CN105227039B - Cutting frequency-converting control device and its control method for cantilevered coal mine development machine - Google Patents
Cutting frequency-converting control device and its control method for cantilevered coal mine development machine Download PDFInfo
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- CN105227039B CN105227039B CN201510605573.1A CN201510605573A CN105227039B CN 105227039 B CN105227039 B CN 105227039B CN 201510605573 A CN201510605573 A CN 201510605573A CN 105227039 B CN105227039 B CN 105227039B
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Abstract
The invention discloses a kind of cutting frequency-converting control devices and its control method for cantilevered coal mine development machine, device includes precharge and switch unit, input reactance device, rectifier, intermediate dc circuit, inverter, controller and sensor unit, the output end of precharge and switch unit passes sequentially through input reactance device, rectifier, intermediate dc circuit, inverter are powered to the driving motor of cantilevered coal mine development machine, and the output end of controller is connected with the controlled end of inverter.Method and step includes：It is first determined whether needing regenerative braking, when needing regenerative braking, negative sense torque closed-loop control amount is generated using the voltage in intermediate dc circuit as feedback quantity, and negative sense torque closed-loop control amount is exported to inverter and carries out regeneration energy expenditure to control motor.The present invention does not need chopper circuit and regeneration energy expenditure can be realized, and has the advantages that material cost can be saved, reduces installation space, improves radiating, being easy to implement for frequency converter electric cabinet.
Description
Technical field
The present invention relates to boom-type roadheader cutting frequency conversion control techniques, and in particular to one kind is tunneled for cantilevered coal mine
The cutting frequency-converting control device and its control method of machine.
Background technology
Boom-type roadheader is the engineering machinery for integrating the functions such as cutting, shipment, walking, operation, is mainly used for cutting
Cut Rock in Well, coal or the alternate heading of arbitrary switch section.
In actual work due to development machine, the coal petrography of frequent cutting becomes softer suddenly or operator suddenly moves back cutterhead
When going out coal wall, mechanical system can have certain rotary inertia, and the load of cutterhead lightens or almost unloads suddenly, actually
It is that the load of frequency converter lightens or almost unloads suddenly, rotating speed is caused to rise violently, frequency converter is caused frequently to generate regeneration energy, frequency conversion
Speed governing is in regenerative braking state in reduction of speed, and the energy of electromotor feedback reaches intermediate dc circuit, and intermediate dc can be made electric
Pressure rises, this is danger close.Generally all using chopper circuit, additional braking resistor realizes regeneration energy to frequency converter again at present
Consumption.Especially when system inertia is bigger, the prior art generally using chopper circuit, realize again by additional braking resistor
Regenerate the consumption of energy.Frequency converter is typically to open chopper circuit, is consumed by copped wave pipe and copped wave resistance by energy is regenerated,
To ensure that frequency converter middle dc voltage is not over-pressed, make its normal work.But chopper circuit undoubtedly needs the space of bigger to pacify
Fill copped wave pipe and copped wave resistance and two pyrotoxins.Frequency converter electric cabinet is a kind of type of explosion proof construc tion electrical appliance enclosure, can
It bears to enter the explosive mixture of enclosure in internal explosion without damaging by any joint surface of shell or structure interval,
And a kind of lighting for the external explosive gas atmosphere formed by, multiple gases or steam will not be caused；Just because of frequency converter
Electric cabinet is a kind of closed case of flame-proof type, and one is detrimental to the heat dissipation of electric components, second is that due to frequency converter electric cabinet
Appearance and size restricted by the appearance and size of cantilevered coal mine development machine, it is impossible to design is too big, therefore is also unfavorable for excessive
Electric components are installed.But when system inertia is smaller, braking resistor is saved sometimes for saving money, when frequency converter exists
When the regenerative braking state that works, frequency converter slope control time can only be increased or lean on frequency converter " extremely shouldering " to consume regeneration energy.
