CN107634694B - Rotating speed control method of rotating mechanism - Google Patents

Rotating speed control method of rotating mechanism Download PDF

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CN107634694B
CN107634694B CN201710724677.3A CN201710724677A CN107634694B CN 107634694 B CN107634694 B CN 107634694B CN 201710724677 A CN201710724677 A CN 201710724677A CN 107634694 B CN107634694 B CN 107634694B
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speed
instruction
command
omega
torque
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CN107634694A (en
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谢鸣
仲志平
陆龙兴
周强
范明哲
陆晓庆
柏青
庞磊
周伟
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Shanghai International Port (group) Co Ltd Zhanghuabang Branch
Wuhan Guide Electric Co Ltd
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Shanghai International Port (group) Co Ltd Zhanghuabang Branch
Wuhan Guide Electric Co Ltd
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Abstract

The invention discloses a rotating speed control method of a rotating mechanism.A speed detection module acquires a real-time speed feedback signal of a motor; the motor speed/torque instruction generating module generates a second speed instruction and a torque instruction according to the received handle speed instruction, the first speed instruction, the mechanical brake instruction and the speed feedback signal; the second speed instruction generates a third speed instruction through a zero speed holding module, and the difference value of the third speed instruction and a speed feedback signal is input into a speed control PI regulator to generate a first torque instruction; the torque command selection module outputs the first torque command, the zero torque or the maximum torque of the motor as a second torque command according to the torque command; and the second torque instruction is output to a control signal input end of the motor through the frequency converter. The invention can reserve the advantage of variable frequency speed regulation, so that the control flexibility of a driver to the rotating mechanism is higher, the response speed of the rotating mechanism is improved, and the operation efficiency is improved.

Description

Rotating speed control method of rotating mechanism
Technical Field
The invention belongs to the technical field of frequency converter control, and particularly relates to a rotating speed control method of a rotating mechanism.
Background
At present, some large-inertia rotating mechanisms, such as rotating mechanisms on portal cranes for port loading and unloading, adopt a winding type motor as a driving mode, and adopt a rotor resistance switching mode for speed regulation, and adopt a variable frequency motor, and the voltage and the frequency of the motor are changed by using a frequency converter for speed regulation. The speed regulation mode of the wound-rotor motor has the following defects: the speed regulation range is narrow, the starting impact is large, the adopted contactor contact is easy to damage, and the maintenance cost of the winding motor is high; the advantages are that: the low-speed can frequently jog when taking one's place, and low-speed torque output is big, the response is fast, follows the hook fast, and the driver controls the flexibility big, and fixed point hoist and mount is efficient. The frequency conversion speed regulation mode has the advantages that: the speed regulation range is wide, soft start can be realized, the start impact is small, the reliability of the adopted variable frequency motor is higher, and the maintenance cost is low; but the disadvantages of the frequency conversion speed regulation mode are that: only two control modes of acceleration and deceleration can be provided, the acceleration and deceleration time must be estimated in advance when the low-speed is in place, and if the low-speed is frequently jogged, the rotating mechanism can vibrate greatly. If the driver makes the high pedestal jib crane slow down through mechanical brake, the converter must withdraw from control, cuts off the output promptly, starts the converter again after mechanical brake stop action, and the rotational speed tracking function must be executed to the converter, can normally operate only to have 1 ~ 2 seconds of tracking time usually. Therefore, the gantry crane rotating system driven by the frequency converter has poor control flexibility, low response speed and low fixed-point hoisting efficiency.
The invention content is as follows:
the present invention provides a method for controlling a rotation speed of a rotary mechanism, which has the advantages of high control flexibility, high response speed and high operation efficiency.
