CN108667380B - Motor rotating speed overshoot control system - Google Patents
Motor rotating speed overshoot control system Download PDFInfo
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- CN108667380B CN108667380B CN201810500486.3A CN201810500486A CN108667380B CN 108667380 B CN108667380 B CN 108667380B CN 201810500486 A CN201810500486 A CN 201810500486A CN 108667380 B CN108667380 B CN 108667380B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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Abstract
The invention discloses a motor rotating speed overshoot control system, which comprises a controller and a power conversion module, wherein the power conversion module is respectively connected with the controller and an external motor load, and the controller modulates a duty ratio signal according to a given rotating speed v0 to control the power conversion module to drive the motor load to operate; the method is characterized in that: the delay parameter t is preset on the controller, and the controller delays the delay parameter t from the electrifying interval to the braking interval of each phase of duty ratio signal according to the delay parameter t so as to inhibit the load overshoot of the motor.
Description
Technical Field
The invention relates to a motor control system, in particular to a control system for coping with the overshoot of the rotating speed of a motor.
Background
The conventional motor speed regulation system generally comprises a controller and a power conversion module, wherein the controller controls the power conversion module to drive a motor to run by loading according to a modulation duty ratio signal of a given rotating speed v0, and the conventional motor speed regulation system is generally divided into three feedback control loops, namely a position loop, a speed loop and a current loop (also called a torque loop) according to different control objects. When the control object is the output torque of the motor, only one current loop is needed; when the braking object is the motor rotating speed, the loop can only be a speed loop or a current loop as an inner loop, the speed loop is a loop combination of an outer loop, when the control object is the relative position of a stator and a rotor of the motor, the position loop is the outer loop, and the speed loop or the combination of the speed loop and the current loop is the inner loop. In addition to the individual torque control, both position and speed control are subject to the risk of rotational speed overshoot due to sudden load changes.
The control method and the steps of the existing motor speed regulating system aiming at the rotating speed overshoot are as follows:
adjusting PI parameters of the rotating speed ring, and improving the response speed of the rotating speed ring;
if the current inner loop exists, adjusting the PI parameter of the current loop, and improving the response speed of the current loop;
and adjusting the calculation mode and method of speed feedback to improve the response speed of the rotating speed loop.
If the performance level of the hardware platform is high and the inertia of the system is large, the method has good effect, but if the system is limited by cost and the inertia of the system is small, the method can hardly achieve the expected performance and effect.
In the traditional control method, because the loop response speed is positively correlated with the processing speed and the feedback speed of hardware, hardware cost needs to be increased in order to achieve a better effect, more parameter calculation needs to be carried out, more loop parameters are combined, and the debugging difficulty is high, so that the traditional control method is very complex and is easy to cause control disorder.
Disclosure of Invention
In order to solve the above technical problem, an object of the present invention is to provide a control system for suppressing load overshoot of a motor by delaying an energization interval of a duty signal for driving by a delay parameter t toward a braking interval.
The technical scheme adopted by the invention is as follows:
a motor rotating speed overshoot control system comprises a controller and a power conversion module, wherein the power conversion module is respectively connected with the controller and an external motor load, and the controller modulates a duty ratio signal according to a given rotating speed v0 to control the power conversion module to drive the motor load to operate; and the controller is preset with a delay parameter t, and delays the electrifying interval of each phase of duty ratio signal to the braking interval by the delay parameter t according to the delay parameter t so as to inhibit the load overshoot of the motor.
The rotating speed detection module is respectively connected with the motor load and the controller, and detects the actual rotating speed vt of the motor load and inputs the actual rotating speed vt into the controller to form rotating speed negative feedback.
The motor state monitoring module is connected with the rotating speed detection module and used for judging whether the motor is in an acceleration state or a deceleration state according to the change of the actual rotating speed vt.
The controller calculates a delay parameter t according to a given rotating speed v0 and a required braking torque ratio delta, wherein the required braking torque ratio delta is set according to the given rotating speed v0 of the motor and a preset allowable rotating speed overshoot range.
The controller judges whether the motor load is accelerated or not, if not, the controller judges whether the actual rotating speed vt reaches or is lower than a given rotating speed v0 or not, and if the actual rotating speed vt reaches or is lower than the given rotating speed v0, the controller delays the electrifying interval of each phase of duty ratio signal to a braking interval by a delay parameter t.
