If so, trigger described vector brake module, motor is carried out to vector braking; If not, trigger described scalar brake module, described motor is carried out to scalar braking.
Embodiment of the present invention in terms of existing technologies, can not increase peripheral components, utilizes frequency converter as energy consuming brake, motor is braked, thereby made to have saved cost; And user can set in advance the braking control model of frequency converter, wherein, braking control model is vector braking mode or scalar braking mode; No matter be vector braking mode or scalar braking mode, motor all exports portion of energy to energy consuming brake, the common consumed energy of energy consuming brake and motor is until complete the braking to motor, faster than the retro-speed that is carried out separately energy consumption by motor, and consume portion of energy by energy consuming brake, can reduce the energy of electrical consumption, extend the life-span of motor; Meanwhile, energy consuming brake can also be braked motor in full rate section, has promoted the practicality of energy consuming brake.Like this, the present invention can brake motor under the condition that does not increase peripheral components, cost-saving; , can also brake motor in full rate section meanwhile, practical, and retro-speed is fast, can extend the life-span of motor.
In addition, enter described vector braking mode described, motor carried out, in the step of vector braking, comprise following sub-step:
Carry out closed loop computing by brake torque controller according to the target control physical quantity setting in advance and the feedback quantity of this physical quantity, and generate the torque of output plugging;
By torque amplitude limit controller to described output plugging torque carry out amplitude limit, and generate torque current Iq
ref;
By torque current controller according to described Iq
refgenerate q axle output voltage U q; Wherein, the synchronous chosen axis that described q axle is torque current;
By exciting current controller according to described Iq
refdynamically adjust exciting current and produce maximum output exciting current Id
ref;
By exciting current controller according to described Id
refgenerate d axle output voltage U d; Wherein, described d axle is magnetic linkage electric current synchronous rotary axle;
By the rotating speed SPD of motor described in encoder Real-Time Monitoring
fdband calculate electrical degree θ; Or by the rotating speed SPD that estimates in real time described motor without fast transducer
fdband calculate described electrical degree;
Carry out vector calculus generation three-phase voltage by pulse-width modulator PWM according to described Uq, described Ud and described θ, described motor is carried out to vector braking.
Because exciting current controller is dynamically adjusted exciting current and produced maximum output exciting current Id
ref, make current of electric arrive maximum, to a certain degree increase the harmonic wave of electric current simultaneously, make motor consumed energy to a greater degree, further accelerate the braking to motor.
In addition, set in advance the step of braking control model of frequency converter described user before, also comprise following steps: switch to default modulating mode.In addition, described modulating mode is seven segmentation modulating modes.Due to the each switching device of seven segmentation patterns can switch in a switch periods once, consumed energy so to a greater degree, so can further accelerate the braking to motor.
In addition, before the described step that switches to default modulating mode, also comprise following steps: the switching frequency that promotes described frequency converter.The switching frequency that promotes frequency converter, MOS switch dissipation will become greatly, and like this, consumed energy to a greater degree, so can further accelerate the braking to motor.
Brief description of the drawings
Fig. 1 is the dynamic braking method flow diagram according to first embodiment of the invention;
Fig. 2 is according to the method flow diagram of the control braking in first embodiment of the invention;
Fig. 3 is the dynamic braking method flow diagram according to second embodiment of the invention;
Fig. 4 is according to the vector braking mode flow chart in third embodiment of the invention;
Fig. 5 is according to the structural representation of the energy consumption braking system in third embodiment of the invention;
Fig. 6 is according to the structural representation of the energy consumption braking system with bypass functionality in third embodiment of the invention;
Fig. 7 is according to the scalar braking mode flow chart in four embodiment of the invention;
Fig. 8 is according to the structural representation of the energy consuming brake of fifth embodiment of the invention;
Fig. 9 is according to the structural representation of the energy consuming brake of sixth embodiment of the invention;
Figure 10 is according to the structural representation of the vector brake module in seventh embodiment of the invention;
Figure 11 is according to the structural representation of the scalar brake module in eighth embodiment of the invention.
Embodiment
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing, the embodiments of the present invention are explained in detail.But, persons of ordinary skill in the art may appreciate that in the each execution mode of the present invention, in order to make reader understand the application better, many ins and outs are proposed.But, even without these ins and outs and the many variations based on following execution mode and amendment, also can realize the each claim of the application technical scheme required for protection.