In order to solve the technical problems, the technical scheme of the invention is as follows:
a rotating speed control method of a rotating mechanism is characterized in that a handle gear instruction module generates a handle speed instruction omega according to the gear of a handleREFAmplitude of slopeThe value limiting module instructs omega according to the handle speedREFGenerating a first speed instruction
Figure GDA0002226510870000021
The speed detection module acquires a real-time speed feedback signal omega of the motorFK；
The motor speed/torque instruction generation module generates a handle speed instruction omega according to the received handle speed instructionREFFirst speed instruction
Figure GDA0002226510870000022
Mechanical brake command Brk and speed feedback signal omegaFKGenerating a second speed command
Figure GDA0002226510870000023
And torque command TSW；
Second speed command
Figure GDA0002226510870000024
Generating a third speed instruction via a zero speed hold module
Figure GDA0002226510870000025
Third speed instruction
Figure GDA0002226510870000026
With the velocity feedback signal omegaFKIs input to a speed control PI regulator to generate a first torque command
Figure GDA0002226510870000027
Torque command selection module based on torque command TSWCommanding the first torque
Figure GDA0002226510870000028
Zero or maximum motor torque
Figure GDA0002226510870000031
As a second torque command
Figure GDA0002226510870000032
Outputting;
second torque instruction
Figure GDA0002226510870000033
And the output is transmitted to the control signal input end of the motor through the frequency converter.
Preferably, the motor speed/torque command generation module is responsive to the received handle speed command ωREFFirst speed instruction
Figure GDA0002226510870000034
Mechanical brake command Brk and speed feedback signal omegaFKGenerating a second speed command
Figure GDA0002226510870000035
And torque command TSWThe method comprises the following steps:
if Brk is 1, and
Figure GDA0002226510870000036
torque command TSWControl of
Figure GDA0002226510870000037
If it is
Figure GDA0002226510870000038
And omegaFK＜V1Then, then
Figure GDA0002226510870000039
Acceleration time AT1 or
Figure GDA00022265108700000310
If it is
Figure GDA00022265108700000311
And omegaFK＞V1Then, then
Figure GDA00022265108700000312
Acceleration Time (AT)2；
If omegaREF＝0，
Then
Figure GDA00022265108700000313
Deceleration time AT3 or the torque command TSWControl the
Figure GDA00022265108700000314
If it is
Figure GDA00022265108700000315
And omegaREFThe first gear is reversed to the first gear,
then
Figure GDA00022265108700000316
Deceleration time AT 4;
if it is
Figure GDA00022265108700000317
And omegaREFWhen the speed is equal to the reverse second gear,
then
Figure GDA00022265108700000318
Deceleration time AT 5;
if it is
Figure GDA0002226510870000041
And omegaREFThe reverse three-gear is defined as the reverse three-gear,
then
Figure GDA0002226510870000042
Deceleration time AT 6;
AT1, AT2, AT3, AT4, AT5, AT6, and V1The parameters are all set manually, and the AT4 > AT5 > AT 6.
Preferably, the third speed command
Figure GDA0002226510870000043
And a second speed command
Figure GDA0002226510870000044
The values of (a) are the same.
Preferably, the stall holding comprises commanding at a second speed
Figure GDA0002226510870000045
Then make the third speed command
Figure GDA0002226510870000046
For a preset duration.
Preferably, the preset time period is an empirical parameter.
The invention has the beneficial effects that: the rotating speed control method of the rotating mechanism can provide large torque output when the rotating mechanism is in place at a low speed, and is convenient for a driver to quickly follow a hook. The gear speed control device can provide harder mechanical characteristics at higher gears, and prevent unstable speed control caused by wind power.
Compared with the traditional winding type motor resistance-cutting speed-regulating control mode, the invention has more accurate control on the torque of the motor. The traditional winding type motor resistance-cutting speed regulation control mode can cause larger current impact and torque impact when inching or reverse operation is carried out when the slip is larger, and then vibration of the rotating mechanism can be caused.
The invention can ensure that the frequency converter has no torque output when a driver steps on the mechanical brake, and the control is quickly recovered after the mechanical brake is released; the zero-speed control can be provided after the rotating mechanism is in place, the influence of wind power is resisted, a driver does not need to adjust the rotating mechanism again during hoisting, and energy is more concentrated.
The technical scheme of the invention provides a rotating speed control method adopting a variable-frequency speed-regulating motor for a large-inertia rotating mechanism load, which can keep the advantage of variable-frequency speed regulation, and absorbs the advantage of a speed regulating mode of a wound-rotor motor in the aspect of controllability, so that a driver has higher control flexibility on the rotating mechanism, the response speed of the rotating mechanism is increased, and the operating efficiency is improved.
