CN104143821B - Regenerative bleeder resistor protection method - Google Patents
Regenerative bleeder resistor protection method Download PDFInfo
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- CN104143821B CN104143821B CN201310372855.2A CN201310372855A CN104143821B CN 104143821 B CN104143821 B CN 104143821B CN 201310372855 A CN201310372855 A CN 201310372855A CN 104143821 B CN104143821 B CN 104143821B
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Abstract
The invention discloses a regenerative bleeder resistor protection method. The method includes the steps that a bleeder resistance value according with work conditions is sorted out through calculation checking; a bleeder resistor is connected with a system, and the regenerative bleeder resistor is initialized through a variable by setting driver parameters for protection; a driver executes and processes regenerative brake logic, whether an alarm is sounded is judged, and accordingly the bleeder resistor is replaced by a regenerative bleeder resistor meeting requirements. If bus overcurrent occurs, a program is interrupted. By means of the method, the bleeder resistor can be protected, hardware damage is prevented, and it is guaranteed that the system operates safely and stably.
Description
Technical field
This law invention is related to a kind of method of protection regeneration bleeder resistance, solves regeneration bleeder resistance protection question, belongs to
Power electronics category.
Background technology
Bleeder resistance with its it is simple and practical cheap the advantages of be widely used in field of power electronics.In motor
In drive control, the energy storage of bus capacitor is limited, if not being controlled by exceeding the maximum pressure voltage of unidirectional current perhaps power device,
So as to cause hardware damage, charge and discharge electric capacity is played a part of in bleeder resistance compensation in systems, so bleeder resistance is pacified to system
Full steady operation plays very important effect.Selection does not meet the bleeder resistance of operating mode, can cause the different of regeneration energy consumption braking
Often, but existing article fails to provide the accurate system of selection of bleeder resistance.
The content of the invention
Goal of the invention：The purpose of the present invention provides a kind of method of protection charging bleeder resistance.Driven according to servo during operation
The energy conversion relation of dynamic device or frequency convertor system, power constraints, minimum resistance constraint, select and meet releasing for operating mode
Resistance, bleeder resistance access system is run, so as to reach system optimal.
Technical scheme：The present invention is achieved through the following technical solutions：
A kind of method of protection regeneration bleeder resistance, comprises the steps：
1）Checked by calculating, select the vent discharge resistance for meeting operating mode；
2）Bleeder resistance access system, system are judged to current setting state；
3）Driver operation processes regenerative braking logic, judges whether the regeneration bleeder resistance for accessing meets the requirements；
4）If generation bus current excessively stream, interrupt routine is protecting bleeder resistance.
The step of selecting the vent discharge resistance for meeting operating mode in step 1 is as follows：
1）By law of conservation of energy, judge whether system needs bleeder resistance.
2）The specification of bleeder resistance is determined by power constraints.
3）Determine the minimum resistance of bleeder resistance.
Whether system needs bleeder resistance to specifically include following steps：
1）The regeneration ENERGY E of computing systemmWith the absorbable ENERGY E of bus filter capacitorcSize,
2）Relatively EmWith EcSize, system is in the case of unit, if Em<Ec, then bleeder resistance is not required to, is otherwise needed；System
If system is in the case of common busThen do not need, otherwise need bleeder resistance；Work as Emj<When 0, artificially it is forced to 0 and asks
With；
In step 1,
JmFor motor itself rotor moment of inertia, JlThe rotary inertia of motor shaft end, ω are folded to for mechanical loadmFor electricity
Angular velocity before machine deceleration, ImThe phase current virtual value for being motor during slowing down, RmFor line resistance, t between motor phase phased
For the time slowed down, unit s, TfFor friction torque, E△fFor the potential variation amount during Braking system, potential energy increase then symbol
It is negative, decrease of potential energy is then just EcFor the absorbable energy of bus filter capacitor, C is driver bus filter capacitor, UmaxFor
The accessible maximum voltage of bus, i.e. discharge voltage, U before releasingnomFor bus average voltage,UllFor rectification
The line voltage of input.
