CN114915232B - Excitation synchronous motor control system based on speedcoat - Google Patents

Excitation synchronous motor control system based on speedcoat Download PDF

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CN114915232B
CN114915232B CN202210503054.4A CN202210503054A CN114915232B CN 114915232 B CN114915232 B CN 114915232B CN 202210503054 A CN202210503054 A CN 202210503054A CN 114915232 B CN114915232 B CN 114915232B
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phase
signal
module
control
trigger
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CN114915232A (en
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刘群英
朱德清
夏锐
郭贞
陈树恒
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University of Electronic Science and Technology of China
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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
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/06—Circuits specially adapted for rendering non-conductive gas discharge tubes or equivalent semiconductor devices, e.g. thyratrons, thyristors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/02—Conversion of ac power input into dc power output without possibility of reversal
    • H02M7/04—Conversion of ac power input into dc power output without possibility of reversal by static converters
    • H02M7/12—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/145—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a thyratron or thyristor type requiring extinguishing means
    • H02M7/155—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a thyratron or thyristor type requiring extinguishing means using semiconductor devices only
    • H02M7/162—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a thyratron or thyristor type requiring extinguishing means using semiconductor devices only in a bridge configuration
    • H02M7/1623—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a thyratron or thyristor type requiring extinguishing means using semiconductor devices only in a bridge configuration with control circuit
    • H02M7/1626—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a thyratron or thyristor type requiring extinguishing means using semiconductor devices only in a bridge configuration with control circuit with automatic control of the output voltage or current
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
    • H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
    • H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/505—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a thyratron or thyristor type requiring extinguishing means
    • H02M7/515—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a thyratron or thyristor type requiring extinguishing means using semiconductor devices only
    • H02M7/521—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a thyratron or thyristor type requiring extinguishing means using semiconductor devices only in a bridge configuration
    • 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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • H02P25/024—Synchronous motors controlled by supply frequency
    • H02P25/026—Synchronous motors controlled by supply frequency thereby detecting the rotor position
    • 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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/16—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring
    • 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
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P80/00—Climate change mitigation technologies for sector-wide applications
    • Y02P80/10—Efficient use of energy, e.g. using compressed air or pressurized fluid as energy carrier

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The invention discloses an excitation synchronous motor control system based on speedcoat, which adopts a power circuit to rectify and invert a three-phase power supply, a data sampling module samples various data from the power circuit, a signal conditioning module conditions the data, an analog-to-digital conversion circuit carries out analog-to-digital conversion, and each digital signal is output to a speedcoat controller; the upper computer is used for downloading a preset control algorithm to the speedgo controller, the speedgo controller generates corresponding trigger signals according to the control algorithm and outputs the trigger signals to the driving circuit according to the digital signals, and the driving circuit is used for controlling the three-phase SCR rectifier bridge and the three-phase SCR inverter bridge in the power circuit after power amplification is carried out on the trigger control signals. The SCR in the power circuit of the excitation synchronous motor is controlled by the speedcoat controller so as to realize the control of the excitation synchronous motor.

Description

Excitation synchronous motor control system based on speedcoat
Technical Field
The invention belongs to the technical field of motor control, and particularly relates to an excitation synchronous motor control system based on speedcoat.
Background
The variable frequency control system of the motor is mainly used for controlling the on-off of an insulated gate bipolar transistor (Insulated Gate Bipolar Transistor, IGBT) and realizing a device for converting three-phase power frequency voltage (50 Hz, 220V) alternating current into three-phase alternating current with variable frequency and voltage. Although IGBTs are widely used in small current scenes, when large current and high voltage are involved, IGBTs are often difficult to realize wide application due to inherent characteristic limitations thereof.
The SCR (Silicon Controlled Rectifier) is widely applied to power plant units due to the high-current and high-voltage tolerance characteristics of the SCR, but the SCR can be directly controlled to be turned on but cannot be directly controlled to be turned off by a control system due to the semi-control characteristic of the SCR, and the design and implementation of the control system are very complicated, so that the SCR is less in application in motor frequency conversion control.