Drawings
Figure 1 is a system control schematic of an embodiment of the present invention,
fig. 2 is a schematic control process diagram according to an embodiment of the present invention.
In the figure: the system comprises a 1-handle gear instruction module, a 2-mechanical brake signal module, a 3-slope amplitude limiting module, a 4-motor speed/torque instruction generation logic module, a 5-zero speed keeping module, a 6-speed control PI regulator, a 7-torque command selection module, an 8-frequency converter, a 9-motor and a 10-speed detection module.
Detailed Description
When the rotating speed control method of the rotating mechanism is started from zero speed, if the handle reference instruction is larger than the current speed and the speed is smaller than a certain value (such as 10Hz), the rotating speed control method outputs the rotating speed according to the maximum torque (such as 200% torque output) which can be output by the motor 9, namely, the rotating speed control method can adopt a form of torque control mode output and a form of speed control mode with short acceleration time (such as 1s acceleration time); if the handle reference instruction is larger than the current speed and the speed is larger than a certain value (for example, 10Hz), accelerating according to the normal acceleration time (4-6 s of acceleration time); if the handle reference command is 0 and the speed is greater than 0, a mode of zero torque output can be adopted, or a speed control mode of longer deceleration time (such as 300s) can be adopted; when a driver steps on a mechanical brake to brake, the frequency conversion system immediately enters a zero-torque output mode after obtaining a mechanical brake switch signal, and at the moment of releasing the mechanical brake of the driver, the driver operates from the current speed to the speed corresponding to the handle reference instruction according to the acceleration time; when the handle reference instruction direction is opposite to the current speed direction, the motor 9 is braked according to different deceleration time according to different sizes of the handle reference instruction, and if the handle reference instruction is larger, the deceleration time is shorter; when the handle reference command is 0 and the current speed is 0, the motor 9 can perform zero-speed control according to the set zero-speed holding time. Only when all the methods are combined and applied to the rotating mechanism on the portal crane, a complete technical scheme in the aspect of cost is formed, and the control effect of the invention cannot be achieved only by partial functions.
The specific scheme of the invention comprises:
a rotating speed control method of a rotating mechanism is characterized in that a handle gear instruction module 1 generates a handle speed instruction omega according to the gear of a handleREFThe slope amplitude limiting module 3 limits the amplitude according to the handle speed command omegaREFGenerating a first speed instruction
Figure GDA0002226510870000061
The speed detection module 10 obtains a real-time speed feedback signal omega of the motor 9FKThe mechanical brake signal module 2 acquires a mechanical brake command Brk;
the motor 9 speed/torque instruction generation module generates a handle speed instruction omega according to the received handle speed instructionREFFirst speed instruction
Figure GDA0002226510870000062
Mechanical brake command Brk and speed feedback signal omegaFKGenerating a second speed command
Figure GDA0002226510870000063
And torque command TSW；
Second speed command
Figure GDA0002226510870000071
Generating a third speed instruction via the zero speed holding module 5
Figure GDA0002226510870000072
Third speed instruction
Figure GDA0002226510870000073
With the velocity feedback signal omegaFKIs input to the speed control PI regulator 6 to generate a first torque command
Figure GDA0002226510870000074
Torque command selection module 7 depends on torque command TSWCommanding the first torque
Figure GDA0002226510870000075
Zero or maximum torque of the motor 9
Figure GDA0002226510870000076
As a second torque command
Figure GDA0002226510870000077
Outputting;
second torque instruction
Figure GDA0002226510870000078
And the output is transmitted to the control signal input end of the motor 9 through the frequency converter 8.