The first execution mode of the present invention relates to a kind of dynamic braking method, and idiographic flow as shown in Figure 1, comprises following steps:
Step 101, user sets in advance the braking control model of frequency converter.Wherein, braking control model is vector braking mode or scalar braking mode.Specifically, in the present embodiment, using frequency converter as energy consuming brake, do not need to increase ancillary equipment, and frequency converter to motor braking control model comprise two kinds, be respectively vector braking mode and scalar braking mode.In the time of practical application, user (user) selects suitable braking control model and pre-sets.Like this, can brake motor in full rate section, promote the practicality of dynamic braking method.
Step 102, judges whether default braking control model is vector braking mode.If so, perform step 103; If not, perform step 104.
Step 103, enters vector braking mode, and motor is carried out to vector braking.In the time that default braking control model is vector braking mode, just enter vector braking mode, motor is carried out to vector braking.In the time carrying out vector braking, by the built-in pulse-width modulator of frequency converter (PWM), the q axle output voltage (Uq) obtaining, d axle output voltage (Ud) are carried out vector calculus and generate three-phase voltage with electrical degree (θ), motor is controlled.Wherein, the synchronous chosen axis that q axle is torque current, d axle is magnetic linkage electric current synchronous rotary axle.In vector braking procedure, motor exports frequency converter to portion of energy, and the common consumed energy of frequency converter and motor, until complete the braking to motor.Like this, faster than the retro-speed that is carried out separately energy consumption by motor; And consume portion of energy by energy consuming brake, can reduce the energy of electrical consumption, extend the life-span of motor.
Step 104, enters scalar braking mode, and motor is carried out to scalar braking.In the time that default braking control model is not vector braking mode, just enter scalar braking mode, motor is carried out to scalar braking.In the time carrying out scalar braking, by the built-in pulse-width modulator of frequency converter (PWM), the current speed of service of obtaining (f (k)) and modulation degree (m) are carried out scalar operation and generated three-phase voltage, motor is controlled.In scalar braking procedure, motor also exports frequency converter to portion of energy, and the common consumed energy of frequency converter and motor, until complete the braking to motor.Like this, faster than the retro-speed that is carried out separately energy consumption by motor; And consume portion of energy by energy consuming brake, can reduce the energy of electrical consumption, extend the life-span of motor.
It is worth mentioning that, in the present embodiment, also relate to a kind of method of controlling braking, idiographic flow as shown in Figure 2, comprises following steps:
Step 201, the switch of cutting off the electricity supply.This power supply, for motor provides energy, can be utility grid.At when braking switch of cutting off the electricity supply, can avoid electrical network input energy.
Step 202, enters braking mode.In this step, comprise the sub-steps such as step 101～104.
Step 203, has judged whether braking.If so, perform step 204; If not, perform step 202, until the speed of motor be 0 or lower than set speed.When the speed of motor be 0 or lower than set speed time, complete braking procedure.
Step 204, exits braking mode.
The switch of first cutting off the electricity supply before to motor braking, can avoid the braking of electrical network input energy affect.
Compared with prior art, can not increase peripheral components, utilize frequency converter as energy consuming brake, motor is braked, thereby make to have saved cost; And, user can set in advance the braking control model of frequency converter, no matter be vector braking mode or scalar braking mode, motor all exports portion of energy to energy consuming brake, the common consumed energy of energy consuming brake and motor is until complete the braking to motor, faster than the retro-speed that is carried out separately energy consumption by motor, and consumes portion of energy by energy consuming brake, can reduce the energy of electrical consumption, extend the life-span of motor; Meanwhile, energy consuming brake can also be braked motor in full rate section, has promoted the practicality of energy consuming brake.
The second execution mode of the present invention relates to a kind of dynamic braking method, and idiographic flow as shown in Figure 3.The second execution mode has been done further improvement on the basis of the first execution mode, main improvements are: in second embodiment of the invention, first promote the switching frequency of frequency converter, and the larger modulating mode of service wear, make motor consumed energy more, further accelerate the braking to motor.