The RCP (Rapid Control Prototyping, rapid control prototype) system is used as one of the semi-physical simulation technologies, and is widely applied in the field of algorithm test research by rapidly verifying a control algorithm in a mode of a virtual controller and a real controlled object. The RCP system platform with good design not only can greatly shorten the research and development period, but also can be reused, thereby reducing the research and development cost and improving the reliability of the control algorithm. The method has very important significance for the research of the variable frequency starting control algorithm of the motor, particularly for the research of the control algorithm taking SCR as a controlled object, but the research in the field is less at present, and the industrial application cannot be realized.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an excitation synchronous motor control system based on a speedcoat, which controls SCR in a power circuit of the excitation synchronous motor through the speedcoat controller so as to realize the control of the excitation synchronous motor.
In order to achieve the above object, the exciting synchronous motor control system based on speedcoat of the present invention comprises a power circuit, a data sampling module, a signal conditioning module, an analog-to-digital conversion module, an upper computer, a speedcoat controller, and a driving circuit, wherein:
the power circuit is used for rectifying and inverting the three-phase power supply and comprises an isolation transformer, a three-phase SCR rectifier bridge, a smoothing reactor and a three-phase SCR inverter bridge, wherein the isolation transformer is used for connecting the three-phase power supply and the three-phase SCR rectifier bridge and is used for realizing electric isolation between a power grid and the power circuit; the three-phase SCR rectifier bridge rectifies the transformed three-phase power supply and outputs direct-current voltage to the direct-current smoothing reactor, and then the direct-current smoothing reactor is input into the three-phase SCR inverter bridge to obtain frequency-modulation and amplitude-modulation adjustable three-phase voltage which is output to the excitation synchronous motor;
the data sampling module is used for collecting voltage and current data from the power circuit, and comprises network side three-phase line voltage, network side three-phase current, unit stator voltage, linear bus current and exciting current, and collecting rotor position angle data from the exciting synchronous motor, wherein the network side three-phase line voltage and network side three-phase current collecting points are arranged between an isolation transformer and a three-phase SCR rectifier bridge, the direct current bus current collecting points are arranged between the three-phase SCR rectifier bridge and a smoothing reactor, the unit stator voltage collecting points are arranged between the three-phase SCR inverter bridge and the exciting synchronous motor, the exciting current collecting points are arranged between an exciting control system and an exciting winding of the motor, and the data sampling module outputs all sampled data signals to the signal conditioning module;
the signal conditioning module is used for performing signal conditioning on each received data signal and outputting each obtained data signal to the analog-to-digital conversion circuit;
the analog-to-digital conversion circuit carries out analog-to-digital conversion on each received data, and outputs each obtained digital signal to the speedgo controller;
the upper computer is used for downloading a preset control algorithm to the speedcoat controller;
the speedcoat controller is used for receiving each digital signal sent by the analog-to-digital conversion circuit, generating a corresponding trigger signal according to a preset control algorithm and outputting the trigger signal to the driving circuit;
the driving circuit is used for amplifying power of a trigger control signal output by the speedcoat controller, isolating strong current from weak current, and then outputting the obtained trigger driving signal to the three-phase SCR rectifier bridge and the three-phase SCR inverter bridge respectively to control the work of the SCR.
The invention discloses an excitation synchronous motor control system based on speedcoat, which adopts a power circuit to rectify and invert a three-phase power supply, a data sampling module samples various data from the power circuit, a signal conditioning module conditions the data, an analog-to-digital conversion circuit carries out analog-to-digital conversion, and each digital signal is output to a speedcoat controller; the upper computer is used for downloading a preset control algorithm to the speedgo controller, the speedgo controller generates corresponding trigger signals according to the control algorithm and outputs the trigger signals to the driving circuit according to the digital signals, and the driving circuit is used for controlling the three-phase SCR rectifier bridge and the three-phase SCR inverter bridge in the power circuit after power amplification is carried out on the trigger control signals.
The invention has the following beneficial effects:
1) Compared with the traditional DSP development system, the invention can avoid the process of realizing handwriting control codes, shortens the development period by using the model construction, reduces the difficulty of developing a control algorithm and improves the reliability of theoretical research;
2) The invention improves the control algorithm and improves the accuracy and the effectiveness of the control of the exciting synchronous motor.