The motor 9 speed/torque instruction generation module generates a handle speed instruction omega according to the received handle speed instructionREFFirst speed instruction
Figure GDA0002226510870000079
Mechanical brake command Brk and speed feedback signal omegaFKGenerating a second speed command
Figure GDA00022265108700000710
And torque command TSWThe method comprises the following steps:
if Brk is 1, and
Figure GDA00022265108700000711
torque command TSWControl of
Figure GDA00022265108700000712
If it is
Figure GDA00022265108700000713
And omegaFK＜V1Then, then
Figure GDA00022265108700000714
Acceleration time AT1 or
Figure GDA00022265108700000715
If it is
Figure GDA00022265108700000716
And omegaFK＞V1Then, then
Figure GDA00022265108700000717
Acceleration time AT 2;
if omegaREF＝0，
Then
Figure GDA00022265108700000718
Deceleration time AT3 or the torque command TSWControl the
Figure GDA00022265108700000719
If it is
Figure GDA0002226510870000081
And omegaREFThe first gear is reversed to the first gear,
then
Figure GDA0002226510870000082
Deceleration time AT 4;
if it is
Figure GDA0002226510870000083
And omegaREFWhen the speed is equal to the reverse second gear,
then
Figure GDA0002226510870000084
Deceleration time AT 5;
if it is
Figure GDA0002226510870000085
And omegaREFThe reverse three-gear is defined as the reverse three-gear,
then
Figure GDA0002226510870000086
Deceleration time AT 6;
AT1, AT2, AT3, AT4, AT5, AT6, and V1Are all manually set parameters, and the AT4 >, isAT5＞AT6。
Third speed instruction
Figure GDA0002226510870000087
And a second speed command
Figure GDA0002226510870000088
The values of (a) are the same.
Holding at zero speed includes commanding at a second speed
Figure GDA0002226510870000089
Then make the third speed command
Figure GDA00022265108700000810
And keeping the preset time length at zero speed, wherein the preset time length is an empirical parameter and is generally determined manually according to the time required by hoisting.
And at a second speed
Figure GDA00022265108700000811
When not equal to 0, a third speed instruction
Figure GDA00022265108700000812
Is an instantaneous speed command.
The invention is further illustrated by the following figures and examples.
As shown in fig. 1, the device comprises a handle gear position instruction module 1, which generates discrete and square wave speed instructions ω according to different gear positions of a handleREFFor example, the handle is in zero position, omegaREF0Hz, the handle is in the forward first gear, omegaREF10Hz, the handle is in forward second gear omegaREF25Hz, the handle is in the forward third gear, omegaREF50Hz, the handle is in reverse first gear, omegaREFAt-10 Hz, the handle is in reverse second gear, omegaREFAt-25 Hz, the handle is in reverse third gear, omegaREFThe speed instruction corresponding to each gear can be changed according to requirements, wherein the speed instruction is-50 Hz. A mechanical brake command Brk which is valid when the mechanical brake is depressed by the driver and which is valid when the mechanical brake is not depressed by the driverThe order is invalid. A slope amplitude limiting module 3 for receiving a square wave speed command omegaREFAnd generating a ramp type speed command according to the setting of the acceleration time
Figure GDA0002226510870000091
A motor speed/torque command generation module 4 that receives a speed command ω of 1REF2 mechanical brake command Brk, 3 speed command
Figure GDA0002226510870000092
Feedback speed signal omega of 10FKAfter logic processing, speed instruction is generated
Figure GDA0002226510870000093
Command T to control torque command selection module 7SWThe instruction generation logic of 4 is as follows:
Figure GDA0002226510870000094
in the above equation, the acceleration time and the deceleration time indicate a time taken to accelerate from 0 to the highest gear speed and a time taken to decelerate from the highest gear speed to 0, sgn (x) indicates a sign function, sgn (x) is 1 when x is greater than 0, and sgn (x) is-1 when x is less than 0. AT4>AT5>AT6, in a common gantry crane rotating system, some of the parameter values of the above formula are recommended as follows: AT1 ═ 1s, AT2 ═ 6s, AT3 ═ 300s, AT4>AT5>AT6，AT4＝4s，AT5＝3s，AT6＝2s，V1＝15Hz。
A zero speed hold module 5 for holding the speed command
Figure GDA0002226510870000101
Then, after 5, the speed command is generated according to the zero-speed holding time
Figure GDA0002226510870000102
The frequency converter 8 is kept in the speed control mode, and the zero-speed holding time is generally determined according to the time required by hoisting. Speed command
Figure GDA0002226510870000103
Feedback speed signal omega with motor 9 rotation speedFKThe difference value of (a) is regulated by a speed control PI regulator 6 to generate a speed control torque instruction
Figure GDA0002226510870000104
The torque command is input to a torque command selection module 7, which is subjected to TSWControlling output torque command
Figure GDA0002226510870000105
The torque command generates a voltage with variable frequency and amplitude after passing through a frequency converter 8 to control a driving motor 9, and a speed detection module 10 detects the actual rotating speed of the driving motor 9 and generates a feedback speed signal omegaFK。
Fig. 2 is a schematic diagram for explaining various operation states related to the present invention, but does not show that every operation of the driver is completely performed according to the process shown in fig. 2.