Specifically, in the present embodiment, comprise following steps:
Step 301, the switching frequency of lifting frequency converter.Wherein, the switch of frequency converter can be with certain frequency conducting or shutoff.By promoting the switching frequency of frequency converter, it is large that MOS switch dissipation will become, like this, consumed energy (this is determined by switching device (such as IGBT (insulated gate bipolar transistor) etc.)) to a greater degree, so can further accelerate the braking to motor.
Step 302, switches to default modulating mode.In the present embodiment, modulating mode can be seven segmentation modulating modes.According to the brake request to motor, select suitable modulating mode and switch to the modulating mode pre-setting, such as, default modulating mode is seven segmentation modulating modes, because the each switching device of seven segmentation patterns can once (and some debugging mode of switch in a switch periods, as five-part form modulation, there are two upper and lower bridge > of switching device < to be failure to actuate in a switch periods, so, switching device power consumption will reduce), like this, consumed energy to a greater degree, so can further accelerate the braking to motor.
It should be noted that, different modulating pattern can allow switching device have different on-off times and service time in a switch periods, according to switching device (as IGBT) characteristic, on-off times is more, service time is longer, just makes switching device heat radiation larger.
Step 303, user sets in advance the braking control model of frequency converter.This step is similar with the step 101 in the first execution mode, does not repeat them here.
Step 304, judges whether default braking control model is vector braking mode.If so, perform step 305; If not, perform step 306.
Step 305, enters vector braking mode, and motor is carried out to vector braking.This step is similar with the step 103 in the first execution mode, does not repeat them here.
Step 306, carries out scalar braking mode, and motor is carried out to scalar braking.This step is similar with the step 104 in the first execution mode, does not repeat them here.
In the present embodiment, promote the switching frequency of frequency converter, and switch to default modulating mode (as 7 segmentation debugging modes) consumed energy to a greater degree, further accelerate the braking to motor.
Third embodiment of the invention relates to a kind of dynamic braking method.The 3rd execution mode is the further refinement of the first execution mode, has provided concrete dynamic braking method.In the 3rd execution mode of the present invention, provide the concrete grammar of vector braking mode, idiographic flow as shown in Figure 4, has ensured the feasibility of embodiment of the present invention.
In the present embodiment, describe as an example of the system configuration shown in Fig. 5 example.Wherein, K1 is mains switch, can manually control, and system can not be controlled; The input voltage of frequency converter is 380V, and the corresponding busbar voltage of uncontrollable rectification is 540V, carries out overvoltage protection in the time that busbar voltage exceedes 800V.
Specifically, vector braking mode comprises following steps:
Step 401, carries out closed loop computing by brake torque controller according to the target control physical quantity setting in advance and the feedback quantity of this physical quantity, and generates the torque of output plugging.In the present embodiment, target control physical quantity is busbar voltage (Udc
ref), busbar voltage feedback quantity is designated as Udc
fdb.Such as, can set in advance target control busbar voltage is 700V, the feedback quantity using current bus voltage value as brake torque controller carries out closed loop computing and produces output plugging torque (Troq).
Step 402, carries out amplitude limit by torque amplitude limit controller to exporting plugging torque, and generates torque current (Iq
ref).Amplitude limiting processing is carried out in the output plugging torque of brake torque controller output (being called for short output torque) by torque amplitude limit controller, determines torque current (Iq
ref) (i.e. equivalence output torque) export torque current controller to.Wherein, torque amplitude limit controller is according to technique, requirement and mechanical structure, determine the torque of maximum output plugging, in the time that the output plugging torque of brake torque controller requirement exceedes the maximum output plugging torque of permission, with regard to the increase of torque-limiting, to produce the maximum output plugging torque of permission.
Step 403, by torque current controller according to Iq
refgenerate q axle output voltage (Uq); Wherein, the synchronous chosen axis that q axle is torque current.
Step 404, by exciting current controller according to Iq
refdynamically adjust exciting current and produce maximum output exciting current (Id
ref).Exciting current controller is according to output torque (or Iq
ref) dynamically adjust exciting current, reach with this object of exporting maximum current, wherein,
i
esoutput current during for user's DC injection braking that is default, is generally no more than frequency converter (or motor) rated current (this restriction is mainly for the consideration of safe failure-free operation), and Ies is larger, and power consumption is larger.In addition, exciting current controller itself, with the amplitude limit up and down of exciting current, can prevent magnetic saturation or underexcitation.
