CN118017902B - Low-frequency emergency dragging device - Google Patents
Low-frequency emergency dragging device Download PDFInfo
- Publication number
- CN118017902B CN118017902B CN202410418915.8A CN202410418915A CN118017902B CN 118017902 B CN118017902 B CN 118017902B CN 202410418915 A CN202410418915 A CN 202410418915A CN 118017902 B CN118017902 B CN 118017902B
- Authority
- CN
- China
- Prior art keywords
- permanent magnet
- magnet synchronous
- voltage
- axis
- low
- 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.)
- Active
Links
- 230000001360 synchronised effect Effects 0.000 claims abstract description 117
- 230000009467 reduction Effects 0.000 claims description 46
- 238000000034 method Methods 0.000 claims description 30
- 238000010248 power generation Methods 0.000 claims description 11
- 238000005461 lubrication Methods 0.000 claims description 7
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 238000010606 normalization Methods 0.000 claims description 5
- 230000004044 response Effects 0.000 claims description 5
- 230000009466 transformation Effects 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000011217 control strategy Methods 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 239000003245 coal Substances 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000005672 electromagnetic field Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Landscapes
- Control Of Ac Motors In General (AREA)
Abstract
The invention belongs to the technical field of motors, and particularly relates to a low-frequency emergency dragging device. Comprising the following steps: the device comprises a main shaft of a hoisting machine, a permanent magnet synchronous speed reducing motor, a high-voltage frequency converter connected with a controlled end of the permanent magnet synchronous speed reducing motor through a first control switch, a high-voltage feed cabinet connected with a power end of the high-voltage frequency converter, a low-voltage frequency converter connected with the controlled end of the permanent magnet synchronous speed reducing motor through a second control switch, a low-voltage power supply module connected with the power end of the low-voltage frequency converter through a third control switch and a control unit, wherein the control unit is respectively connected to the first control switch, the second control switch and the third control switch in a control mode. The low-frequency emergency dragging device can greatly improve the working reliability and safety of the low-frequency emergency dragging device, avoid danger and ensure the personal safety and property safety of mine staff.
Description
Technical Field
The invention belongs to the technical field of motors, and particularly relates to a low-frequency emergency dragging device.
Background
In the coal mine production process, a dragging device is generally adopted to lift and drop workers, equipment and materials. The dragging device for coal mine generation scenes is usually a mine hoist, and the dragging device is driven by a motor. The traditional driving method of the dragging device adopts an asynchronous motor acceleration and deceleration device structure to drive the main shaft device of the dragging device, and the system can achieve the aim of low-speed driving, but has a plurality of defects such as complex structure, large volume, large noise, low efficiency, high failure rate and the like, so the permanent magnet synchronous motor low-speed direct-driving dragging device is generated.
Currently, with the development of permanent magnet materials, permanent magnet synchronous motors are increasingly widely used. The driving mode of the permanent magnet synchronous speed reducing motor used by the existing dragging device adopts a high-power high-voltage frequency converter to drive, and the topological diagram of a main loop and a control part of the driving mode is shown in figure 1, namely the main loop consists of a high-voltage feed cabinet +K, a four-quadrant high-voltage frequency converter +GBP, a permanent magnet synchronous motor +M, a main shaft of a hoisting machine and the like, wherein the permanent magnet synchronous motor +M is in transmission connection with the main shaft of the emergency dragging device through a coupling, a controlled end of the permanent magnet synchronous motor +M is electrically connected to a signal output end of the four-quadrant high-voltage frequency converter +GBP, and a power end of the four-quadrant high-voltage frequency converter +GBP is electrically connected to the high-voltage feed cabinet +K. The tacho closed loop uses a-BM rotary transformer or encoder element. The dragging mode adopts a one-to-one method, namely a frequency converter drives a permanent magnet synchronous motor.