Drawings
FIG. 1 is a block diagram of an embodiment of a speed coat based excitation synchronous motor control system of the present invention;
fig. 2 is a structural diagram of a control model of the excitation synchronous motor in the present embodiment;
fig. 3 is a waveform diagram of motor rotation speed change in the acceleration test of the exciting synchronous motor of the present embodiment;
fig. 4 is a voltage waveform diagram of the voltage input terminal of the exciting synchronous motor when the motor is operated at a rotation speed of 600r/min in the present embodiment.
Detailed Description
The following description of the embodiments of the invention is presented in conjunction with the accompanying drawings to provide a better understanding of the invention to those skilled in the art. It is to be expressly noted that in the description below, detailed descriptions of known functions and designs are omitted here as perhaps obscuring the present invention.
Examples
FIG. 1 is a block diagram of an embodiment of a speed coat based field synchronous motor control system of the present invention. As shown in fig. 1, the excitation synchronous motor control system based on speedcoat of the invention comprises a power circuit 11, a data sampling module 12, a signal conditioning module 13, an analog-to-digital conversion module 14, a host computer 15, a speedcoat controller 16 and a driving circuit 17. The following details each module:
the power circuit 11 is used for rectifying and inverting a three-phase power supply, and comprises an isolation transformer 111, a three-phase SCR rectifier bridge 112, a smoothing reactor 113 and a three-phase SCR inverter bridge 114, wherein the isolation transformer 111 is used for connecting the three-phase power supply and the three-phase SCR rectifier bridge 112, is used for realizing electric isolation between a power grid and the power circuit, and reduces disturbance to the power grid; the three-phase SCR rectifier bridge 112 rectifies the transformed three-phase power supply and outputs a dc voltage to the dc smoothing reactor 113, and then the dc smoothing reactor is input into the three-phase SCR inverter bridge 114 to obtain a three-phase voltage with adjustable frequency and amplitude, and the three-phase voltage is output to the excitation synchronous motor.
The data sampling module 12 is configured to collect voltage and current data from the power circuit 11, including a network side three-phase line voltage, a network side three-phase current, a unit stator voltage, a linear bus current and an exciting current, and collect rotor position angle data from the exciting synchronous motor, where a network side three-phase line voltage and a network side three-phase current collection point are set between the isolation transformer 111 and the three-phase SCR rectifier bridge 112, a direct current bus current collection point is set between the three-phase SCR rectifier bridge 112 and the smoothing reactor 113, a unit stator voltage collection point is set between the three-phase SCR inverter bridge 114 and the exciting synchronous motor, an exciting current collection point is set between the exciting control system and an exciting winding of the motor, and the data sampling module 12 outputs each sampled data signal to the signal conditioning module 13.
The signal conditioning module 13 is configured to perform signal conditioning on each received data signal, and output each obtained data signal to the analog-to-digital conversion circuit 14. Because the magnitudes of the data signals are different, the data signals cannot be directly sent to the analog-to-digital conversion circuit 14 for AD conversion, and the signals need to be offset and scaled, so the signal conditioning module 13 is needed. In this embodiment, the input signal is first amplitude-compressed, the input signal within the range of ±5v is converted into the signal within the range of ±0.5v, and then forward-biased, and the range is adjusted to the signal within the range of 0.5 to 1.5V.
The analog-to-digital conversion circuit 14 performs analog-to-digital conversion on each received data, and outputs each obtained digital signal to the speedgo controller 16.
The upper computer 15 is used for downloading a preset control algorithm to the speedcoat controller 16.
The speedcoat controller 16 is configured to receive each digital signal sent by the analog-to-digital conversion circuit 14, generate a corresponding trigger control signal according to a preset control algorithm, and output the trigger control signal to the driving circuit 17.
The driving circuit 17 is configured to amplify the power of the trigger control signal output by the speedcoat controller 16, isolate the strong current from the weak current, and then output the obtained trigger driving signal to the three-phase SCR rectifier bridge 112 and the three-phase SCR inverter bridge 114, respectively, so as to control the SCR.