Because exciting current controller can dynamically be adjusted exciting current and produce maximum output exciting current (Id
ref), make current of electric arrive maximum, to a certain degree increase the harmonic wave of electric current simultaneously, make motor consumed energy to a greater degree, further accelerate the braking to motor.
Step 405, by exciting current controller according to Id
refgenerate d axle output voltage (Ud); Wherein, d axle is magnetic linkage electric current synchronous rotary axle.
Step 406, by the rotating speed (SPD of encoder Real-Time Monitoring motor
fdb) and calculate electrical degree (θ).Or, by the rotating speed SPD that estimates in real time motor without fast transducer
fdband calculate electrical degree.
Step 407, carries out vector calculus generation three-phase voltage by pulse-width modulator (PWM) according to Uq, Ud and θ, and motor is carried out to vector braking.Vector calculus in present embodiment is consistent with conventional vector computing, does not repeat them here.
So far, vector braking mode is introduced complete.
It should be noted that, in the present embodiment, also comprise following steps: by the built-in current converter of frequency converter (abc-dq), sample rate current Ia, Ib, the Ic of motor are transformed to current exciting current Id
fdbwith current torque current Iq
fdb, and feed back to respectively exciting current controller and torque current controller.This coordinate transform is the basis of vector control, because the theoretical foundation of vector control is that alternating current machine is decoupled into direct current machine, so just has two mutually perpendicular amounts of exciting current and torque current, and it can embody intuitively in dq coordinate system.
It is worth mentioning that, the system configuration shown in Fig. 5 is a kind of specific implementation, in actual applications, can also adopt the system with bypass functionality shown in Fig. 6.In a lot of application of frequency converter occasions, when operating frequency converter breaks down or when other special circumstances, in order not affect normal operation flow process, motor need to be switched under power frequency state and moves.After breaking down when operating frequency converter, cut-off switch K1, K2, a bit of time of time delay, after waiting counter electromotive force of motor to disappear, then be connected into K3, thereby realize automatic system bypass.Wherein, K1, K2, K3 are switching devices, and as vacuum contactor etc., this device can be manual control, can be also that system is controlled automatically.
Four embodiment of the invention relates to a kind of dynamic braking method.The 4th execution mode is the further refinement of the first execution mode, has provided concrete dynamic braking method.In the 4th execution mode of the present invention, provide the concrete grammar of scalar braking mode, idiographic flow as shown in Figure 7, has ensured the feasibility of embodiment of the present invention.
In the present embodiment, describe as an example of the system configuration shown in Fig. 5 example equally.The input voltage of frequency converter is 380V, and the corresponding busbar voltage of uncontrollable rectification is 540V, carries out overvoltage protection in the time that busbar voltage exceedes 800V.
Specifically, scalar braking mode comprises following steps:
Step 701, feeds back computing by acceleration closed loop controller according to the first object control physical quantity setting in advance and the feedback quantity of this physical quantity, and generates acceleration (a).Wherein, first object control physical quantity is busbar voltage (Ud
cref), the feedback quantity of busbar voltage is designated as Ud
cfdb; Acceleration (a) is negative value herein, also can be understood as deceleration time.Such as can preset target control busbar voltage is 700V, the feedback quantity using current bus voltage value as acceleration closed loop controller, carries out closed loop computing, and exports acceleration (or deceleration time).Wherein, the voltage peak (net side line voltage peak) of uncontrollable rectifier bridge output when busbar voltage need to exceed frequency converter zero load, and in the scope that can bear at bus capacitor.
Step 702, calculates current time rotating speed (f (k)) according to a upper moment rotating speed (f (k-1)) with a by velocity calculator.Wherein, rotating speed can be also frequency.Specifically, velocity calculator is according to the acceleration (or deceleration time) of acceleration closed loop controller output, in conjunction with previous moment rotating speed (f (k-1)) (or frequency), calculate the current speed of service (f (k)) (or frequency), brake required rotating speed (or frequency) using this as scalar.
Step 703, carries out closed loop computing by current closed-loop controller according to the second target control physical quantity setting in advance and the value of feedback of this physical quantity, generates modulation degree (m).Wherein, the second target control physical quantity is the output current effective value (I of current frequency converter
ref), the feedback quantity of output current effective value is designated as I
fdb.Specifically, the motor rated current that the target output current that presets current closed-loop controller is 96%, feedback quantity using current frequency converter output current effective value as current closed-loop controller, carries out closed loop computing, and exports scalar and brake required modulation degree (m).