In the interval of 0-t 1, the handle command omega of the driver is sentREFAnd ramp speed command
Figure GDA0002226510870000106
The directions are the same in the same way,
Figure GDA0002226510870000111
has not yet reached omegaREFAnd the actual speed omega of the motor 9FKIs less than V1Usually, the driver needs motor 9 response speed fast at this speed interval, makes things convenient for the low-speed hook (the operating mode that indicates with the hook is because can hang the goods through wire rope below the cantilever of door machine rotating system, and the goods can produce and sway in the operation process, and the driver can restrain the heavy object through following the hook operation and sway). Therefore, the acceleration time (AT1) of the interval needs to be set to be shorter or a torque control mode is adopted to directly enable the motor 9 to output the maximum allowable torque
Figure GDA0002226510870000112
In both methods, if shorter acceleration is usedTime, when there is headwind and wind resistance is high, it is easy to saturate the speed controller and the actual rotational speed ω cannot be made to be the sameFKThe condition of better tracking the given rotating speed can possibly report the speed deviation fault, but the speed controllability of a driver is slightly better under the normal condition; if the mode of directly enabling the motor 9 to output the allowed maximum torque is adopted, when the downwind condition exists, a driver can easily feel that the acceleration is too fast, but the problem of speed reporting deviation does not exist, so that the method can be selected according to the feeling of the driver, and the characteristic of quick response similar to the low-speed of the winding motor 9 can be provided for the driver no matter which method is adopted.
In the interval from t1 to t2, the handle command omega of the driver is sentREFAnd ramp speed command
Figure GDA0002226510870000113
The directions are the same in the same way,
Figure GDA0002226510870000114
has not yet reached omegaREFAnd the actual speed omega of the motor 9FKIs greater than V1In the normal acceleration process, the acceleration is performed,
Figure GDA0002226510870000115
the acceleration time of (3) is AT 2.
In the interval from t2 to t3, the handle command omega of the driver is sentREFAnd ramp speed command
Figure GDA0002226510870000116
The directions are the same in the same way,
Figure GDA0002226510870000117
has reached omegaREFAt this time, the motor 9 reaches a given speed and operates at the given speed.
In the interval from t3 to t4, the handle command omega of the driver is sentREF0, indicating that the driver intends to be ready to park to observe the hoist. If the vehicle should be stopped for a certain deceleration time (e.g. 6s) in the conventional manner of controlling the frequency converter 8, such a manner of operation is not in accordance with the intention of the driver.In this case, one control mode of the present invention is
Figure GDA0002226510870000121
The deceleration time is carried out according to a longer time, and a driver can feel that the rotating mechanism is not obviously decelerated and slides; another way of control is to let
Figure GDA0002226510870000122
Equal to 0, the gantry crane rotating mechanism is also in a sliding state due to larger inertia. The first control mode has the advantage that the rotation speed characteristic of the rotary mechanism is still hard, i.e. not influenced by the wind, during the coasting phase, since it is still in the speed control mode, and the second control mode has the advantage that the motor 9 is practically without driving force after the driver's handle has been returned to zero in a mode closer to the resistance-cutting mode of the wound motor 9. The two control modes can be selected according to the feeling of a driver, and in any method, the characteristics that the driver slides the rotating mechanism after the handle of the winding motor 9 returns to zero can be provided, namely, the speed of the rotating mechanism does not change greatly before the driver operates the next step. It should be noted that if the driver's handle command is not 0, but is a downshift, such as a downshift from third gear to second gear or first gear, this indicates that the driver's intention is to decelerate, at which time
Figure GDA0002226510870000123
Should be a conventional slow down time (e.g. 6s) since this is a conventional function of the conventional frequency converter 8, and therefore this operation is not illustrated in fig. 2.