But under this mode, frequency converter is easy to the alarm due to because regenerate energy the problem of and is stopped, or even because regeneration energy is excessive
It generates failure and damages.
Invention content
The technical problem to be solved in the present invention：For the above problem of the prior art, one kind is provided and does not need chopper circuit
Regeneration energy expenditure can be realized, material cost can be saved, reduce installation space, improve radiating, being real for frequency converter electric cabinet
Apply the cutting frequency-converting control device and its control method for being conveniently used for cantilevered coal mine development machine.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is：
A kind of cutting method for controlling frequency conversion of cutting frequency-converting control device, the cutting frequency-converting control device include precharge
And switch unit, input reactance device, rectifier, intermediate dc circuit, inverter, controller and sensor unit, the preliminary filling
The input terminal of electricity and switch unit is connected with power supply, and the output end of the precharge and switch unit passes sequentially through input reactance
Device, rectifier, intermediate dc circuit, inverter are powered to the driving motor of cantilevered coal mine development machine, the sensor unit
Including current sensor, voltage sensor and velocity sensor, the current sensor is serially connected with the output end of inverter, described
Voltage sensor is connected in parallel between the DC bus in intermediate dc circuit, and the velocity sensor is installed in cantilevered coal mine
On the driving motor output shaft of development machine, the current sensor, voltage sensor, velocity sensor respectively with controller
Input terminal is connected, and the step of output end of the controller is connected with the controlled end of inverter, cutting method for controlling frequency conversion includes：
1）It is exported to the operating current of driving motor, by voltage sensor and is detected by current sensor detection inverter
The voltage in intermediate dc circuit, the voltage in intermediate dc circuit, which is subtracted preset voltage, to be allowed to be worth to current voltage deviation
Value；If the operating current for tunneling motor is less than predetermined threshold value, current voltage deviation is more than preset allowable range, judge
Cutting frequency-converting control device needs regenerative braking, redirects and executes step 3）；Otherwise, it is determined that cutting frequency-converting control device need not be again
Raw braking, redirects and executes step 2）；
2）The rotating speed that driving motor is detected by velocity sensor, the rotating speed to tunnel motor generate forward direction as feedback quantity
The forward torque closed-loop control amount is exported to inverter to control the rotating speed of driving motor, is redirected by torque closed-loop control amount
Execute step 1）；
3）Negative sense torque closed-loop control amount is generated using the voltage in intermediate dc circuit as feedback quantity, and negative sense torque is closed
Ring controlled quentity controlled variable exports to inverter and carries out regeneration energy expenditure to control motor.
Preferably, the step 3）Detailed step include：
3.1）Advance Initialize installation is successively according to the first negative sense torque closed-loop control amount arranged from small to large, second negative
To torque closed-loop control amount and third negative sense torque closed-loop control amount；Initialize last time voltage deviation value and last time change of error
Rate；
3.2）Current voltage deviation is subtracted into last time voltage deviation and is worth to current deviation change rate；
3.3）Judge whether the absolute value of current voltage deviation is less than the first deviation threshold, if it is less than the first deviation threshold
Value is then exported the first negative sense torque closed-loop control amount as the negative sense torque closed-loop control amount generated；Otherwise according to current inclined
The difference of poor change rate and last time deviation variation rate judges the variation tendency of current deviation change rate, if current deviation change rate
Variation tendency be become smaller, then using the second negative sense torque closed-loop control amount as generate negative sense torque closed-loop control amount output；
If the variation tendency of current deviation change rate is to become larger, turn third negative sense torque closed-loop control amount as the negative sense generated
Square closed-loop control amount exports；Finally, it redirects and executes step 1）.