Step 704, carries out scalar operation generation three-phase voltage by pulse-width modulator (PWM) according to m and f (k), and motor is carried out to scalar braking.PWM, according to modulation degree (m) and current rotating speed (f (k)) (or frequency), generates required three-phase voltage (Uu, Uv, Uw), and motor is carried out to scalar braking.
So far, scalar braking mode is introduced complete.
In scalar braking mode, first, by adjusting deceleration control bus voltage, avoid electrical network in moderating process to continue toward frequency converter and motor conveying capacity; Secondly, by adjusting modulation degree (m), make the electric current of output large as far as possible, (being determined by motor characteristic, is I briefly can to increase more the heating of copper loss, iron loss and the switching device of motor
2r, wherein, I is electric current, R is the resistance of motor equivalence), so under scalar braking mode, this method can be accelerated the loss (change into electric energy (rising of bus capacitor voltage), change into heat energy (the motor feels hot, frequency converter MOS switch dissipation etc.)) of motor kinetic energy more, to reach the effect of braking sooner.
The step of the whole bag of tricks is divided above, just in order being described clearly, can to merge into a step or some step is split while realization, is decomposed into multiple steps, as long as comprise identical logical relation, all in the protection range of this patent; To adding inessential amendment in algorithm or in flow process or introducing inessential design, but the core design that does not change its algorithm and flow process is all in the protection range of this patent.
The 5th execution mode of the present invention relates to a kind of energy consuming brake, comprises: frequency converter; Wherein, frequency converter comprises: module, judge module, vector brake module and scalar brake module are set, specifically as shown in Figure 8.
Module is set, for setting in advance the braking control model of frequency converter; Wherein, braking control model is vector braking mode or scalar braking mode.
Judge module, for judging whether default braking control model is vector braking mode; If so, trigger vector brake module, motor is carried out to vector braking; If not, trigger scalar brake module, motor is carried out to scalar braking.
Be not difficult to find, present embodiment is the system embodiment corresponding with the first execution mode, present embodiment can with the enforcement of working in coordination of the first execution mode.The correlation technique details of mentioning in the first execution mode is still effective in the present embodiment, in order to reduce repetition, repeats no more here.Correspondingly, the correlation technique details of mentioning in present embodiment also can be applicable in the first execution mode.
The 6th execution mode of the present invention relates to a kind of energy consuming brake, and concrete structure as shown in Figure 9.The 6th execution mode has been done further improvement on the basis of the 5th execution mode, main improvements are, in sixth embodiment of the invention, also comprise: switching frequency hoisting module and modulating mode handover module, make motor consumed energy more, further accelerate the braking to motor.
Specifically, switching frequency hoisting module, for promoting the switching frequency of frequency converter.
Modulating mode handover module, for switching to default modulating mode.Wherein, modulating mode is seven segmentation modulating modes.
Because the second execution mode is mutually corresponding with present embodiment, therefore present embodiment can with the enforcement of working in coordination of the second execution mode.The correlation technique details of mentioning in the second execution mode is still effective in the present embodiment, and the technique effect that can reach in the second execution mode can be realized in the present embodiment too, in order to reduce repetition, repeats no more here.Correspondingly, the correlation technique details of mentioning in present embodiment also can be applicable in the second execution mode.
Seventh embodiment of the invention relates to a kind of energy consuming brake.The 7th execution mode is the further refinement of the 5th execution mode, has provided the concrete structure of vector brake module, as shown in figure 10, has ensured the feasibility of embodiment of the present invention.
Specifically, vector brake module comprises: brake torque controller, torque amplitude limit controller, torque current controller, exciting current controller, exciting current controller, encoder or without fast transducer and pulse-width modulator.
Brake torque controller, for carrying out closed loop computing according to the target control physical quantity setting in advance and the feedback quantity of this physical quantity, and generates the torque of output plugging.
Torque amplitude limit controller, for carrying out amplitude limit to exporting plugging torque, and generates torque current (Iq
ref).
Torque current controller, for according to Iq
refgenerate q axle output voltage (Uq); Wherein, the synchronous chosen axis that q axle is torque current.