Determine that the specification of bleeder resistance comprises the steps：
1）The peak-pulse power P that calculating is releasedmax_regen, maximum regeneration power Pmax, mean power Pav；
2）According to formula Pmax<Pmax_regenWithDetermine bleeder resistance RbMaximum；
3）Calculate the minima of bleeder resistance；
4）The rated power of bleeder resistance is determined according to actual condition；
Wherein,
UbRelease point voltage for bus, PmaxFor motor braking when issuable maximum regeneration power, ImSubtracting for motor
Phase current virtual value during speed, EMFbFor removing the winding back emf of loss part reduced voltage, kbIt is normal for winding back emf
Number, i.e. the offline back-emf virtual values of 1000rpm, n is the rotating speed that is currently running of front motor in deceleration, EMFbFor removing loss portion
Divide the winding back emf of reduced voltage,tcycleFor a cycle of motor cycle operation, that is, slow down
Time and non-deceleration time sum, UovFor bus overvoltage point voltage IbcContinuously can transport when radiator is 80 DEG C for bleeder pipe
Capable DC current.
In step 4, rated power determines that step is as follows：
1）When system is using built-in regeneration bleeder resistance or without regenerating bleeder resistance, when entirely by capacitive absorption, vent discharge
The rated power of resistance for built-in resistor rated power 50%；
2）When using external regeneration bleeder resistance, whether driver judges the resistance of user input less than regeneration bleeder resistance
The function of minima, if being less than minima, needs to change external bleeder resistance；If being more than, judge whether external cold wind equipment；
4）If external cold wind equipment, the power that bleeder resistance continuously can bear for built-in resistor rated power 50%, otherwise
The power that bleeder resistance continuously can bear for built-in resistor rated power 20%.
Driver operation processes regenerative braking logic and comprises the following steps that：
1）Judge servosystem whether break down state, whether Energy in use resistance and whether there is the too little generation of resistance
Warning, if it is, turn off bleed-off circuit；It is no, then proceed to the logical judgment to power condition；
2）It is determined that whether protection point power is let out more than power after filtering if greater than then opening leadage circuit and calculating this
Watt level is put, power is more than power peak if this is released, and power peak is defined as the temporary variable of power calculation；
Then turn off bleed-off circuit if less than power after filtering；
3）After judging filtering, whether power, is shown more than protection power points power if greater than overload warning is then sent
Regenerating power exceedes the ability that regeneration bleeder resistance can be released, otherwise need not then report to the police.
If busbar voltage is present and busbar voltage is more than 50V in the case that in step 2, the input of ac power electricity is invalid, according to
So it needs to be determined that whether protection point power is more than power after filtering.
Beneficial effect：The present invention compared with prior art, is for special operating mode in a concrete system, as long as meeting
The constraints for being proposed, you can select the bleeder resistance for meeting demand of releasing.The method is simple, can be widely applied to drive
In autocontrol system.
Description of the drawings
Fig. 1 is flow chart of the present invention.
Fig. 2 is resistance protection initialization program block diagram.
Fig. 3 is resistance protection monitoring programme block diagram.
Fig. 4 is hardware excessively stream interrupt service routine block diagram.
Fig. 5 is electric system moving law schematic diagram.
Specific embodiment
The present invention is described in further detail with reference to Figure of description：
Judge whether system needs bleeder resistance, select the bleeder resistance for meeting operating mode according to demand, so that letting out
After electric discharge resistance access system operation, system is optimal.Below with a specific example illustrating technical scheme：
1st, drive parameter is given first, as shown in table 1.
| Ub(V) | Uav(V) | C(uF) | Im(A) | Ibc(A) | Rbmin(Ω) | Rb(Ω) | PRb(W) |
| 380 | 420 | 1680 | 16.9 | 11 | 38 | 50 | 40 |
1. drive parameter table of table
2nd, with the example that motor is completely unloaded, servo motor rotor rotary inertia J in experimentmFor 1.28 × 10-4kg/m2,
Maximum permissible revolution is 6000rpm, is converted into angular velocity omega for 628.3rad/s.
By regeneration energy theorem,Understand to make under maximum speed
The regeneration energy of movable property life is EmFor 25.3J.By the absorbable energy theorem of bus filter capacitorCan
Know, the ENERGY E that electric capacity can be storedcFor 40.6J.Because the energy of regeneration is less than the energy that can be stored, therefore complete in motor
Energy of need not releasing is braked when complete unloaded, also avoids the need for connecting bleeder resistance.
3rd, it is same to investigate upper example motor, with example of the motor shaft end with inertial loads, and known back emf coefficient kb=
33Vrms/ krpm, load of the shaft end with 50 times of rotor moment of inertias, periodic duty rule is as shown in figure 4, motor is with maximum 3 times of mistakes
Set torque is braked, it is assumed that friction torque is 0.Comprise the following steps that：
（1）The bleeder resistance resistance met under operating mode is determined as the case may be.