The purpose of using the drive circuit 17 is to two important factors: on the one hand, in order to avoid overload of the controller, the speedcoat is mainly used for data processing and logic generation, the power of the control signal output internally is not large, and if the gate electrode of the SCR is directly driven, the speedcoat controller 16 is easily overloaded; on the other hand, the internal circuit voltage of the speedcoat controller 16 is low, which belongs to the weak current application range, and is mainly used for processing digital signals, while the power circuit 11 is used for rectifying and inverting a three-phase power supply and processing strong electric analog signals, if the two signals are directly connected, the three-phase electric ripple interference will affect the speedcoat controller 16, and even cause the speedcoat controller 16 to be damaged.
In this embodiment, the driving circuit adopts an optocoupler isolation element, so that the trigger control signal and the trigger driving signal are photoelectrically isolated. Considering that the optocoupler element has a power supply requirement, the current required for actually driving the conduction of the phase-controlled silicon is enough, and in the embodiment, the primary side of each SCR driving circuit is directly connected in parallel to two ends of each driven SCR, so that the power supply structure of the system is simplified. And the drive module of each SCR is integrated into one drive board by combining with the modular thought to form a functional drive circuit, so that the hardware realization and arrangement are convenient.
According to the specific structure of the excitation synchronous motor control system based on speedcoat, the control algorithm is very critical to the control effect of the excitation synchronous motor, so that the embodiment also provides an excitation synchronous motor control model, and the main purpose is to restore a sampling signal, then construct a related model according to the sampling signal, and finally realize the output of a trigger control signal. Fig. 2 is a structural diagram of a field synchronous motor control model in the present embodiment. As shown in fig. 2, the excitation synchronous motor control model in the present embodiment includes a man-machine interaction module 21, a data processing module 22, a phase switching module 23, a clock trigger signal generation module 24, a trigger angle signal generation module 25, a rectifier bridge control module 26, and an inverter bridge control module 27, wherein:
the man-machine interaction module 21 is used for connecting the upper computer 15, receiving a conduction trigger angle, a reference rotation speed, a control mode and a phase-change mode under closed-loop control set by a control person, wherein the control mode comprises an open-loop control and a closed-loop control, the phase-change mode comprises a natural phase-change mode and an intermittent phase-change mode, the conduction trigger angle is sent to the trigger angle signal generation module 25, the reference rotation speed is sent to the phase-change switching module 23, and the control mode and the phase-change mode are sent to the inverter bridge control module 27.
The data processing module 22 is configured to process each digital signal output by the analog-to-digital conversion circuit 14, and restore the digital signal to obtain raw data, including network-side three-phase voltage, network-side three-phase current, unit stator voltage, linear bus current, exciting current, and rotor position angle data. For example, in practical application, each digital signal output by the analog-to-digital conversion circuit includes sixteen-bit data information, and is divided into eight-high-bit data and eight-low-bit data for transmission, so that after receiving the digital signal, the Speedgaot controller needs to recombine the eight-high-bit data and eight-low-bit data into sixteen-bit data, and then multiplies the sixteen-bit data by a corresponding scaling factor to restore the sixteen-bit data into original data.
In addition, the data processing module 22 also needs to obtain rotational speed data according to the rotor position angle data, and the specific method is as follows: since the rotor position angle data periodically changes, the current rotor position angle needs to be subjected to periodic normalization processing according to the initial rotor position angle to obtain an electrical angle of each rotor position angle, and then the rotational speed data is calculated according to the relation of the electrical angle θ and the rotational speed ω, wherein θ=ωt, and t represents the time.
After the data processing is completed, each item of data is sent to the man-machine interaction module 21 for display, then the three-phase line voltage of the network side is sent to the rectifier bridge control module 26, and the rotating speed data is sent to the switching module 23 and the trigger angle signal generation module 25.
The commutation switching module 23 is configured to monitor a commutation mode of the inverter bridge control module 27, and when the commutation mode of the inverter bridge control module 27 is intermittent commutation and the rotational speed received from the data processing module 22 is greater than a preset reference rotational speed, switch the commutation mode of the inverter bridge control module 27 to natural commutation. In the present embodiment, the reference rotational speed is set to 10% of the nominal rotational speed.
The clock trigger signal generating module 24 is configured to simulate the stator voltage to generate a phase signal, input the phase signal to the pulse generating module, take the obtained control pulse as a clock trigger signal, and send the clock trigger signal to the trigger angle signal generating module 25.
