CN104065318A - Frequency converter closed-loop vector redundancy control method during high-speed operation - Google Patents
Frequency converter closed-loop vector redundancy control method during high-speed operation Download PDFInfo
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- CN104065318A CN104065318A CN201410298391.XA CN201410298391A CN104065318A CN 104065318 A CN104065318 A CN 104065318A CN 201410298391 A CN201410298391 A CN 201410298391A CN 104065318 A CN104065318 A CN 104065318A
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Abstract
The invention provides a frequency converter closed-loop vector redundancy control method during high-speed operation. A frequency converter master machine is used to periodically send three physical quantities including an excitation voltage given value integral component, a torque voltage given value integral component and an included angle between a synthetic voltage vector and a reference shaft A shaft to a frequency converter slave machine; when the frequency converter master machine is failed, the frequency converter master machine is used to send a digital quantity signal to the frequency converter slave machine, at this time, the frequency converter slave machine is used to take the received last beat of excitation voltage given value integral component and torque voltage given value integral component before the failure as the amplitude initial value; the frequency converter slave machine is used to perform synchronous speed calculation and angle integration according to a speed measured by the current encoder to obtain an angle value, and the angle value is added with the included angle between the received last beat of synthetic voltage vector before failure and the reference shaft A shaft to obtain an angle initial value; and the frequency converter slave machine is in wave generation operation. Compared with the traditional redundancy switching, according to the invention, the redundancy switching during high-speed operation can be realized.
Description
Technical field
The invention belongs to Frequency Converter Control field, the frequency converter closed-loop vector redundancy control method while being specifically related to a kind of high-speed cruising.
Background technology
Some important production occasions such as metallurgy and oil, very high to the reliability requirement of equipment, requirement equipment is continuous and steady operation for a long time, once these equipment break down, will cause huge negative effect to producing, cause serious economic loss, even may occur some security incidents, but any electric equipment is all to have certain age limit, has the possibility losing efficacy, in order to reduce component failure to the impact of producing, be necessary to introduce Redundant Control.
The Redundant Control of frequency converter closed-loop vector, be exactly using a frequency converter as main frame, an other frequency converter is as slave, two frequency converters are connected to same motor, under normal circumstances, by the operation of host computer control motor, slave is in holding state, in the time that main frame breaks down, switch to slave control motor and continue operation.Require handoff procedure smooth transition, motor speed can not change too large, and electric current can not be too high, and schematic diagram as shown in Figure 1.
Traditional Redundant Control, in the time of hostdown, inform slave by the mode of terminal or communication, slave brings into operation after receiving the fault message of main frame, first catch the current rotating speed of motor by rotating-speed tracking, then carry out redundancy switching controls taking current rotating speed as starting point.
This method action is slower, and the redundancy handoff procedure time is longer, cannot maintain the continuous operation of motor, and motor may occur significantly slowing down and even shut down, thus the switching of the redundancy cannot realize high-speed cruising time, and the redundancy can only be used for low cruise time is switched.
Trace it to its cause, after motor is freely shut down, cannot disappear moment in magnetic field, now rotor produces a back electromotive force on stator winding by magnetic fields, this back electromotive force presents attenuation characteristic, if directly started by the frequency capturing in the time that back electromotive force is higher, due to the uncertainty of magnetic field angle, may cause stator winding two ends to bear higher voltage, easily cause overcurrent, randomness is very strong, therefore conventionally need to wait for a period of time, by the time after the amplitude of back electromotive force reduces, carry out again rotating-speed tracking starting, now back electromotive force impact reduces, be difficult for causing overcurrent, erasing time is relevant with power of motor, general power is larger, erasing time is longer, this time in seconds, be that rotating-speed tracking is more than prestart at least needs to postpone for 1 second, for for the load of large damping, in 1 second, may shut down.In addition, detect after current rotating speed, need to be by exporting and could set up after the processing of the speed ring of vector control and electric current loop, as shown in Figure 2, also be a major reason that causes time delay the time of integration of speed ring and electric current loop, cause redundancy switching rear motor output frequency to decline more, cannot move continuously.