1. by law of conservation of energy, judge whether system needs bleeder resistance.
According to regeneration energy theoremKnown Jl=50, Jm=64×
10-4kgm2, ωm=314rad/s, Im=16.5Arms, Rm=1 Ω, td=0.286s, remaining is 0.By can be calculated Em=205J,
It can be seen that the capacity that regeneration energy can be stored more than electric capacity, regeneration is needed to release energy, otherwise inevitable overvoltage.
2. the specification of bleeder resistance is determined by power constraints.
A, calculating peak power：
FoundationKnown kb=33Vrms/ krpm, n=3krpm, Im=16.5Arms, Rm=1 Ω, then calculate
Obtain EMFb=84.7V。
FoundationCalculate to obtain Pmax=2421W。
B, calculating mean power：
According to formulaKnown Em=205J, Ec=40.6J, tcycle=1.2s, then calculate to obtain Pav=137W。
Determine bleeder resistance specification limit：
According to formula Pmax<Pmax_regenWithKnown Ub=380V, Pmax=2421W, then can determine that vent discharge
Resistance Rb59.6 Ω need to be less than.
According to Pav<Pav_regenAnd consider the drop volume of different operating modes, it is known that PavVolume 50% drops in=137W, air-cooled situation, naturally cold
Volume 20% but drops.
Air-cooled situation is directed to then, the rated power of bleeder resistance should be greater than 274W, for natural cooling situation, bleeder resistance
Rated power should be greater than 685W.
3. determine the minimum resistance of bleeder resistance.
According to formulaKnown Uov=420V, Ibc=11A, then calculate to obtain Rbmin=38.2 Ω, therefore vent discharge
Resistance need to be more than 38.2 Ω.
To sum up, bleeder resistance resistance need to be selected between 38.2～59.6 Ω, and rated power need to be more than 274W（It is air-cooled）/685W
（Natural cooling）, select 40 Ω, 300W（It is air-cooled）/700W（Natural cooling）Bleeder resistance be suitable.
（2）, initialization regeneration bleeder resistance protection variable.
Bleeder resistance is accessed in servosystem, driver is judged to user profile.Using external regeneration vent discharge
Resistance, driver judge the function of the resistance more than minima of user input.Natural cooling, the power that bleeder resistance continuously can bear
For 137W.
（3）, driver operation process regenerative braking logic.
First determine whether servosystem do not break down state, Energy in use resistance and do not occur that resistance is too little to warn
Accuse.Proceed to the logical judgment to power condition.It is determined that protection point power is more than power after filtering, more than discharge voltage point voltage,
Leadage circuit is opened, and this power of releasing is can be calculated less than power peak, is not reported to the police.
If busbar voltage is present in the case that secondly the input of judgement ac power electricity is invalid, proceeds to and power condition is patrolled
Collect and judge.Point power is protected in judgement and busbar voltage is more than power after filtering and more than 50V, opening leadage circuit, be can be calculated
This power of releasing is not reported to the police less than power peak.
（4）, when bus hardware excessively stream interrupt routine.
In program operation process, bus hardware current does not perform interrupt operation journey less than maximum three short circuit current 18A
Sequence.
Claims (5)
1. a kind of method that protection regenerates bleeder resistance, it is characterised in that comprise the steps：
1) by calculating check, select the regeneration vent discharge resistance for meeting operating mode；
2) bleeder resistance access system will be regenerated, system is judged to current setting state；
3) driver operation processes regenerative braking logic, judges whether the regeneration bleeder resistance for accessing meets the requirements；
If 4) there is bus current excessively stream, interrupt routine is protecting regeneration bleeder resistance；
Wherein, step 1) in it is as follows the step of select the vent discharge resistance for meeting operating mode：
11) by law of conservation of energy, judge whether system needs to regenerate bleeder resistance；
12) specification of regeneration bleeder resistance is determined by power constraints；
13) determine the minimum resistance of regeneration bleeder resistance.