The triggering angle signal generating module 25 is configured to generate a triggering angle signal according to the set conduction triggering angle, the three-phase SCR inverter bridge triggering signal received from the inverter bridge control module 27, and the clock triggering signal received from the clock triggering signal generating module 24, and combine the rotational speed data, and send the triggering angle signal to the rectifier bridge control module 26, where the specific method for generating the triggering angle signal includes the following steps:
1) judging the currently selected control mode, if closed-loop control is adopted, entering the step 2), and if open-loop control is adopted, entering the step 3).
2) Judging the current closed-loop control mode, if the closed-loop control mode is manual control, receiving a conduction trigger angle set by a user from a man-machine interaction module, if the closed-loop control mode is automatic, generating the conduction trigger angle through PID adjustment according to the current rotating speed signal, and entering the step 4).
3) Receiving the conduction trigger angle set by the user from the man-machine interaction module 21, and entering step 4).
4) Judging the current phase change mode, if the current phase change mode is a natural phase change mode, entering the step 5), and if the current phase change mode is an intermittent phase change mode, entering the step 6).
5) And generating a trigger angle signal according to the magnitude of the conduction trigger angle.
6) And using a finite state machine mode, using a three-phase SCR inverter bridge trigger signal and a clock trigger signal as a judging logic of the finite state machine, directly generating a trigger angle signal output according to the magnitude of a conduction trigger angle when the trigger signal and the clock trigger signal are simultaneously '1', and enabling the magnitude of the trigger angle to be a preset trigger angle default value (the range of the default value is larger than 120 degrees and is 150 degrees here) if the trigger angle is not simultaneously '1', so as to generate the trigger angle signal output. That is, in the intermittent commutation mode, the output trigger control angle signal is switched between the trigger angle default value and the conduction trigger angle, thereby realizing intermittent output of the trigger signal.
The rectifier bridge control module 26 is configured to generate a trigger control signal of the three-phase SCR rectifier bridge 112 according to the network-side three-phase line voltage signal and the trigger angle signal, which specifically includes: according to the three-phase line voltage vector being zero, i.e. u a +u b +u c =0, converting the three-phase line voltage at the network side into the bridge phase voltage, obtaining an electrical angle by using a phase-locked loop according to the bridge phase voltage, and inputting the electrical angle combined with the trigger angle signal into a control pulse generating module to directly generate the trigger control signal of the three-phase SCR rectifying bridge 112.
The inverter bridge control module 27 is configured to generate a trigger control signal of the three-phase SCR inverter bridge 114 according to the set control manner, and the specific method is as follows:
1) if the set control mode is open loop control, entering step 2), and if the set control mode is closed loop control, entering step 3).
2) According to a preset gating logic table of three-phase SCR in the three-phase SCR inverter bridge 114, each gating logic comprises a rotor position and a corresponding conducting three-phase SCR number, the conducting three-phase SCR number is determined according to the current rotor position, then a corresponding angular velocity signal is output according to the set open-loop frequency, and a control pulse generation module obtains a trigger signal of the three-phase SCR inverter bridge 114 in an open-loop control mode.
3) Judging whether the current phase change mode is natural phase change, if so, entering the step 4), otherwise, entering the step 5).
4) The two-phase six-pulse control method is adopted in advance, the pole pair number of the excitation synchronous motor is combined, SCR conduction logic in the three-phase SCR inverter bridge 114 in the natural commutation mode is obtained, the SCR conduction number is determined according to the current rotor position, and a trigger signal of the three-phase SCR inverter bridge 114 is generated.
5) The two-phase six-pulse control method is adopted in advance, the pole pair number of the excitation synchronous motor is combined, SCR conduction logic in the three-phase SCR inverter bridge 114 in the intermittent commutation mode is obtained, the SCR conduction number is determined according to the current rotor position, and a trigger signal of the three-phase SCR inverter bridge 114 is generated.