Exciting current controller, for according to Iq
refdynamically adjust exciting current and produce maximum output exciting current (Id
ref).
Exciting current controller, for according to Id
refgenerate d axle output voltage (Ud); Wherein, d axle is magnetic linkage electric current synchronous rotary axle.
Encoder, for the rotating speed (SPD of Real-Time Monitoring motor
fdb) and calculate electrical degree (θ).Or, without fast transducer, for estimating in real time the rotating speed SPD of motor
fdband calculate electrical degree.
Pulse-width modulator (PWM), for carrying out vector calculus generation three-phase voltage according to Uq, Ud and θ, carries out vector braking to motor.
Because the 3rd execution mode is mutually corresponding with present embodiment, therefore present embodiment can with the enforcement of working in coordination of the 3rd execution mode.The correlation technique details of mentioning in the 3rd execution mode is still effective in the present embodiment, and the technique effect that can reach in the 3rd execution mode can be realized in the present embodiment too, in order to reduce repetition, repeats no more here.Correspondingly, the correlation technique details of mentioning in present embodiment also can be applicable in the 3rd execution mode.
Eighth embodiment of the invention relates to a kind of energy consuming brake.The 8th execution mode is the further refinement of the 5th execution mode, has provided the concrete structure of scalar brake module, as shown in figure 11, has ensured the feasibility of embodiment of the present invention.
Specifically, scalar brake module comprises: acceleration closed loop controller, velocity calculator, current closed-loop controller and pulse-width modulator.
Acceleration closed loop controller, for feeding back computing according to the first object control physical quantity setting in advance and the feedback quantity of this physical quantity, and generates acceleration (a).
Velocity calculator, for calculating current time rotating speed (f (k)) according to a upper moment rotating speed (f (k-1)) with a.
Current closed-loop controller, for carrying out closed loop computing according to the second target control physical quantity setting in advance and the value of feedback of this physical quantity, generates modulation degree (m).
Pulse-width modulator (PWM), for carrying out scalar operation generation three-phase voltage according to m and f (k), carries out scalar braking to motor.
Because the 4th execution mode is mutually corresponding with present embodiment, therefore present embodiment can with the enforcement of working in coordination of the 4th execution mode.The correlation technique details of mentioning in the 4th execution mode is still effective in the present embodiment, and the technique effect that can reach in the 4th execution mode can be realized in the present embodiment too, in order to reduce repetition, repeats no more here.Correspondingly, the correlation technique details of mentioning in present embodiment also can be applicable in the 4th execution mode.
Persons of ordinary skill in the art may appreciate that the respective embodiments described above are to realize specific embodiments of the invention, and in actual applications, can do various changes to it in the form and details, and without departing from the spirit and scope of the present invention.
Claims (12)
1. a dynamic braking method, is characterized in that, comprises following steps:
User sets in advance the braking control model of frequency converter; Wherein, described braking control model is vector braking mode or scalar braking mode;
Judge whether default braking control model is described vector braking mode;
If so, enter described vector braking mode, motor is carried out to vector braking; If not, enter described scalar braking mode, described motor is carried out to scalar braking.
2. dynamic braking method according to claim 1, is characterized in that, enters described vector braking mode described, motor is carried out, in the step of vector braking, comprise following sub-step:
Carry out closed loop computing by brake torque controller according to the target control physical quantity setting in advance and the feedback quantity of this physical quantity, and generate the torque of output plugging;
By torque amplitude limit controller to described output plugging torque carry out amplitude limit, and generate torque current Iq
ref;
By torque current controller according to described Iq
refgenerate q axle output voltage U q; Wherein, the synchronous chosen axis that described q axle is torque current;
By exciting current controller according to described Iq
refdynamically adjust exciting current and produce maximum output exciting current Id
ref;
By exciting current controller according to described Id
refgenerate d axle output voltage U d; Wherein, described d axle is magnetic linkage electric current synchronous rotary axle;
By the rotating speed SPD of motor described in encoder Real-Time Monitoring
fdband calculate electrical degree θ; Or by the rotating speed SPD that estimates in real time described motor without fast transducer
fdband calculate described electrical degree;
Carry out vector calculus generation three-phase voltage by pulse-width modulator PWM according to described Uq, described Ud and described θ, described motor is carried out to vector braking.