2. method according to claim 1, it is characterised in that：Judge whether system needs to regenerate bleeder resistance, it is concrete to wrap
Include following steps：
1) the regeneration ENERGY E of computing systemmWith the absorbable ENERGY E of bus filter capacitorcSize；
2) compare EmWith EcSize, system is in the case of unit, if Em<Ec, then it is not required to regenerate bleeder resistance, otherwise needs；System
If system is in the case of common busThen do not need, otherwise need to regenerate bleeder resistance；Work as Emj<When 0, artificially it is forced to
0 summation；
Step 1) in,
In formula,In N represent in the case of common bus servo-driver sum, E in systemmjFor j-th servo-driver
Regeneration energy；EcjFor the absorbable energy of filter capacitor of j-th servo-driver, JmFor motor itself rotor moment of inertia,
JlThe rotary inertia of motor shaft end, ω are folded to for mechanical loadmFor the angular velocity before decelerating through motor, ImSlowing down for motor
The phase current virtual value of period, RmFor line resistance, t between motor phase phasedFor slow down time, unit is s, TfFor friction torque,
EΔfFor the potential variation amount during Braking system, it is negative that potential energy increases then symbol, and decrease of potential energy is then just EcFilter for bus
The absorbable energy of electric capacity, C be driver bus filter capacitor capacitance, UmaxFor the accessible maximum voltage of bus before releasing,
That is discharge voltage, UnomFor bus average voltage.
3. method according to claim 1, it is characterised in that：It is determined that the specification of regeneration bleeder resistance comprises the steps：
1) calculate the peak-pulse power P for releasingmax_regen, maximum regeneration power Pmax, mean power Pav；
2) according to formula Pmax<Pmax_regenWithIt is determined that regeneration bleeder resistance RbMaximum；
3) calculate the minima of regeneration bleeder resistance；
4) rated power of regeneration bleeder resistance is determined according to actual condition；
Wherein,N is represented in the case of common bus in system
Servo-driver sum, EmThe regeneration energy of expression system, EcRepresent the absorbable energy of bus filter capacitor, UbLet out for bus
Put point voltage, PmaxFor motor braking when issuable maximum regeneration power, ImThe phase current for being motor during slowing down is effective
Value, UbjFor the voltage that j-th servo-driver bus is released a little, ImjFor motor phase during slowing down in j-th servo-driver
The virtual value of electric current,EMFbFor removing the winding back emf of loss part reduced voltage, RmFor motor
Line resistance between phase phase, kbFor the offline back-emf virtual value of winding back emf constant, i.e. 1000rpm, n is the front motor in deceleration
The rotating speed being currently running, tcycleFor a cycle of motor cycle operation, i.e. deceleration time and non-deceleration time sum, UovFor
Bus overvoltage point voltage, IbcFor the DC current that bleeder pipe continuously can be run when radiator is 80 DEG C, RbminRepresent regeneration
Bleeder resistance RbMinima.
4. method according to claim 1, it is characterised in that：Driver operation processes regenerative braking logic concrete steps such as
Under：
1) judge whether system breaks down state, or whether using regeneration bleeder resistance, or whether there is the too little generation of resistance
Warning, if it is, turn off bleed-off circuit；It is no, then proceed to the logical judgment to power condition；
2) protection point power is determined whether more than power after filtering, if greater than then opening leadage circuit and calculate this work(of releasing
Rate size, if this is released, power is more than power peak, and power peak is defined as the temporary variable of power calculation；If
Then turn off bleed-off circuit less than power after filtering；
3) after judging filtering, whether power if greater than then send overload warning, shows regenerating power more than protection point power
More than the ability that regeneration bleeder resistance can be released, otherwise need not then report to the police.
5. method according to claim 4, it is characterised in that：If busbar voltage in the case that ac power electricity input is invalid
Exist and busbar voltage is more than 50V, then still it needs to be determined that whether protection point power is more than power after filtering.
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| CN106159905A (en) * | 2015-03-26 | 2016-11-23 | 控制技术有限公司 | The fault logic circuits of converter braking circuit, method and apparatus and converter |
| CN108394297B (en) * | 2018-03-07 | 2021-08-24 | 深圳市品一电气有限公司 | Protection and control method for residual voltage discharge resistor of direct current charging pile |
| CN114636860B (en) * | 2022-02-15 | 2022-11-15 | 深圳市正浩创新科技股份有限公司 | Method and device for verifying buffer resistor, terminal and storage medium |
| CN114444425B (en) * | 2022-04-07 | 2022-06-07 | 安徽威灵汽车部件有限公司 | Parameter determination method for discharge resistance between direct current buses and related device |
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