However, in the actual production and use process, the high-power high-voltage permanent magnet synchronous motor direct-drive type dragging device driven by the high-voltage frequency converter has the following technical problems:
1. the high-voltage frequency converter fails to cause system shutdown;
2. The fault of the high-voltage switch cabinet causes the high-voltage frequency converter to have no main loop power supply;
3. the power supply faults such as high-voltage power failure of a user cause no power supply of the high-voltage system;
4. abnormal power supply circuit causes that the main loop system can not work normally, etc.
Since the dragging device applied to the mine is used for lifting coal, gangue, lowering materials, lifting personnel and various mining equipment. The method is a throat link of a mine production system, the occupied position in mine production is very important, and particularly when a vertical shaft is lifted, if any technical problem occurs, the production is affected slightly, serious loss of national property is caused and even serious casualties of human bodies are caused.
Disclosure of Invention
In order to solve one or more of the above technical problems, the present invention proposes to provide a permanent magnet synchronous speed reduction motor of a dragging device with a high-voltage frequency converter and a low-voltage frequency converter at the same time, so that the low-voltage frequency converter is used for controlling the permanent magnet synchronous speed reduction motor when the high-voltage frequency converter cannot work normally. To this end, the present invention provides a solution in the following aspects.
The invention provides a low-frequency emergency dragging device, which comprises: the main shaft of the elevator is used for driving the load to move up and down; the permanent magnet synchronous speed reducing motor is in transmission connection with the main shaft of the elevator and is used for driving the main shaft of the elevator to rotate; the high-voltage frequency converter is connected to the controlled end of the permanent magnet synchronous speed reduction motor through a first control switch and is used for driving the permanent magnet synchronous speed reduction motor to rotate; the output end of the high-voltage feed cabinet is connected to the power end of the high-voltage frequency converter and is used for providing electric energy for the high-voltage frequency converter; the low-voltage frequency converter is connected to the controlled end of the permanent magnet synchronous speed reduction motor through a second control switch and is used for driving the permanent magnet synchronous speed reduction motor to rotate; the low-voltage power supply module is connected to the power end of the low-voltage frequency converter through a third control switch and is used for providing electric energy for the low-voltage frequency converter; the control unit is used for respectively controlling the control strategies of the low-frequency emergency dragging device connected to the first control switch, the second control switch and the third control switch to be as follows: the first control switch is controlled to be closed, and the second control switch and the third control switch are controlled to be opened in response to the high-voltage frequency converter and the high-voltage feed cabinet being normal; and responding to the fault of the high-voltage frequency converter or the high-voltage feed cabinet, controlling the second control switch and the third control switch to be closed, and controlling the first control switch to be opened.
In one embodiment, the permanent magnet synchronous speed reduction motor is controlled by adopting a FOC vector control method, and the FOC vector control method comprises the following steps:
obtaining d-axis actual stator current of permanent magnet synchronous speed reduction motor And q-axis actual stator current/>And obtain the position/>, of the rotor of the permanent magnet synchronous speed reduction motorSum angular velocity/>；
The angular speed is adjusted according to the power frequency and the load of the permanent magnet synchronous speed reducing motorCompensating and obtaining the compensated angular velocity/>; Compensated angular velocity/>The calculated expression of (2) is as follows:
;
In the method, in the process of the invention, For values after normalization of the mains frequency,/>Normalizing the load of the permanent magnet synchronous speed reducing motor;
According to a given reference angular velocity And compensated angular velocity/>Difference/>Obtaining q-axis reference currentAnd combine the d-axis actual stator current/>The q-axis actual stator current/>And driving the permanent magnet synchronous speed reducing motor.
In one embodiment, the high-voltage inverter and the low-voltage inverter control the permanent magnet synchronous speed reduction motor according to the same UF characteristic value, wherein the UF characteristic value refers to a ratio of a power supply voltage to a power supply frequency of the permanent magnet synchronous speed reduction motor.