the interval t 4-t 5 indicates that the driver presses the mechanical brake, and no matter how many gears the signal of the handle is, the frequency converter 8 should control the torque output
Figure GDA0002226510870000124
Equal to 0, otherwise the frequency converter 8 in the speed control mode would consider the mechanical brake as an increase in the external load, thereby increasing the output torque. This is not only detrimental to the braking effect, but also causes severe wear on the brake pads. At the torque output
Figure GDA0002226510870000131
Is equal to 0 at the same time
Figure GDA0002226510870000132
So as to let the mechanical brake be released at the instant of the mechanical brake being released
Figure GDA0002226510870000133
Starting from the current speed of rotation, commanding a given speed ωREFThe operation was as indicated by the interval t 5-t 6.
the sections t 6-t 7, t 7-t 8 and t 8-t 9 represent handle commands omega of the driverREFAnd ramp speed command
Figure GDA0002226510870000134
The direction is reversed, that is, the operation is usually "reverse gear shift", and the frequency converter 8 decelerates according to the deceleration time of the reverse gear shift, which is shorter than the deceleration time of the normal gear shift. This is the operating mode that the driver can turn over the car for faster braking when simulating traditional wire-wound motor 9 and cutting resistance speed governing, motor 9 gets into reverse-pulling reversal state when the driver turns over reverse gear when traditional wire-wound motor 9 cuts resistance speed governing, the phase sequence of its stator is reverse, though because rotor cluster income resistance has certain current-limiting effect, still have great current and torque impact, and adopt converter 8 to provide the effect that shorter deceleration time can reach quick parking equally when turning over reverse gear, its current-limiting and effect of limiting torque impact then need to be better a lot. It should be noted that this function requires a larger brake unit to be matched to dissipate the energy generated by the fast braking, and in addition, there is no need to worry about the problem of braking energy in cranes equipped with commutation feedback systems.
When the handle commands omega between t9 and t10REFAnd ramp speed command
Figure GDA0002226510870000135
When both are 0, the zero-speed maintaining stage is entered, and the motor 9 is in the speed control mode with the given speed of 0 even if the influence of wind force existsThe rotating mechanism can not rotate, which is very beneficial for a driver to completely concentrate on hoisting. In the control mode of the traditional winding motor 9 for cutting the resistor, the motor 9 does not work at the moment, that is, if wind power exists to cause the rotation mechanism to rotate, a driver needs to continuously adjust the rotation mechanism to keep positioning.
When the portal crane is operated at low speed in place, a driver needs to constantly repeat a series of actions of inching the handle, returning the handle to zero, stepping on the brake, striking the reverse gear and the like, and the rotating mechanism needs to keep static after the portal crane is in place, so that the working condition of low speed in place can be met only by effectively combining various functions of the portal crane.
It will be understood that modifications and variations can be made by persons skilled in the art in light of the above teachings and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.

Claims (4)

1. A method for controlling the rotational speed of a rotary mechanism, comprising: the handle gear instruction module (1) generates a handle speed instruction omega according to the gear of the handleREFThe slope amplitude limiting module (3) instructs omega according to the handle speedREFGenerating a first speed instruction
Figure FDA0002193016990000011
The speed detection module (10) acquires a real-time speed feedback signal omega of the motor (9)FKThe mechanical brake signal module (2) acquires a mechanical brake command Brk;
the motor (9) speed/torque command generation module (4) generates a handle speed command omega according to the received handle speed commandREFThe first speed instruction
Figure FDA0002193016990000012
The mechanical brake command Brk and the speed feedback signal omegaFKGenerating a second speed command
Figure FDA0002193016990000013
And torque command TSW；
The second speed instruction
Figure FDA0002193016990000014
Generating a third speed instruction by a zero speed holding module (5)
