CN110971160A - DC motor rotating speed online control method and system - Google Patents
DC motor rotating speed online control method and system Download PDFInfo
- Publication number
- CN110971160A CN110971160A CN201911130486.XA CN201911130486A CN110971160A CN 110971160 A CN110971160 A CN 110971160A CN 201911130486 A CN201911130486 A CN 201911130486A CN 110971160 A CN110971160 A CN 110971160A
- Authority
- CN
- China
- Prior art keywords
- rotating speed
- motor
- value
- direct current
- current
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000005070 sampling Methods 0.000 claims abstract description 29
- 238000004364 calculation method Methods 0.000 claims description 9
- 238000001514 detection method Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 3
- 230000010354 integration Effects 0.000 description 3
- 238000013178 mathematical model Methods 0.000 description 2
- 238000011897 real-time detection Methods 0.000 description 1
Images
Classifications
-
- 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
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
- H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
- H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
- H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
- H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
- H02P7/285—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only
- H02P7/29—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only using pulse modulation
- H02P7/2913—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only using pulse modulation whereby the speed is regulated by measuring the motor speed and comparing it with a given physical value
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Multiple Motors (AREA)
- Control Of Direct Current Motors (AREA)
Abstract
The invention discloses a method and a system for controlling the rotating speed of a direct current motor on line. The method comprises the steps of firstly constructing a double closed loop control loop of a direct current motor rotating speed outer loop and a current inner loop in a direct current motor control circuit. The voltage and the current of the direct current motor are sampled in real time through a direct current motor rotating speed outer ring control loop, and the rotating speed n of the motor is calculated in real time by combining the parameters of the motor; and (3) making a difference between the expected rotating speed value and the rotating speed n, calculating rotating speed feedback according to the obtained difference, and then obtaining a current loop reference value through PI regulator operation. And carrying out PI operation on the difference between the reference current value and the sampling value of the direct current motor current through a current inner loop control loop to obtain a signal for controlling a PWM regulator in the motor control circuit. The scheme provided by the invention can detect the rotating speed of the motor in real time when the load of the direct current motor is changed and no rotating speed detector is provided, and the rotating speed of the motor is stabilized to be an expected rotating speed value.
Description
Technical Field
The invention provides a rotating speed control scheme of a direct current motor, and relates to the field of real-time detection and online control and adjustment of the rotating speed of the direct current motor. In particular to a method and a system for controlling the rotating speed of a direct current motor on line.
Background
At present, the rotating speed of the direct current motor is generally obtained by adopting a rotating speed detection device. The rotating speed of the motor is acquired in real time by installing the rotating speed detection device on the side of the direct current motor to be detected. After the real-time rotating speed of the direct current motor is obtained, the automatic control and regulation of the rotating speed of the motor can be realized by constructing a closed-loop control loop. In the application occasion of the direct current motor without/without a rotating speed detection device at the side of the direct current motor, the automatic control and adjustment of the rotating speed of the motor can not be realized by constructing rotating speed closed-loop control because the real-time rotating speed information of the direct current motor can not be obtained.
At present, under the condition of no rotating speed detection device, the rotating speed control of the direct current motor generally controls the rotating speed of the motor by constructing a motor current feedback loop based on the parameter of the motor current. The motor rotating speed actually fluctuates along with the load driven by the motor rotation, and the motor current of different load direct current motors is different under the condition of the same rotating speed, so that the current control mode can not realize the automatic control and adjustment of the motor rotating speed actually.
Without a rotation speed detection device, the conventional rotation speed control scheme of the direct current motor is shown in fig. 1. Firstly, receiving a rotating speed instruction input by a user, wherein the rotating speed instruction comprises a rotating speed set value RPM _ Ref, and determining a control current I of a direct current motor by inquiring an expected motor rotating speed-motor control ammeter according to different rotating speed instructions by a current calculation modulemR-Re f. Constructing a motor current closed-loop control loop for calculating the acquired control current ImRe f and real-time sampling motor current ImInputting the difference value into a PI regulator for integration to obtain a signal for controlling a PWM regulator in the direct current motor control circuit; the PWM regulator is used for generating a driving signal of the direct current motor. When the load of the direct current motor is changed, the current of the corresponding direct current motor is different due to different loads under the condition of the same rotating speed, so that the actual rotating speed of the direct current motor is always deviated from the original rotating speed set value RPM _ Ref when the scheme is adopted.