In figure: ω
*represent that frequency is given, ω represents the motor output frequency recording through encoder, IT_REF represents that speed ring output is torque current set-point, IT_FED represents torque current value of feedback, IM_REF represents exciting current set-point, and IM_FED represents exciting current value of feedback, and UT_REF represents that the output of torque current ring is torque voltage given value, UM_REF represents that the output of exciting current ring is exciting voltage set-point, i
band i
crepresent frequency converter output current, i
s αand i
s βrepresent respectively output current i
band i
celectric current after CLARKE conversion.
Summary of the invention
, redundancy switching problem cannot meet high-speed cruising time long for traditional redundancy switching delay time, the frequency converter closed-loop vector redundancy control method while the invention provides a kind of high-speed cruising, the frequency converter closed-loop vector Redundant Control can real high-speed cruising time.
The present invention for solving the problems of the technologies described above taked technical scheme is: frequency converter closed-loop vector redundancy control method when a kind of high-speed cruising, is characterized in that: it comprises the following steps:
1) frequency converter main frame periodically sends three physical quantitys of angle of exciting voltage set-point quadrature components, torque voltage given value quadrature components and synthesized voltage vector and reference axis A axle to frequency converter slave;
2), in the time that frequency converter main frame breaks down, frequency converter main frame sends digital quantity signal to frequency converter slave, now:
Frequency converter slave using receive break down before the exciting voltage set-point quadrature components of last bat and torque voltage given value quadrature components as amplitude initial value;
The speed that frequency converter slave records according to current encoder is carried out synchronous speed and is calculated and angle integration, obtains an angle value, with receive break down before the addition of the synthesized voltage vector of last bat and the angle of reference axis A axle, as angle initial value;
Frequency converter slave leaves initial spike operation.
Press such scheme, step 1) in frequency converter main frame send three physical quantitys of angle of exciting voltage set-point quadrature components, torque voltage given value quadrature components and synthesized voltage vector and reference axis A axle by bus cycles property to frequency converter slave.
Press such scheme, step 2) in the time that frequency converter main frame breaks down, frequency converter main frame by I/O port to frequency converter slave send digital quantity signal.
Beneficial effect of the present invention is: the present invention does not need to detect amplitude and the phase place of the counter electromotive force of motor after shutting down, and has saved hardware cost; Meanwhile, compared with switching with traditional redundancy, the redundancy while having realized high-speed cruising is switched, and whole handoff procedure is very short, has ensured the continual and steady operation of producing, and experiment effect of the present invention is good, is worthy of popularization.
Brief description of the drawings
Fig. 1 is frequency converter closed-loop vector Redundant Control schematic diagram.
Fig. 2 is frequency converter closed-loop vector control block diagram.
Fig. 3 is that the frequency converter closed-loop vector redundancy of one embodiment of the invention is switched schematic diagram.
Slave output current and motor speed figure when Fig. 4 is the switching of 50Hz redundancy.
Embodiment
Below in conjunction with instantiation and accompanying drawing, the present invention will be further described.
Fig. 3 is that the frequency converter closed-loop vector redundancy of one embodiment of the invention is switched schematic diagram, and it comprises the following steps:
1) frequency converter main frame (passing through 485 buses in the present embodiment) periodically sends three physical quantitys of angle of exciting voltage set-point quadrature components, torque voltage given value quadrature components and synthesized voltage vector and reference axis A axle to frequency converter slave;
2), in the time that frequency converter main frame breaks down, frequency converter main frame (passing through I/O port in the present embodiment) sends digital quantity signal to frequency converter slave, now:
Frequency converter slave using receive break down before the exciting voltage set-point quadrature components of last bat and torque voltage given value quadrature components as amplitude initial value;
The speed that frequency converter slave records according to current encoder is carried out synchronous speed and is calculated and angle integration, obtains an angle value, with receive break down before the addition of the synthesized voltage vector of last bat and the angle of reference axis A axle, as angle initial value;
Frequency converter slave leaves initial spike operation.
Operation principle of the present invention is: in order to maintain the continuous operation of load, the most direct method is exactly that to maintain as far as possible output state after frequency converter hostdown constant, allows frequency converter slave carry out redundancy switching using this state as initial condition.And angle between the quadrature components of the quadrature components that the parameter that maintains output state comprises exciting voltage set-point and torque voltage given value and synthesized voltage vector and reference axis A axle, therefore only need to be in the time that frequency converter main frame break down, frequency converter slave several amounts carry out simple operation more than frequency converter main frame gathers.