Cutting frequency-converting control device tool of the present invention for cantilevered coal mine development machine has the advantage that：The present embodiment is general
Remove chopper circuit on the basis of three-way converter, controller is detected to load based on current sensor and lightens or almost unload suddenly
（Generate regeneration energy）When, negative sense torque closed-loop control amount is generated by controlling inverter, so that cantilevered coal mine tunnels
The driving motor of machine generates negative sense torque to achieve the purpose that consumption regeneration energy, so as to prevent regeneration energy from causing to tunnel
Motor speed rise violently, the prevent middle dc voltage in intermediate dc circuit rises, and does not need chopper circuit and Regenerated energy can be realized
Amount consumption, compared with the prior art for reduce chopper circuit, that is, eliminate copped wave module and copped wave resistance, save material at
This, reduces installation space；And since copped wave module and copped wave resistance are all important pyrotoxin, being equivalent to reduces fever
Source improves clearly closed electric cabinet heat dissipation, becomes with that can save material cost, reduction installation space, improve
The radiating of frequency device electric cabinet, advantage easy to implement.
Cutting method for controlling frequency conversion tool of the present invention for cantilevered coal mine development machine has the advantage that：The present invention is for hanging
The cutting method for controlling frequency conversion of arm-type coal mine development machine is that cutting frequency control of the present invention for cantilevered coal mine development machine fills
Corresponding cutting method for controlling frequency conversion is set, equally can also prevent regeneration energy from driving motor speed being caused to rise violently, prevent centre
The middle dc voltage of DC loop rises, and does not need chopper circuit and regeneration energy expenditure can be realized, and material can be saved by having
Material cost reduces installation space, improves the radiating of frequency converter electric cabinet, advantage easy to implement.
Description of the drawings
Fig. 1 is the circuit theory schematic diagram of device of the embodiment of the present invention.
Fig. 2 is the flow diagram of control method of the embodiment of the present invention.
Fig. 3 is the flow diagram that control method of the embodiment of the present invention generates negative sense torque closed-loop control amount.
Marginal data：1, precharge and switch unit；2, input reactance device；3, rectifier；4, intermediate dc circuit；5, inverse
Become device；6, controller；7, sensor unit；71, current sensor；72, voltage sensor；73, velocity sensor；8, it controls
Device.
Specific implementation mode
As shown in Figure 1, the present embodiment for cantilevered coal mine development machine cutting frequency-converting control device include precharge and
Switch unit 1, input reactance device 2, rectifier 3, intermediate dc circuit 4, inverter 5, controller 6 and sensor unit 7, preliminary filling
Electricity and the input terminal of switch unit 1 are connected with power supply, be pre-charged and the output end of switch unit 1 pass sequentially through input reactance device 2,
Rectifier 3, intermediate dc circuit 4, inverter 5 are powered to the driving motor of cantilevered coal mine development machine, and sensor unit 7 includes
Current sensor 71, voltage sensor 72 and velocity sensor 73, current sensor 71 are serially connected with the output end of inverter 5, electricity
Pressure sensor 72 is connected in parallel between the DC bus in intermediate dc circuit 4, and velocity sensor 73 is installed in cantilevered coal mine
On the driving motor output shaft of development machine, current sensor 71, voltage sensor 72, velocity sensor 73 respectively with and controller
8 input terminal is connected, and the output end of controller 8 is connected with the controlled end of inverter 5.The present embodiment is on the basis of common frequency converter
On remove chopper circuit, controller 8 detects that load lightens or almost unloads suddenly based on current sensor 71（Generate Regenerated energy
Amount）When, negative sense torque closed-loop control amount is generated by controlling inverter 5, so that the driving electricity of cantilevered coal mine development machine
Machine generates negative sense torque to achieve the purpose that consumption regeneration energy, so as to prevent regeneration energy from causing driving motor speed hurricane
It rises, prevent the middle dc voltage in intermediate dc circuit 4 from rising, do not need chopper circuit and regeneration energy expenditure can be realized, have
Have the advantages that material cost can be saved, reduces installation space, improves radiating, being easy to implement for frequency converter electric cabinet.