Disclosure of Invention
The method comprises the steps that the rotating speed of a direct current motor is acquired in real time under the condition that a special rotating speed detection device is not arranged; and further realizing automatic regulation and control of the motor speed under the condition of load change of the direct current motor based on the acquired motor speed. The invention provides an online control method for the rotating speed of a direct current motor.
The invention provides a DC motor rotating speed on-line control method, which mainly comprises the following steps:
the method comprises the steps of detecting the rotating speed value n of the direct current motor in real time by adding a rotating speed outer loop control loop on a direct current motor control circuit, calculating a rotating speed feedback current value based on an obtained difference value by using an expected rotating speed value in an input rotating speed instruction and the rotating speed value n, and generating a real-time reference current value of the direct current motor by integrating the rotating speed feedback current value through a first PI regulator.
A current inner loop control loop is constructed on a direct current motor control circuit, a real-time sampling value of the direct current motor current is subtracted from the real-time reference current value to obtain a current control difference value, a second PI regulator is used for integrating the current control difference value, and the integration result of the second PI regulator is used for controlling a PWM regulator to generate a driving signal of the direct current motor.
The method comprises the following steps of detecting the rotating speed value n of the direct current motor in real time, wherein the method specifically comprises the following steps: and sampling the voltage and the current of the direct current motor in real time, and calculating the rotating speed of the motor in real time by combining the data obtained by sampling and the parameters of the motor. The formula for calculating the rotating speed of the motor is as follows:
wherein, VmFor real-time sampling of the DC motor voltage, ImIs a real-time sampled value of the DC motor current, LafFor armature mutual inductance, R, of DC motorsaIs armature resistance, RfIs the field coil resistance.
Correspondingly, the invention also provides an online control system for the rotating speed of the direct current motor, which comprises: a rotating speed outer ring control loop and a current inner ring control loop;
the rotating speed outer ring control loop is used for detecting a rotating speed value n of the direct current motor in real time, calculating a difference value between an expected rotating speed value in an input rotating speed instruction and the rotating speed value n, calculating a corresponding rotating speed feedback current value based on the difference value, and integrating the rotating speed feedback current value by a first PI regulator to generate a real-time reference current value of the direct current motor. The process of detecting the rotating speed value n of the direct current motor in real time by the rotating speed outer loop control circuit is as follows: sampling the voltage and the current of the direct current motor in real time, and calculating the rotation speed of the motor in real time by combining the data obtained by sampling and the parameters of the motor, wherein the sampling calculation formula is as follows:
wherein, VmIs the DC motor voltage, ImIs the direct current motor current, LafFor armature mutual inductance, R, of DC motorsaIs armature resistance, RfIs the field coil resistance.
The current inner loop control loop is used for calculating the difference value of the real-time reference current value and the real-time sampling value of the current of the direct current motor, and integrating the current control difference value by using a second PI regulator to generate a signal for controlling a PWM regulator in the direct current motor control circuit; the PWM regulator is used for generating a driving signal of the direct current motor.
Drawings
Fig. 1 is a block diagram illustrating a conventional dc motor rotational speed control system without a rotational speed detecting device;
FIG. 2 is a block diagram of a DC motor speed control system according to the present invention;
Detailed Description
In order to make the technical problems, technical solutions and advantages solved by the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention provides a method for controlling the rotating speed of a direct current motor, which realizes the automatic regulation and control of the direct current motor by additionally arranging a rotating speed outer loop control loop and a current inner loop control loop on a direct current motor control circuit, and stabilizes the rotating speed of the direct current motor to an initially set expected rotating speed value RPM _ Ref. Control system corresponding to the methodStructural block diagram of systemAs shown in fig. 2.