In order to verify experiment effect of the present invention, carry out redundancy by two 7.5kW frequency converters and a 7.5kW alternating current machine and switch experiment, a frequency converter is as main frame, another frequency converter is as slave, output current value and two signals of motor speed of frequency converter slave when test redundancy is switched, the situation of change of motor speed and frequency converter slave output current in observation handoff procedure, result as shown in Figure 4.In Fig. 4, can see, in redundancy handoff procedure, motor speed is down to 99.3% by 100% of motor rated frequency (50Hz), frequency converter slave maximum output current reaches 45% of motor rated current (16.2A), in redundancy handoff procedure all there is not larger fluctuation in motor speed and frequency converter slave output current, handoff procedure is very steady, experimental results show that frequency converter closed-loop vector Redundant Control when the present invention can realize high-speed cruising really.
The present invention does not need to detect amplitude and the phase place of the counter electromotive force of motor after shutting down; save hardware cost; compared with switching with traditional redundancy simultaneously; redundancy while having realized high-speed cruising is switched; the whole handoff procedure of the present embodiment completes in 100ms; ensured the continual and steady operation of producing, experiment effect of the present invention is good, is worthy of popularization.
Above embodiment is only for calculating thought of the present invention and feature are described, its object is to make those skilled in the art can understand content of the present invention and implement according to this, and protection scope of the present invention is not limited to above-described embodiment.So the disclosed principle of all foundations, equivalent variations or the modification that mentality of designing is done, all within protection scope of the present invention.
Claims (3)
1. frequency converter closed-loop vector redundancy control method when high-speed cruising, is characterized in that: it comprises the following steps:
1) frequency converter main frame periodically sends three physical quantitys of angle of exciting voltage set-point quadrature components, torque voltage given value quadrature components and synthesized voltage vector and reference axis A axle to frequency converter slave;
2), in the time that frequency converter main frame breaks down, frequency converter main frame sends digital quantity signal to frequency converter slave, now:
Frequency converter slave using receive break down before the exciting voltage set-point quadrature components of last bat and torque voltage given value quadrature components as amplitude initial value;
The speed that frequency converter slave records according to current encoder is carried out synchronous speed and is calculated and angle integration, obtains an angle value, with receive break down before the addition of the synthesized voltage vector of last bat and the angle of reference axis A axle, as angle initial value;
Frequency converter slave leaves initial spike operation.
2. frequency converter closed-loop vector redundancy control method when a kind of high-speed cruising according to claim 1, is characterized in that: step 1) in frequency converter main frame send three physical quantitys of angle of exciting voltage set-point quadrature components, torque voltage given value quadrature components and synthesized voltage vector and reference axis A axle by bus cycles property to frequency converter slave.
3. frequency converter closed-loop vector redundancy control method when a kind of high-speed cruising according to claim 1, it is characterized in that: step 2) in the time that frequency converter main frame breaks down, frequency converter main frame by I/O port to frequency converter slave send digital quantity signal.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108270380A (en) * | 2017-12-29 | 2018-07-10 | 南京钢铁股份有限公司 | A kind of method for control speed when frequency converter is without speed encoder |
| WO2019129385A1 (en) * | 2017-12-26 | 2019-07-04 | Eaton Intelligent Power Limited | System and method for compact motor control with redundant power structures |
| CN110726211A (en) * | 2019-10-10 | 2020-01-24 | 珠海格力电器股份有限公司 | Air conditioner multi-split air conditioner control method and device, storage medium and air conditioner multi-split air conditioner |
| CN112764369A (en) * | 2020-12-21 | 2021-05-07 | 中冶南方（武汉）自动化有限公司 | Hoisting frequency converter starting and braking time sequence control method |
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| CN112764369A (en) * | 2020-12-21 | 2021-05-07 | 中冶南方（武汉）自动化有限公司 | Hoisting frequency converter starting and braking time sequence control method |
| CN112764369B (en) * | 2020-12-21 | 2022-01-14 | 中冶南方（武汉）自动化有限公司 | Hoisting frequency converter starting and braking time sequence control method |
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