In this embodiment, it is assumed that the exciting synchronous motor is a 4-pole motor, so that the three-phase SCR needs to realize commutation conduction once every time the rotor rotates by 30 ° and the conduction relationship of the three-phase SCR can be obtained based on the relationship between the initial position of the rotor and the conduction angle. Table 1 is a gating logic table of rotor position and SCR on condition in the natural commutation state in this embodiment.
Figure GDA0004258507760000071
TABLE 1
Under the intermittent reversing mode, the generation principle of the original trigger signal is almost the same as that of the natural reversing mode, but the trigger time of each SCR needs to be shifted forward by 60 electrical angles, so that the SCR can be conducted by utilizing the potential difference. Table 2 is a gating logic table of rotor position and SCR on condition in intermittent commutation state in this embodiment.
Figure GDA0004258507760000081
TABLE 2
In order to ensure safe and stable operation of the control model, a system protection module is further arranged in the control model in the embodiment so as to detect real-time conditions of hardware equipment and ensure stable and orderly execution of the control model. The system protection module comprises a communication fault protection sub-module, a phase conversion signal locking module and a trigger signal output protection sub-module, wherein:
the communication fault protection sub-module is used for monitoring communication between the speedcoat controller and the upper computer, and when a communication fault occurs, the communication fault protection sub-module outputs a communication fault signal and simultaneously sends a locking signal to the rectifier bridge control module 26 and the inverter bridge control module 27, and the output of the locking control signal is locked.
The phase-change locking module is used for receiving the phase-change signal sent by the phase-change switching module, and the phase-change signal is ensured not to be triggered by mistake by adopting a mode of combining an S-R latch and a logic AND gate.
The trigger signal output protection sub-module is used for sending a locking signal to the rectifier bridge control module 26 and the inverter bridge control module 27 in the self-checking process when the excitation synchronous motor control system is started, and locking the output of the control signal, so that the excitation synchronous motor control system is ensured to run in a stable state at all times.
In order to illustrate the technical effect of the invention, in the embodiment, the invention is experimentally verified by adopting an excitation synchronous motor speed-up experiment. Fig. 3 is a waveform diagram of motor rotation speed change in the acceleration test of the exciting synchronous motor of the present embodiment. As shown in fig. 3, the reason why the fluctuation of the previous small-segment rotational speed occurs is that the control model starts to gradually accelerate after about 10s after self-correcting the rotor position of the motor, and when the rotational speed reaches 200r/min, the rotational speed fluctuates again because the three-phase SCR of the inverter circuit changes from the intermittent commutation to the natural commutation process, and when the time reaches about 105s, the rotational speed basically reaches the set target speed. Fig. 4 is a voltage waveform diagram of the voltage input terminal of the exciting synchronous motor when the motor is operated at a rotation speed of 600r/min in the present embodiment. As can be seen from fig. 4, the voltage waveform is a relatively stable sine wave, which indicates that the motor can operate smoothly. The starting time of the motor is approximately 100s, so that the actual requirement is met. Therefore, the excitation synchronous motor control system provided by the invention can effectively realize the control of the excitation synchronous motor.
While the foregoing describes illustrative embodiments of the present invention to facilitate an understanding of the present invention by those skilled in the art, it should be understood that the present invention is not limited to the scope of the embodiments, but is to be construed as protected by the accompanying claims insofar as various changes are within the spirit and scope of the present invention as defined and defined by the appended claims.