As shown in fig. 2, the outer ring control loop of the rotation speed comprises: a low pass filter for processing the motor voltage sample signal, based on the motor voltage sample value VmAnd motor current sampling value ImThe device comprises a rotating speed calculation module for calculating the rotating speed n of the motor in real time, a difference value calculation module for calculating the difference between an expected rotating speed value RPM _ Ref and the rotating speed value n, a current calculation module for calculating a rotating speed feedback current value according to the rotating speed of the motor, and a first PI regulator. And the motor voltage sampling value and the motor current sampling value are respectively obtained by detection of a voltage sensor and a current sensor. The current inner loop control loop includes: the real-time reference current value I is used for outputting the rotating speed outer ring control loopmRe f and real-time sampling value I of motor currentmThe device comprises a difference value calculation module for making a difference, a second PI regulator and a PWM regulator for generating a driving signal of the direct current motor.
The invention provides a method for controlling the rotating speed of a direct current motor, which comprises the following steps: the automatic regulation and control of the direct current motor are realized by additionally arranging a rotating speed outer ring control loop and a current inner ring control loop on a direct current motor control circuit, and the rotating speed of the direct current motor is stabilized to an initially set expected rotating speed value RPM _ Ref.
The method is realized by constructing a rotating speed outer ring control loop as shown in figure 2 on a direct current motor control circuit: detecting the rotating speed value n of the direct current motor in real time, using the expected rotating speed value RPM _ Ref in the input rotating speed instruction to make a difference with the rotating speed value n, calculating a corresponding rotating speed feedback current value based on the result obtained by making the difference, and generating a real-time reference current value I of the direct current motor by integrating the rotating speed feedback current value through a first PI regulatormR-Re f. The method specifically comprises the following steps of detecting the rotating speed value n of the direct current motor in real time: and sampling the voltage and the current of the direct current motor in real time, and calculating the rotating speed of the motor in real time by combining the data obtained by sampling and the parameters of the motor. The formula for calculating the rotating speed of the motor is as follows:
wherein, VmFor real-time sampling of the DC motor voltage, ImIs a real-time sampled value of the DC motor current, LafFor armature mutual inductance, R, of DC motorsaIs armature resistance, RfIs the field coil resistance.
The formula 1 for calculating the motor rotating speed is obtained by deducting through a mathematical model of the series excited direct current motor. The method specifically comprises the following steps: let VmIs the DC motor voltage, ImIs the direct current motor current, LafFor armature mutual inductance, R, of DC motorsaIs armature resistance, RfThe resistance of the magnet exciting coil is E, the induced electromotive force of the motor is E, and the rotating speed of the motor is n. The mathematical model of the series excited dc machine can be generally expressed as:
E＝LafImn (2-1)
E＝Vm-(Ra+Rf)Im(2-2)
the following equations (2-1) and (2-2) can be derived:
the real-time reference current value I is realized by constructing a current inner loop control loop as shown in FIG. 2 on a direct current motor control circuitmSubtracting real-time sampling value I of the DC motor current from Re fmAnd obtaining a current control difference value, integrating the current control difference value by using a second PI regulator, and using the integration result of the second PI regulator to control a PWM regulator to generate a driving signal of the direct current motor.
Correspondingly, the invention also provides an online control system for the rotating speed of the direct current motor, which comprises: a rotating speed outer ring control loop and a current inner ring control loop.
Wherein, the outer ring control loop of the rotating speed realizes: detecting the rotating speed value n of the direct current motor in real time, calculating the difference value between the expected rotating speed value RPM _ Ref in the input rotating speed instruction and the rotating speed value n, calculating the corresponding rotating speed feedback current value based on the difference value, and performing comparison by using a first PI regulatorThe rotating speed feedback current value is integrated to generate a real-time reference current value I of the direct current motormR-Re f. The process of detecting the rotating speed value n of the direct current motor in real time by the rotating speed outer loop control loop is as follows: and sampling the voltage and the current of the direct current motor in real time, and calculating the rotation speed n of the motor in real time by combining the data obtained by sampling and the parameters of the motor. The adopted motor rotating speed calculation formula is as follows:
wherein, VmReal-time sampled values of the DC motor voltage, ImIs a real-time sampled value of the DC motor current, LafFor armature mutual inductance, R, of DC motorsaIs armature resistance, RfIs the field coil resistance.