In one embodiment, the d-axis actual stator current of the permanent magnet synchronous speed reduction motor is obtainedAnd q-axis actual stator current/>Comprising the following steps:
Three-phase stator current of permanent magnet synchronous speed reducing motor is collected 、/>And/>And Clark conversion is carried out on the stator current to obtain the actual stator current/>, of the alpha axis, of the permanent magnet synchronous speed reduction motorAnd actual stator current of beta axis/>；
Actual stator current to alpha-axis of permanent magnet synchronous speed-reducing motorAnd actual stator current of beta axis/>Performing Park conversion to obtain d-axis actual stator current/>, of the permanent magnet synchronous speed reduction motorAnd q-axis actual stator current/>；
The q-axis reference current is obtainedAnd combine the d-axis actual stator current/>The q-axis actual stator current/>Driving the permanent magnet synchronous speed reduction motor includes:
Given d-axis reference current And will give the reference angular velocity/>And compensated angular velocity/>Is the difference of (2)Inputting a first PI controller to obtain q-axis reference current/>；
According to the d-axis actual stator currentQ-axis actual stator current/>Q-axis reference current/>D-axis reference currentObtaining d-axis current bias value/>And q-axis current bias value/>; And d-axis current bias value/>And q-axis current bias value/>Respectively input into a second PI controller and a third PI controller so as to obtain d-axis reference voltage/>And q-axis reference voltage/>；
For the obtained d-axis reference voltageAnd q-axis reference voltage/>Performing Park inverse transformation to obtain/>Reference voltage of shaft/>And/>Reference voltage of shaft/>; And will/>Reference voltage of shaft/>And/>Reference voltage of shaft/>Inputting the three-phase PWM signals to an SVPWM module to generate three-phase PWM signals;
And controlling the on-off of the three-phase inverter by using the generated three-phase PWM signals, so as to drive the permanent magnet synchronous speed-reducing motor.
In one embodiment, the low voltage power supply module includes a power generation device and a step-up rectifier transformer, wherein a power output of the power generation device is connected to a primary side of the step-up rectifier transformer, and a secondary side of the step-up rectifier transformer is connected to the third control switch.
In one embodiment, the motor further comprises a first position sensor and a second position sensor which are arranged on the rotor of the permanent magnet synchronous speed reduction motor, wherein the signal output end of the first position sensor is connected with the high-voltage frequency converter, and the signal output end of the second position sensor is connected with the low-voltage frequency converter.
In one embodiment, a hydraulic station for providing hydraulic power to the low frequency emergency traction device is also included.
In one embodiment, a lubrication station for providing lubrication oil to the low frequency emergency traction device is also included.
The invention has the technical effects that: the low-frequency emergency dragging device is provided with the low-voltage frequency converter and the low-voltage power supply module, so that when the high-voltage frequency converter fails or the high-voltage switch cabinet fails, the low-voltage frequency converter can be used for controlling the permanent magnet synchronous speed reduction motor of the low-frequency emergency dragging device to run at a low speed, and the load on the main shaft of the elevator is subjected to low-speed emergency lifting, thereby greatly improving the reliability and safety of the work of the low-frequency emergency dragging device, avoiding danger and guaranteeing the personal safety and property safety of mine workers.