The controller is provided with a low rotating speed range section, the controller judges whether the motor load is accelerated, if the motor load is accelerated, the controller judges whether the given rotating speed v0 is in the low rotating speed range section, and if the given rotating speed v0 is in the low rotating speed range section, the controller delays the electrifying section of each phase of duty ratio signal to the braking section by a delay parameter t.
If the motor load is accelerating, whether the given rotating speed v0 is in a low rotating speed range section or not is judged, if the given rotating speed v0 is not in the low rotating speed range section, whether the actual rotating speed vt reaches or exceeds the given rotating speed v0 or not is judged, and if the actual rotating speed vt reaches or exceeds the given rotating speed v0, the parameter t is delayed from the electrifying interval of each phase of duty ratio signal of the controller to the braking interval.
The invention has the beneficial effects that:
the control system of the invention, the controller modulates the duty ratio signal output to the power conversion module directly, and the modulation mode is to delay the time delay parameter t from the electrifying interval of each phase of duty ratio signal to the braking interval so as to inhibit the load overshoot of the motor, for example, when the rotating speed reaches v0, the electrifying interval of the duty ratio signal is extended to the braking interval by a time delay parameter t, at the moment, t is assumed to account for 5% of the time of the braking interval, when the rotating speed is instantaneously overshot to 2 times v0, t already accounts for 10% of the time of the braking interval, the braking torque is doubled, the overshoot inhibition is doubled, the braking effect caused by the time delay parameter t is automatically enhanced along with the increase of the rotating speed of the motor, software is not needed to separately calculate and inhibit the rotating speed overshoot, redundant calculation is not needed at this point, and is independent of the current loop calculation and the rotating speed loop calculation, and, the controller can directly respond in a plurality of position signal periods, and the larger the overshoot is, the stronger the inhibition is, thereby forming a function similar to negative feedback, reducing the performance requirement of the system on hardware, simplifying the complexity of debugging parameters, and having particularly obvious effect on the working condition that the rotating speed feedback responds particularly slowly at low speed.
Drawings
The following further describes embodiments of the present invention with reference to the drawings.
Fig. 1 is a schematic diagram of a motor speed feedback control system of the present invention.
FIG. 2 is a schematic diagram of position sensor signals and energization logic for the motor speed overshoot control system of the present invention.
FIG. 3 is a control flow chart of the motor speed overshoot control system of the present invention.
Detailed Description
As shown in fig. 1-3, the motor speed overshoot control system of the present invention includes a controller and a power conversion module, wherein the power conversion module is electrically connected to the controller and an external motor load, the controller includes a speed loop calculation unit and a current loop calculation unit in a conventional overshoot feedback control system, and performs operation based on PI regulation, and the controller controls the power conversion module to drive the motor load to operate according to a given speed v0 modulation duty ratio signal;
according to the design, a delay parameter t is preset on a controller, and the controller delays the electrifying interval of each phase of duty ratio signal to the braking interval by the delay parameter t according to the delay parameter t so as to inhibit the load overshoot of a motor.
The controller directly modulates the duty ratio signal output to the power conversion module, the modulation mode is that the electrifying interval of each phase of duty ratio signal is delayed by a delay parameter t to a braking interval so as to inhibit the load overshoot of the motor, for example, when the rotating speed reaches v0, the electrifying interval of the duty ratio signal is extended by a delay parameter t to the braking interval, at the moment, t is assumed to occupy 5% of the time of the braking interval, when the rotating speed is instantaneously overshot to 2 times v0, t already occupies 10% of the time of the braking interval, the braking torque is doubled, the overshoot inhibition is doubled, the braking effect caused by the delay parameter t is automatically enhanced along with the increase of the rotating speed of the motor, software is not needed to separately calculate and process the rotating speed overshoot, redundant calculation is not needed, the controller is independent of current loop calculation and rotating speed loop calculation, and is not needed to decouple the parameters, the controller can directly react, the system responds in a plurality of position signal periods, and the larger the overshoot is, the stronger the inhibition is, thereby forming a function similar to negative feedback, reducing the performance requirement of the system on hardware, simplifying the complexity of debugging parameters, and having particularly obvious effect on the working condition that the rotating speed feedback responds particularly slowly at low speed.
The design also comprises a rotating speed detection module, the rotating speed detection module is respectively connected with the motor load and the controller, and the rotating speed detection module detects the actual rotating speed vt of the motor load and inputs the actual rotating speed vt into the controller to form rotating speed negative feedback.