In the present embodiment, precharge and switch unit 1 correspond to each phase line and are equipped with main switch KM1, precharge switch KM2
It is serially connected in corresponding phase line with charging resistor R1, main switch KM1, and precharge switch KM2 and charging resistor R1 are connected in series with
It is connected in parallel again with main switch KM1 afterwards；Intermediate dc circuit 3 includes resistance R and the capacitance being connected in parallel between DC bus
Cd.Main switch KM1 is off before system unlatching, is first turned on precharge switch KM2, is given by charging resistor R1
Capacitance Cd chargings, so that it is guaranteed that the normal work of inverter 5, is then turned off precharge switch KM2, closure main switch KM1
Into normal activation state.
In the present embodiment, the DC bus outer sheath of the DC side of rectifier 3 is equipped with magnet ring CH, can be pressed down by magnet ring CH
The interference signal of the DC side of rectifier 3 processed improves the stability of the output voltage of the DC side of rectifier 3.
As shown in Fig. 2, the step of cutting method for controlling frequency conversion of the present embodiment cutting frequency-converting control device, includes：
1）By the operating current of detection inverter 5 output of current sensor 71 to driving motor, pass through voltage sensor
The voltage in 72 detection intermediate dc circuits 4, preset voltage permissible value is subtracted by the voltage in intermediate dc circuit 4（DC1585V）
Obtain current voltage deviation；If the operating current for tunneling motor is less than predetermined threshold value, current voltage deviation is more than default
Allowable range, then judge that cutting frequency-converting control device needs regenerative braking, redirect execute step 3）；Otherwise, it is determined that cutting becomes
Audio-frequency control device does not need regenerative braking, redirects and executes step 2）；
2）The rotating speed that driving motor is detected by velocity sensor 73, the rotating speed to tunnel motor generate just as feedback quantity
To torque closed-loop control amount, forward torque closed-loop control amount is exported to inverter 5 to control the rotating speed of driving motor, redirects and holds
Row step 1；When not needing regenerative braking, the present embodiment generates forward torque closed loop using the rotating speed for tunneling motor as feedback quantity
Controlled quentity controlled variable is same as the prior art, is to realize closed-loop control using PID control, in addition can also be according to other closed-loop controls
Mode controls to realize the rotating speed in the driving motor for not needing regenerative braking, and the key of the present embodiment technical solution
Point is to need the negative sense direct torque of the driving motor in the case of regenerative braking, therefore not reinflated explanation herein.
3）Negative sense torque closed-loop control amount is generated using the voltage in intermediate dc circuit 4 as feedback quantity, and by negative sense torque
Closed-loop control amount exports to inverter 5 and carries out regeneration energy expenditure to control motor.When needing regenerative braking, the present embodiment with
The voltage in intermediate dc circuit 4 generates negative sense torque closed-loop control amount as feedback quantity, and negative sense torque closed-loop control amount is defeated
Go out to inverter 5 and carry out regeneration energy expenditure to control motor, so as to prevent regeneration energy from causing driving motor speed hurricane
It rises, prevent the middle dc voltage in intermediate dc circuit 4 from rising, do not need chopper circuit and regeneration energy expenditure can be realized, have
Have the advantages that material cost can be saved, reduces installation space, improves radiating, being easy to implement for frequency converter electric cabinet.
As shown in figure 3, step 3）Detailed step include：
3.1）Advance Initialize installation is successively according to the first negative sense torque closed-loop control amount arranged from small to large, second negative
To torque closed-loop control amount and third negative sense torque closed-loop control amount；Initialize last time voltage deviation value and last time change of error
Rate；
3.2）Current voltage deviation is subtracted into last time voltage deviation and is worth to current deviation change rate；
3.3）Judge whether the absolute value of current voltage deviation is less than the first deviation threshold, if it is less than the first deviation threshold
Value is then exported the first negative sense torque closed-loop control amount as the negative sense torque closed-loop control amount generated；Otherwise according to current inclined
The difference of poor change rate and last time deviation variation rate judges the variation tendency of current deviation change rate, if current deviation change rate
Variation tendency be become smaller, then using the second negative sense torque closed-loop control amount as generate negative sense torque closed-loop control amount output；
If the variation tendency of current deviation change rate is to become larger, turn third negative sense torque closed-loop control amount as the negative sense generated
Square closed-loop control amount exports；Finally, it redirects and executes step 1）.