Figure FDA0002193016990000015
The third speed instruction
Figure FDA0002193016990000016
With said speed feedback signal omegaFKIs input to a speed control PI regulator (6) to generate a first torque command
Figure FDA0002193016990000017
A torque command selection module (7) depending on the torque command TSWCommanding the first torque
Figure FDA0002193016990000018
Zero or maximum torque of the motor (9)
Figure FDA0002193016990000019
As a second torque command
Figure FDA00021930169900000110
Outputting;
the second torque command
Figure FDA00021930169900000111
The output is transmitted to the control signal input end of the motor (9) through a frequency converter (8);
the motor (9) speed/torque command generation module (4) generates a handle speed command omega according to the received handle speed commandREFThe first speed instruction
Figure FDA0002193016990000021
The mechanical brake command Brk and the speed feedback signalωFKGenerating a second speed command
Figure FDA0002193016990000022
And torque command TSWThe method comprises the following steps:
if Brk is 1, and
Figure FDA0002193016990000023
the torque command TSWControl the
Figure FDA0002193016990000024
If it is
Figure FDA0002193016990000025
And omegaFK＜V1Then, then
Figure FDA0002193016990000026
Acceleration time AT1 or
Figure FDA0002193016990000027
If it is
Figure FDA0002193016990000028
And omegaFK＞V1Then, then
Figure FDA0002193016990000029
Acceleration time AT 2;
if omegaREF＝0，
Then
Figure FDA00021930169900000210
Deceleration time AT3 or the torque command TSWControl the
Figure FDA00021930169900000211
If it is
Figure FDA00021930169900000212
And omegaREFThe first gear is reversed to the first gear,
then
Figure FDA00021930169900000213
Deceleration time AT 4;
if it is
Figure FDA00021930169900000214
And omegaREFWhen the speed is equal to the reverse second gear,
then
Figure FDA00021930169900000215
Deceleration time AT 5;
if it is
Figure FDA00021930169900000216
And omegaREFThe reverse three-gear is defined as the reverse three-gear,
then
Figure FDA00021930169900000217
Deceleration time AT 6;
the AT1, AT2, AT3, AT4, AT5, AT6 and the V1The parameters are all set manually, and the AT4 > AT5 > AT 6.
2. A rotation speed control method of a rotating mechanism according to claim 1, characterized in that: the third speed instruction
Figure FDA0002193016990000031
And the second speed instruction
Figure FDA0002193016990000032
The values of (a) are the same.
3. A method of controlling the rotational speed of a rotary mechanism according to claim 1 or 2, wherein the method comprisesIn the following steps: the zero speed hold includes commanding at the second speed
Figure FDA0002193016990000033
When the third speed command is executed, the third speed command is executed
Figure FDA0002193016990000034
For a preset duration.
4. A rotation speed control method of a rotating mechanism according to claim 3, characterized in that: the preset duration is an empirical parameter.
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CN111416561B (en) * 2020-03-09 2022-05-31 埃夫特智能装备股份有限公司 Improved three-ring control method for motor

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JP2003333898A (en) * 2002-05-14 2003-11-21 Fuji Electric Co Ltd Synchronous motor and controller for induction motor
CN1767370A (en) * 2004-10-07 2006-05-03 丰田自动车株式会社 The motor driver that the output torque is had oscillation-reducing control function
CN101337514A (en) * 2007-07-06 2009-01-07 三菱电机株式会社 Power inversion device for electric car
CN102647148A (en) * 2012-04-17 2012-08-22 中联重科股份有限公司 Equipment, method and system used for lifting variable frequency motor and engineering machinery equipment
CN106115476A (en) * 2016-08-12 2016-11-16 武汉港迪电气传动技术有限公司 The anti-control system opening bucket of a kind of high pedestal jib crane grab bucket

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003333898A (en) * 2002-05-14 2003-11-21 Fuji Electric Co Ltd Synchronous motor and controller for induction motor
CN1767370A (en) * 2004-10-07 2006-05-03 丰田自动车株式会社 The motor driver that the output torque is had oscillation-reducing control function
CN101337514A (en) * 2007-07-06 2009-01-07 三菱电机株式会社 Power inversion device for electric car
CN102647148A (en) * 2012-04-17 2012-08-22 中联重科股份有限公司 Equipment, method and system used for lifting variable frequency motor and engineering machinery equipment
CN106115476A (en) * 2016-08-12 2016-11-16 武汉港迪电气传动技术有限公司 The anti-control system opening bucket of a kind of high pedestal jib crane grab bucket

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