The motor state monitoring module is connected with the rotating speed detection module and used for judging whether the motor is in an acceleration state or a deceleration state according to the change of the actual rotating speed vt, so that the moment of starting the delay parameter t is determined, and the purpose of inhibiting the rotating speed overshoot is achieved without influencing the acceleration and deceleration of the motor. .
Further, the design also comprises a current detection module, wherein the current detection module detects the current of the motor load and inputs the current into the controller to form rotation speed negative feedback.
The controller calculates a delay parameter t according to a given rotating speed v0 and a required braking torque ratio delta, wherein the required braking torque ratio delta is set according to the given rotating speed v0 of the motor and a preset allowable rotating speed overshoot range.
The preset allowable rotating speed overshoot range is a value obtained by recording the waveform of an actual rotating speed signal by a worker, looking at the amplitude of a rising edge to obtain overshoot after a curve is captured, and then calculating the required braking torque ratio delta by the braking torque calculation unit according to the set range of the inherent characteristics of different motors by combining the allowable rotating speed overshoot range on the basis of the given rotating speed v 0.
And the delay parameter T is obtained by corresponding calculation according to different specific parameters of the motor, wherein the number of poles of the rotor is p, each phase of the motor has p electrifying cycles, the given speed is v0, the rotating speed of the motor per second is n, the number of the electrifying cycles of each phase of the motor is Np equal to p equal to n, the electrifying cycle is T equal to 1/Np equal to 1/p equal to n, and the braking torque ratio delta is the proportion of the delay parameter T in the electrifying cycles, namely δ equal to 2T/T, and T δ equal to 2 p equal to n.
And based on the method for delaying the delay parameter t from the electrifying interval to the braking interval of the duty ratio signal to inhibit the motor load overshoot, various control modes can be realized, wherein one embodiment of various control means capable of being matched is given below.
As shown in fig. 3, the general flow path of combining various control means, the controller determines whether the motor load is accelerated, if the motor load is not accelerated, the controller determines whether the actual rotation speed vt reaches or is lower than the given rotation speed v0, and if the actual rotation speed vt reaches or is lower than the given rotation speed v0, the controller delays the energization interval of each phase of duty ratio signal to the rear of the braking interval by the delay parameter t, where the acceleration can also be set as deceleration;
and the controller is provided with a low rotating speed range section, the controller judges whether the motor load is accelerated, if the motor load is accelerated, the controller judges whether the given rotating speed v0 is in the low rotating speed range section, and if the given rotating speed v0 is in the low rotating speed range section, the controller delays the electrifying section of each phase of duty ratio signal to the braking section by a delay parameter t.
Meanwhile, if the motor load is accelerated, whether the given rotating speed v0 is in a low rotating speed range section or not is judged, if the given rotating speed v0 is not in the low rotating speed range section, whether the actual rotating speed vt reaches or exceeds the given rotating speed v0 or not is judged, and if the actual rotating speed vt reaches or exceeds the given rotating speed v0, the parameter t is delayed from the electrifying interval of each phase of duty ratio signal of the controller to the braking interval;
the above description is only a preferred embodiment of the present invention, and the present invention is not limited to the above embodiment, and any technical means that can achieve the object of the present invention by basically the same means is within the scope of the present invention.
Claims (6)
1. A motor rotating speed overshoot control system comprises a controller and a power conversion module, wherein the power conversion module is respectively connected with the controller and an external motor load, and the controller modulates a duty ratio signal according to a given rotating speed v0 to control the power conversion module to drive the motor load to operate; the method is characterized in that: the controller is preset with a delay parameter t, and delays the power-on interval of each phase of duty ratio signal to the brake interval by the delay parameter t according to the delay parameter t so as to inhibit the load overshoot of the motor;
the controller calculates a delay parameter t according to a given rotating speed v0 and a required braking torque ratio delta, wherein the required braking torque ratio delta is set according to the given rotating speed v0 of the motor and a preset allowable rotating speed overshoot range.
2. The system for controlling the overshoot of the rotational speed of the motor according to claim 1, wherein: the rotating speed detection module is respectively connected with the motor load and the controller, and detects the actual rotating speed vt of the motor load and inputs the actual rotating speed vt into the controller to form rotating speed negative feedback.