When load lightens or almost unloads suddenly, such as take no action to, the speed for tunneling motor is bound to rise violently.In order to
Ensure the speed of driving motor in controlled range, the present embodiment passes through abovementioned steps 3.1）~3.3）, needing regenerative braking
When, the present embodiment generates negative sense torque closed-loop control amount using voltage deviation value and deviation variation rate as feedback quantity, real-time
The controlled quentity controlled variable of adjustment negative sense torque exports the first negative sense torque closed-loop control amount, the second negative sense torque closed loop of fixed size respectively
Controlled quentity controlled variable and third negative sense torque closed-loop control amount, the first negative sense torque closed-loop control amount, the second negative sense torque closed-loop control amount
Experiment acquisition can be carried out according to different driving motors with third negative sense torque closed-loop control amount, so as to reach the limitation ground
Quickly consumption regeneration energy, can make the speed of driving motor in controlled range（Highest permissible velocity）It is interior, and ensure intermediate straight
Galvanic electricity is pressed in not over-pressed（Maximum permissible voltage）In the case of, to achieve the purpose that consumption regeneration energy；The negative sense of output simultaneously
Torque closed-loop control amount is also by middle dc voltage（It is detected by voltage sensor 72）Upper bound condition limits, for example works normally
DC voltage is DC1500V, upper limit value 1585V, when adding negative sense torque closed-loop control amount, so that middle dc voltage is stablized and exists
Between DC1500V~DC1585V, the excessive then easy overvoltage of negative sense torque closed-loop control amount, too small then braking time are long, controller
6 adjust output torque in real time, and driving motor is made quickly and stably to brake.
The above is only a preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-mentioned implementation
Example, all technical solutions belonged under thinking of the present invention all belong to the scope of protection of the present invention.It should be pointed out that for the art
Those of ordinary skill for, several improvements and modifications without departing from the principles of the present invention, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (2)
1. a kind of cutting method for controlling frequency conversion of cutting frequency-converting control device for cantilevered coal mine development machine, feature exist
In the cutting frequency-converting control device includes precharge and switch unit（1）, input reactance device（2）, rectifier（3）, it is intermediate straight
Flow back to road（4）, inverter（5）, controller（6）And sensor unit（7）, the precharge and switch unit（1）Input terminal
It is connected with power supply, the precharge and switch unit（1）Output end pass sequentially through input reactance device（2）, rectifier（3）, in
Between DC loop（4）, inverter（5）To the driving motor power supply of cantilevered coal mine development machine, the sensor unit（7）Including
Current sensor（71）, voltage sensor（72）And velocity sensor（73）, the current sensor（71）It is serially connected with inverter
（5）Output end, the voltage sensor（72）It is connected in parallel in intermediate dc circuit（4）DC bus between, the speed
Spend sensor（73）It is installed on the driving motor output shaft of cantilevered coal mine development machine, the current sensor（71）, voltage
Sensor（72）, velocity sensor（73）Respectively with and controller（8）Input terminal be connected, the controller（8）Output end
With inverter（5）Controlled end be connected, the step of cutting method for controlling frequency conversion includes：
1）Pass through current sensor（71）Detect inverter（5）Output extremely tunnels the operating current of motor, passes through voltage sensor
（72）Detect intermediate dc circuit（4）Voltage, by intermediate dc circuit（4）Voltage subtract preset voltage and allow to be worth to
Current voltage deviation；If the operating current for tunneling motor is less than predetermined threshold value, current voltage deviation is more than preset fair
Perhaps range then judges that cutting frequency-converting control device needs regenerative braking, redirects and executes step 3）；Otherwise, it is determined that cutting frequency conversion control
Device processed does not need regenerative braking, redirects and executes step 2）；
2）Pass through velocity sensor（73）The rotating speed of detection driving motor, the rotating speed to tunnel motor generate forward direction as feedback quantity
Torque closed-loop control amount exports the forward torque closed-loop control amount to inverter（5）With the rotating speed of control driving motor, jump
Turn to execute step 1）；
3）With intermediate dc circuit（4）Voltage generate negative sense torque closed-loop control amount as feedback quantity, and negative sense torque is closed
Ring controlled quentity controlled variable is exported to inverter（5）Regeneration energy expenditure is carried out to control motor.