3. dynamic braking method according to claim 1, is characterized in that, enters described scalar braking mode described, described motor is carried out, in the step of scalar braking, comprise following sub-step:
Feed back computing by acceleration closed loop controller according to the first object control physical quantity setting in advance and the feedback quantity of this physical quantity, and generate acceleration a;
Calculate current time rotating speed f (k) by velocity calculator according to a upper moment rotating speed f (k-1) and described a;
Carry out closed loop computing by current closed-loop controller according to the second target control physical quantity setting in advance and the value of feedback of this physical quantity, generate modulation degree m;
Carry out scalar operation generation three-phase voltage by pulse-width modulator PWM according to described m and described f (k), described motor is carried out to scalar braking.
4. dynamic braking method according to claim 1, is characterized in that, before setting in advance the step of braking control model of frequency converter, also comprises following steps described user:
Switch to default modulating mode.
5. dynamic braking method according to claim 4, is characterized in that, described modulating mode is with seven segmentation modulating modes.
6. dynamic braking method according to claim 4, is characterized in that, before the described step that switches to default modulating mode, also comprises following steps:
Promote the switching frequency of described frequency converter.
7. an energy consuming brake, is characterized in that, comprises: frequency converter;
Wherein, described frequency converter comprises: module, judge module, vector brake module and scalar brake module are set;
The described module that arranges, for setting in advance the braking control model of frequency converter; Wherein, described braking control model is vector braking mode or scalar braking mode;
Described judge module, for judging whether default braking control model is described vector braking mode; If so, trigger described vector brake module, motor is carried out to vector braking; If not, trigger described scalar brake module, described motor is carried out to scalar braking.
8. energy consuming brake according to claim 7, it is characterized in that, described vector brake module comprises: brake torque controller, torque amplitude limit controller, torque current controller, exciting current controller, exciting current controller, encoder or without fast transducer and pulse-width modulator;
Described brake torque controller, for carrying out closed loop computing according to the target control physical quantity setting in advance and the feedback quantity of this physical quantity, and generates the torque of output plugging;
Described torque amplitude limit controller, for to described output plugging torque carry out amplitude limit, and generate torque current Iq
ref;
Described torque current controller, for according to described Iq
refgenerate q axle output voltage U q; Wherein, the synchronous chosen axis that described q axle is torque current;
Described exciting current controller, for according to described Iq
refdynamically adjust exciting current and produce maximum output exciting current Id
ref;
Described exciting current controller, for according to described Id
refgenerate d axle output voltage U d; Wherein, described d axle is magnetic linkage electric current synchronous rotary axle;
Described encoder, for the rotating speed SPD of motor described in Real-Time Monitoring
fdband calculate electrical degree θ; Or, described without fast transducer, for estimating in real time the rotating speed SPD of described motor
fdband calculate described electrical degree;
Described pulse-width modulator PWM, for carrying out vector calculus generation three-phase voltage according to described Uq, described Ud and described θ, carries out vector braking to described motor.
9. energy consuming brake according to claim 7, is characterized in that, described scalar brake module comprises: acceleration closed loop controller, velocity calculator, current closed-loop controller and pulse-width modulator;
Described acceleration closed loop controller, for feeding back computing according to the first object control physical quantity setting in advance and the feedback quantity of this physical quantity, and generates acceleration a;
Described velocity calculator, for calculating current time rotating speed f (k) according to a upper moment rotating speed f (k-1) and described a;
Described current closed-loop controller, for carrying out closed loop computing according to the second target control physical quantity setting in advance and the value of feedback of this physical quantity, generates modulation degree m;
Described pulse-width modulator, for carrying out scalar operation generation three-phase voltage according to described m and described f (k), carries out scalar braking to described motor.
10. energy consuming brake according to claim 7, is characterized in that, also comprises modulating mode handover module;
Described modulating mode handover module, for switching to default modulating mode.
11. energy consuming brakes according to claim 10, is characterized in that, described modulating mode is seven segmentation modulating modes.
12. energy consuming brakes according to claim 7, is characterized in that, also comprise switching frequency hoisting module;
Described switching frequency hoisting module, for promoting the switching frequency of described frequency converter.
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| CN201410175841.6A CN103944458B (en) | 2014-04-29 | 2014-04-29 | Dynamic braking method and device |
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