3. The system for controlling the overshoot of the rotational speed of the motor according to claim 2, wherein: the motor state monitoring module is connected with the rotating speed detection module and used for judging whether the motor is in an acceleration state or a deceleration state according to the change of the actual rotating speed vt.
4. The system of claim 3, wherein: the controller judges whether the motor load is accelerated or not, if not, the controller judges whether the actual rotating speed vt reaches or is lower than a given rotating speed v0 or not, and if the actual rotating speed vt reaches or is lower than the given rotating speed v0, the controller delays the electrifying interval of each phase of duty ratio signal to a braking interval by a delay parameter t.
5. The system of claim 3, wherein: the controller is provided with a low rotating speed range section, the controller judges whether the motor load is accelerated, if the motor load is accelerated, the controller judges whether the given rotating speed v0 is in the low rotating speed range section, and if the given rotating speed v0 is in the low rotating speed range section, the controller delays the electrifying section of each phase of duty ratio signal to the braking section by a delay parameter t.
6. The system for controlling the overshoot of the rotational speed of the motor according to claim 5, wherein: if the motor load is accelerating, whether the given rotating speed v0 is in a low rotating speed range section or not is judged, if the given rotating speed v0 is not in the low rotating speed range section, whether the actual rotating speed vt reaches or exceeds the given rotating speed v0 or not is judged, and if the actual rotating speed vt reaches or exceeds the given rotating speed v0, the parameter t is delayed from the electrifying interval of each phase of duty ratio signal of the controller to the braking interval.
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| CN201810500486.3A CN108667380B (en) | 2018-05-23 | 2018-05-23 | Motor rotating speed overshoot control system |
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| CN201810500486.3A CN108667380B (en) | 2018-05-23 | 2018-05-23 | Motor rotating speed overshoot control system |
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| CN108667380A CN108667380A (en) | 2018-10-16 |
| CN108667380B true CN108667380B (en) | 2021-05-04 |
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| CN113138613A (en) * | 2021-04-13 | 2021-07-20 | 合肥巨一动力***有限公司 | Method for reducing over-regulation of rotating speed of twin-dragging system |
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| GB2308464B (en) * | 1995-12-20 | 1998-03-11 | Samsung Electronics Co Ltd | Drive control circuit for a voice coil motor |
| CN101154909A (en) * | 2006-09-25 | 2008-04-02 | 罗姆股份有限公司 | Electric drive circuit, drive device and electronic equipment |
| CN101738491A (en) * | 2009-12-28 | 2010-06-16 | 广东电网公司电力科学研究院 | Method and device for acquiring characteristic value of steam turbo-generator rotor |
| CN101938240A (en) * | 2009-06-30 | 2011-01-05 | 佳能株式会社 | Electric motor control device and image forming apparatus |
| CN101950949A (en) * | 2010-08-23 | 2011-01-19 | 乌云翔 | Short-circuit shutoff method for insulated gate bipolar transistor (IGBT) of high-power current transformer |
| CN103775712A (en) * | 2012-10-18 | 2014-05-07 | 柳曦 | Parameter rapidly self-adjusting method of intelligent valve positioner |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100513318B1 (en) * | 2003-06-24 | 2005-09-09 | 삼성전기주식회사 | Back-light inverter for lcd panel of asynchronous pwm driving type |
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2018
- 2018-05-23 CN CN201810500486.3A patent/CN108667380B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2308464B (en) * | 1995-12-20 | 1998-03-11 | Samsung Electronics Co Ltd | Drive control circuit for a voice coil motor |
| CN101154909A (en) * | 2006-09-25 | 2008-04-02 | 罗姆股份有限公司 | Electric drive circuit, drive device and electronic equipment |
| CN101938240A (en) * | 2009-06-30 | 2011-01-05 | 佳能株式会社 | Electric motor control device and image forming apparatus |
| CN101738491A (en) * | 2009-12-28 | 2010-06-16 | 广东电网公司电力科学研究院 | Method and device for acquiring characteristic value of steam turbo-generator rotor |
| CN101950949A (en) * | 2010-08-23 | 2011-01-19 | 乌云翔 | Short-circuit shutoff method for insulated gate bipolar transistor (IGBT) of high-power current transformer |
| CN103775712A (en) * | 2012-10-18 | 2014-05-07 | 柳曦 | Parameter rapidly self-adjusting method of intelligent valve positioner |
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