2. being used for the cutting frequency control side of the cutting frequency-converting control device of cantilevered coal mine development machine according to claim 1
Method, which is characterized in that the step 3）Detailed step include：
3.1）Advance Initialize installation turns according to the first negative sense torque closed-loop control amount for arranging from small to large, the second negative sense successively
Square closed-loop control amount and third negative sense torque closed-loop control amount；Initialize last time voltage deviation value and last time deviation variation rate；
3.2）Current voltage deviation is subtracted into last time voltage deviation and is worth to current deviation change rate；
3.3）Judge whether the absolute value of current voltage deviation is less than the first deviation threshold, if it is less than the first deviation threshold,
Then exported the first negative sense torque closed-loop control amount as the negative sense torque closed-loop control amount generated；Otherwise become according to current deviation
Rate and the difference of last time deviation variation rate judge the variation tendency of current deviation change rate, if the change of current deviation change rate
Change trend is to become smaller, then is exported the second negative sense torque closed-loop control amount as the negative sense torque closed-loop control amount generated；If
The variation tendency of current deviation change rate is to become larger, then is closed third negative sense torque closed-loop control amount as the negative sense torque generated
Ring controlled quentity controlled variable exports；Finally, it redirects and executes step 1）.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510605573.1A CN105227039B (en) | 2015-09-22 | 2015-09-22 | Cutting frequency-converting control device and its control method for cantilevered coal mine development machine |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510605573.1A CN105227039B (en) | 2015-09-22 | 2015-09-22 | Cutting frequency-converting control device and its control method for cantilevered coal mine development machine |
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| CN105227039B true CN105227039B (en) | 2018-08-21 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105626067B (en) * | 2016-03-22 | 2018-09-18 | 辽宁工程技术大学 | A kind of the frequency conversion development machine and its application method of fast changeable cutting body |
| CN105863632B (en) * | 2016-06-14 | 2018-02-02 | 株洲中车时代电气股份有限公司 | A kind of control method and system of the frequency converter fluid drive of boom-type roadheader cut |
| CN110784127B (en) * | 2019-11-08 | 2021-10-29 | 株洲中车时代电气股份有限公司 | Remote variable-frequency speed regulation device and method for underwater robot |
| CN111049459B (en) * | 2019-12-31 | 2021-07-20 | 哈尔滨工业大学 | Braking method of air conditioner driving device of permanent magnet synchronous motor without electrolytic capacitor |
| CN111472799B (en) * | 2020-04-03 | 2021-06-15 | 山东科技大学 | Distributed longitudinal shaft type heading machine function efficiency monitoring and energy-saving operation control system |
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| CN103618464A (en) * | 2013-11-30 | 2014-03-05 | 永济新时速电机电器有限责任公司 | Frequency converter of heading machine |
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| CN104682821A (en) * | 2013-11-29 | 2015-06-03 | 永济新时速电机电器有限责任公司 | Electric driving system for tunnel boring machine and tunnel boring machine |
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| US8896251B2 (en) * | 2012-10-29 | 2014-11-25 | Calnetix Technologies, Llc | Self-diagnostics within power electronics |
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| CN104682821A (en) * | 2013-11-29 | 2015-06-03 | 永济新时速电机电器有限责任公司 | Electric driving system for tunnel boring machine and tunnel boring machine |
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