The current inner loop control loop realizes: calculating the real-time reference current value ImRe f and real-time sampling value I of the DC motor currentmAnd integrating the current control difference by a second PI regulator to generate a signal for controlling a PWM regulator in the dc motor control circuit; the PWM regulator is used for generating a driving signal of the direct current motor.
By the method and the system for controlling the rotating speed of the direct current motor on line, the rotating speed of the direct current motor can be detected in real time under the conditions that the load of the direct current motor is changed and a rotating speed detection device is lacked, and the rotating speed of the direct current motor is stabilized to be an expected rotating speed value.
Claims (5)
1. A method for controlling the rotating speed of a direct current motor on line is characterized by comprising the following steps:
the method comprises the steps of detecting the rotating speed value n of the direct current motor in real time by additionally arranging a rotating speed outer loop control loop on a direct current motor control circuit, calculating a rotating speed feedback current value based on an obtained difference value by using an expected rotating speed value RPM _ Ref in an input rotating speed instruction and the rotating speed value n, and generating a real-time reference current value I of the direct current motor by the rotating speed feedback current value through rotating speed loop operationm_Ref；
The real-time reference current value I is realized by constructing a current inner loop control loop on a direct current motor control circuitm-Ref minus a real-time sampled value I of the DC motor currentmAnd obtaining a current control difference value, and obtaining a drive signal for controlling the PWM regulator to generate the direct current motor through a current loop.
2. The method according to claim 1, wherein the detecting a rotation speed value n of the dc motor in real time specifically comprises: and sampling the voltage and the current of the direct current motor in real time, and calculating the rotation speed n of the motor in real time by combining the data obtained by sampling and the parameters of the motor.
3. The method for controlling the rotating speed of the direct current motor in an online manner according to claim 2, wherein the formula for obtaining the rotating speed n of the motor through real-time calculation is as follows:
wherein, VmFor real-time sampling of the DC motor voltage, ImIs a real-time sampled value of the DC motor current, LafFor armature mutual inductance, R, of DC motorsaIs armature resistance, RfIs the field coil resistance.
4. An online control system for the rotating speed of a direct current motor is characterized by comprising: a rotating speed outer ring control loop and a current inner ring control loop;
wherein, the outer ring control loop of the rotating speed realizes: detecting the rotating speed value n of the direct current motor in real time, calculating the difference value between the expected rotating speed value RPM _ Ref in the input rotating speed instruction and the rotating speed value n, calculating a rotating speed feedback current value based on the difference value, and obtaining a real-time reference current value I of the direct current motor through a rotating speed loopm_Ref；
The current inner loop control loop realizes: computing stationThe real-time reference current value ImRef and real-time sampling value I of the DC motor currentmObtaining the signal of the PWM regulator through a current loop; the PWM regulator is used for generating a driving signal of the direct current motor.