Claims (2)

1. The utility model provides an excitation synchronous motor control system based on speedgo, its characterized in that includes power circuit, data sampling module, signal conditioning module, analog-to-digital conversion module, host computer, speedgo controller, drive circuit, wherein:
the power circuit is used for rectifying and inverting the three-phase power supply and comprises an isolation transformer, a three-phase SCR rectifier bridge, a smoothing reactor and a three-phase SCR inverter bridge, wherein the isolation transformer is used for connecting the three-phase power supply and the three-phase SCR rectifier bridge and is used for realizing electric isolation between a power grid and the power circuit; the three-phase SCR rectifier bridge rectifies the transformed three-phase power supply and outputs direct-current voltage to the direct-current smoothing reactor, and then the direct-current smoothing reactor is input into the three-phase SCR inverter bridge to obtain frequency-modulation and amplitude-modulation adjustable three-phase voltage which is output to the excitation synchronous motor;
the data sampling module is used for collecting voltage and current data from the power circuit, and comprises network side three-phase line voltage, network side three-phase current, unit stator voltage, linear bus current and exciting current, and collecting rotor position angle data from the exciting synchronous motor, wherein the network side three-phase line voltage and network side three-phase current collecting points are arranged between an isolation transformer and a three-phase SCR rectifier bridge, the direct current bus current collecting points are arranged between the three-phase SCR rectifier bridge and a smoothing reactor, the unit stator voltage collecting points are arranged between the three-phase SCR inverter bridge and the exciting synchronous motor, the exciting current collecting points are arranged between an exciting control system and an exciting winding of the motor, and the data sampling module outputs all sampled data signals to the signal conditioning module;
the signal conditioning module is used for performing signal conditioning on each received data signal and outputting each obtained data signal to the analog-to-digital conversion circuit;
the analog-to-digital conversion circuit carries out analog-to-digital conversion on each received data, and outputs each obtained digital signal to the speedgo controller;
the upper computer is used for downloading a preset control algorithm to the speedcoat controller; the control algorithm adopts an excitation synchronous motor control model and comprises a man-machine interaction module, a data processing module, a phase switching module, a clock trigger signal generation module, a trigger angle signal generation module, a rectifier bridge control module and an inverter bridge control module, wherein:
the man-machine interaction module is used for connecting an upper computer, receiving a conduction trigger angle, a reference rotating speed, a control mode and a phase change mode under closed loop control, wherein the control mode comprises open loop control and closed loop control, the phase change mode comprises a natural phase change mode and an intermittent phase change mode, the conduction trigger angle is sent to the trigger angle signal generation module, the reference rotating speed is sent to the phase change conversion module, and the control mode and the phase change mode are sent to the inverter bridge control module;
the data processing module is used for processing and restoring each digital signal output by the analog-to-digital conversion circuit to obtain original data, wherein the original data comprises network side three-phase line voltage, network side three-phase current, unit stator voltage, linear bus current, exciting current and rotor position angle data; the method for acquiring the rotating speed data according to the rotor position angle data comprises the following steps of: performing periodic normalization processing on the current rotor position angle according to the initial rotor position angle to obtain an electrical angle of each rotor position angle, and calculating to obtain rotation speed data according to the relation of the electrical angle theta and the rotation speed omega, wherein theta=ωt, and t represents time; after finishing data processing, sending each item of data to a man-machine interaction module for display, then sending the three-phase line voltage of the network side to a rectifier bridge control module, and sending the rotating speed data to a phase switching module and a trigger angle signal generation module;
the commutation switching module is used for monitoring the commutation mode of the inverter bridge control module, and when the commutation mode of the inverter bridge control module is intermittent commutation and the rotating speed received from the data processing module is greater than a preset reference rotating speed, the commutation mode of the inverter bridge control module is switched to natural commutation;
the clock trigger signal generation module is used for simulating the stator voltage to generate a phase signal, inputting the phase signal into the pulse generation module, taking the obtained control pulse as a clock trigger signal, and sending the clock trigger signal to the trigger angle signal generation module;
the triggering angle signal generating module is used for generating a triggering angle signal according to the set conduction triggering angle, receiving a three-phase SCR inversion bridge triggering signal from the inversion bridge control module and a clock triggering signal received from the clock triggering signal generating module, combining the rotating speed information, and sending the triggering angle signal to the rectification bridge control module, and the specific method for generating the triggering angle signal comprises the following steps:
1) judging the currently selected control mode, if closed-loop control is adopted, entering the step 2), and if open-loop control is adopted, entering the step 3);
2) Judging the current closed-loop control mode, if the closed-loop control mode is manual control, receiving a conduction trigger angle set by a user from a man-machine interaction module, if the closed-loop control mode is automatic, generating the conduction trigger angle through PID (proportion integration differentiation) adjustment according to the current rotating speed signal, and entering step 4);
3) Receiving a conduction trigger angle set by a user from the human-computer interaction module 21, and entering step 4);
4) Judging the current phase change mode, if the current phase change mode is a natural phase change mode, entering the step 5), and if the current phase change mode is an intermittent phase change mode, entering the step 6);
5) Generating a trigger angle signal according to the magnitude of the conduction trigger angle;
6) The method comprises the steps that a finite state machine mode is used, a three-phase SCR inverter bridge trigger signal and a clock trigger signal are used as judging logic of the finite state machine, when the trigger signal and the clock trigger signal are simultaneously 1, trigger angle signal output is directly generated according to the magnitude of a conduction trigger angle, and if the trigger angle is not simultaneously 1, the magnitude of the trigger angle is a preset trigger angle default value, and trigger angle signal output is generated;
the rectifier bridge control module is used for generating a trigger control signal of the three-phase SCR rectifier bridge according to the network side three-phase line voltage signal and the trigger angle signal, and the specific method comprises the following steps: according to the three-phase line voltage vector being zero, i.e. u a +u b +u c =0, converting the three-phase line voltage of the network side into the phase voltage of the network bridge, obtaining the electrical angle according to the phase voltage of the network bridge by using a phase-locked loop, and inputting the electrical angle combined with the triggering angle signalThe control pulse generation module is used for directly generating a trigger control signal of the three-phase SCR rectifier bridge;
the inverter bridge control module is used for generating trigger control signals of the three-phase SCR inverter bridge according to the set control mode, and the specific method is as follows:
1) if the set control mode is open loop control, entering step 2), if the set control mode is closed loop control, entering step 3);
2) According to a preset gating logic table of three-phase SCR in the three-phase SCR inverter bridge, each gating logic comprises a rotor position and a corresponding conducting three-phase SCR number, the conducting three-phase SCR number is determined according to the current rotor position, then a corresponding angular velocity signal is output according to the set open-loop frequency, and a pulse generation module is controlled to obtain a three-phase SCR inverter bridge trigger signal in an open-loop control mode;
3) Judging whether the current phase change mode is natural phase change, if so, entering the step 4), otherwise, entering the step 5);
4) The method comprises the steps of adopting a two-phase six-pulse control method in advance, combining pole pair numbers of an excitation synchronous motor, obtaining SCR (selective catalytic reduction) conduction logic in a three-phase SCR inverter bridge in a natural commutation mode, determining an SCR conduction number according to the current rotor position, and generating a three-phase SCR inverter bridge trigger signal;
5) The method comprises the steps of pre-adopting a two-phase six-pulse control method, combining pole pair numbers of an excitation synchronous motor, obtaining SCR (selective catalytic reduction) on logic in a three-phase SCR inverter bridge in an intermittent commutation mode, determining an SCR on number according to the current rotor position, and generating a three-phase SCR inverter bridge trigger signal;
the speedcoat controller is used for receiving each digital signal sent by the analog-to-digital conversion circuit, generating a corresponding trigger signal according to a preset control algorithm and outputting the trigger signal to the driving circuit;
the driving circuit is used for amplifying power of a trigger control signal output by the speedcoat controller, isolating strong current from weak current, and then outputting the obtained trigger driving signal to the three-phase SCR rectifier bridge and the three-phase SCR inverter bridge respectively to control the work of the SCR.
2. The field synchronous motor control system of claim 1 wherein the field synchronous motor control model further comprises a system protection module comprising a communication fault protection sub-module, a phase change signal latching module and a trigger signal output protection sub-module, wherein:
the communication fault protection submodule is used for monitoring communication between the speedcoat controller and the upper computer, outputting a communication fault signal when a communication fault occurs, and simultaneously sending a locking signal to the rectifier bridge control module and the inverter bridge control module and locking the output of the control signal;
the phase-change locking module is used for receiving the phase-change signal sent by the phase-change switching module, and the phase-change signal is ensured not to be triggered by mistake by adopting a mode of combining an S-R latch and a logic AND gate;
the trigger signal output protection sub-module is used for sending a locking signal to the rectifier bridge control module and the inverter bridge control module in the self-checking process when the excitation synchronous motor control system is started, and locking the output of the control signal.
CN202210503054.4A 2022-05-10 2022-05-10 Excitation synchronous motor control system based on speedcoat Active CN114915232B (en)

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CN203561994U (en) * 2013-11-29 2014-04-23 北京经纬恒润科技有限公司 Motor rapid control prototype (RCP) board card
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