5. The system for controlling the rotating speed of the direct current motor on line according to claim 4, wherein the process of the rotating speed outer loop control loop detecting the rotating speed value n of the direct current motor in real time comprises the following steps: sampling the voltage and the current of the direct current motor in real time, and calculating the rotation speed n of the motor in real time by combining the data obtained by sampling and the parameters of the motor, wherein the sampling calculation formula is as follows:
wherein, VmFor real-time sampling of the DC motor voltage, ImIs a real-time sampled value of the DC motor current, LafFor armature mutual inductance, R, of DC motorsaIs armature resistance, RfIs the field coil resistance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911130486.XA CN110971160A (en) | 2019-11-19 | 2019-11-19 | DC motor rotating speed online control method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911130486.XA CN110971160A (en) | 2019-11-19 | 2019-11-19 | DC motor rotating speed online control method and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110971160A true CN110971160A (en) | 2020-04-07 |
Family
ID=70030806
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911130486.XA Pending CN110971160A (en) | 2019-11-19 | 2019-11-19 | DC motor rotating speed online control method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110971160A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1998001941A1 (en) * | 1996-07-09 | 1998-01-15 | Solaria Research Enterprise, Ltd. | Control system for separately excited dc motor |
| CN103326644A (en) * | 2013-07-04 | 2013-09-25 | 丽水学院 | Control method for speed adjustment driving system of series motor |
| CN109546906A (en) * | 2018-12-28 | 2019-03-29 | 武汉征原电气有限公司 | A kind of novel direct current series-excited motor control system and method |
| CN109787519A (en) * | 2018-12-29 | 2019-05-21 | 湖南鼎创装备有限公司 | A kind of DC motor drive and method |
-
2019
- 2019-11-19 CN CN201911130486.XA patent/CN110971160A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1998001941A1 (en) * | 1996-07-09 | 1998-01-15 | Solaria Research Enterprise, Ltd. | Control system for separately excited dc motor |
| CN103326644A (en) * | 2013-07-04 | 2013-09-25 | 丽水学院 | Control method for speed adjustment driving system of series motor |
| CN109546906A (en) * | 2018-12-28 | 2019-03-29 | 武汉征原电气有限公司 | A kind of novel direct current series-excited motor control system and method |
| CN109787519A (en) * | 2018-12-29 | 2019-05-21 | 湖南鼎创装备有限公司 | A kind of DC motor drive and method |
Non-Patent Citations (5)
| Title |
|---|
| 姚泽胜: ""电动汽车用串励直流电机控制原理的研究"", 《中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑》 * |
| 文建平: "电动车用直流串励电动机的分数阶控制研究", 《驱动控制》 * |
| 王晶: "《电力***的MATLAB-SIMULINK仿真与应用》", 30 September 2008, 西安电子科技大学出版社 * |
| 童明金等: "串励直流电机双闭环调速在直流电动钻机中的应用", 《内蒙古石油化工》 * |
| 鲁欣: "《仪表电感元件设计》", 31 December 1987, 机械工业出版社 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP2061147B1 (en) | Initial rotor position detection and start-up system for a dynamoelectric machine | |
| EP1835613B1 (en) | System and method for motor speed estimation using hybrid model reference adaptive system | |
| CN101330270B (en) | Motor control device and compressor | |
| CN101873096B (en) | Method for determining the position of the flux vector of a motor | |
| US7095952B2 (en) | Method for optimizing the efficiency of a motor operated under a load | |
| US20100117568A1 (en) | Controller for calculating electric power consumption of industrial machine | |
| US8947034B2 (en) | Methods and systems for controlling an electric motor | |
| Schroedl | Sensorless control of permanent magnet synchronous motors | |
| US6509711B1 (en) | Digital rotor flux observer | |
| US8618756B2 (en) | Systems and method for controlling electric motors | |
| CN105393449A (en) | Using static excitation system to reduce the amplitude of torsional oscillations due to fluctuating industrial loads | |
| CN109873589A (en) | A kind of permanent-magnetic synchronous motor rotor zero testing method | |
| Zhang | Information driven control design: a case for PMSM control | |
| CN110971160A (en) | DC motor rotating speed online control method and system | |
| JP2005237172A (en) | Control device for synchronous machine | |
| US7043395B2 (en) | Method for detecting the magnetic flux the rotor position and/or the rotational speed | |
| Abu-Rub et al. | Maximum torque production in rotor field oriented control of an induction motor at field weakening | |
| CN108155839A (en) | The measuring method of the dedicated AC permanent magnet synchronous motor back EMF coefficient of elevator and elevator operation and maintenance method | |
| EP3267575B1 (en) | Motor controller, motor driver, and motor driving system | |
| JPH0670567A (en) | Automatic setting method of control gain for motor and detecting method of backlash | |
| US20240120866A1 (en) | Determinations of static load torque at standstill | |
| EP1073193B1 (en) | Method of control for sensorless induction motor drives | |
| EP4350973A1 (en) | Stable and passive observer-based v/hz control for synchronous motors | |
| CN113737451B (en) | Weak magnetic control method and device for washing machine motor, washing machine and storage medium | |
| CN116938053A (en) | Method for controlling synchronous motor, electronic device and vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200407 |
|
| RJ01 | Rejection of invention patent application after publication |