Further, in the prior art, a traditional FPC vector control method is generally adopted when the permanent magnet synchronous motor is controlled, but the traditional FOC vector control method needs to calculate the angular velocity difference value between the reference angular velocity and the actual angular velocity of the motor when the motor is controlled, and takes the angular velocity difference value between the reference angular velocity and the actual angular velocity of the motor as the input of an angular velocity loop PI controller module in the FOC vector control to carry out the FOC vector control on the motor; the rotating speed of the permanent magnet synchronous speed reducing motor is inversely proportional to the load of the permanent magnet synchronous speed reducing motor and is directly proportional to the power frequency of the permanent magnet synchronous speed reducing motor, and the load and the power frequency of the permanent magnet synchronous speed reducing motor can be changed during actual working; for the same angular velocity differenceWhen the power frequency is larger than the rated frequency, the rotating speed variation amplitude of the motor can be caused to be larger, when the power frequency is smaller than the rated frequency, the rotating speed variation amplitude of the motor can be caused to be smaller, when the motor load is larger than the rated load, the rotating speed variation amplitude of the motor can be caused to be larger, when the motor load is smaller than the rated load, the control step length of each control of the rotating speed of the motor is inconsistent, the control is unstable, and the control precision is not high. The improved FOC vector control method does not carry out FOC vector control according to the difference value between the reference angular velocity and the actual angular velocity of the motor, but considers the influence of power frequency and motor load on the rotating speed of the motor, and the rotating speed variation of the motor is in direct proportion to the angular velocity difference value input into the angular velocity loop PI controller module after the motor is controlled by adopting the FOC vector control method; compensating the obtained original motor angular velocity, and compensating the compensated angular velocity/>The difference between the reference angular velocity and the angular velocity is used as the input of an angular velocity loop PI controller module in FOC vector control, and when the frequency is larger, the compensated angular velocity/>The angular speed difference value of the input angular speed loop PI controller module is reduced, so that the phenomenon that the rotating speed variation of the motor is larger after the motor is controlled is avoided; when the frequency is too small, the compensated angular velocity/>The angular speed difference value of the input angular speed loop PI controller module is increased, so that the change of the rotating speed of the motor after the motor is controlled is prevented from being smaller; similarly, when the load is smaller, the compensated angular velocity/>The angular speed difference value of the input angular speed loop PI controller module is reduced, so that the phenomenon that the rotating speed variation of the motor is larger after the motor is controlled is avoided; when the load is larger, the compensated angular velocity/>The angular speed difference value of the input angular speed loop PI controller module is increased, so that the change of the rotating speed of the motor after the motor is controlled is prevented from being smaller; therefore, the step length of each control of the rotating speed of the permanent magnet synchronous speed reduction motor tends to be consistent, the control precision is higher, the control of the motor is more stable, and the working reliability and stability of the low-frequency emergency dragging device are improved.
Drawings
The above, as well as additional purposes, features, and advantages of exemplary embodiments of the present invention will become readily apparent from the following detailed description when read in conjunction with the accompanying drawings. Several embodiments of the present invention are illustrated by way of example, and not by way of limitation, in the figures of the accompanying drawings and in which:
FIG. 1 schematically illustrates a prior art low frequency emergency drive system connection diagram;
FIG. 2 schematically illustrates a low frequency emergency drive system connection diagram of an embodiment of the present invention;
FIG. 3 schematically illustrates a low frequency emergency traction device control strategy flow chart of an embodiment of the present invention;
fig. 4 schematically shows a stator voltage-frequency characteristic curve one of an embodiment of the invention;
fig. 5 schematically shows a stator voltage-frequency characteristic curve two of an embodiment of the invention;
FIG. 6 schematically illustrates a FOC vector control method flowchart of an embodiment of the present invention;
FIG. 7 schematically illustrates the acquisition of the actual stator current of the d-axis of the permanent magnet synchronous speed-reducing motor according to an embodiment of the present invention And q-axis actual stator current/>A method flow chart of (a);
FIG. 8 schematically illustrates a flow chart of a method of driving a permanent magnet synchronous motor according to a q-axis reference current in accordance with an embodiment of the present invention;
fig. 9 schematically illustrates a schematic diagram of a FOC vector control method according to an embodiment of the present invention.
Detailed Description
The principles and spirit of the present invention will be described below with reference to several exemplary embodiments. It should be understood that these embodiments are presented merely to enable those skilled in the art to better understand and practice the invention and are not intended to limit the scope of the invention in any way. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
Low frequency emergency drive embodiment:
as shown in fig. 2, the low-frequency emergency dragging device of the invention comprises an operation table 10, a control unit 11, a main shaft 15 of a lifter, a high-voltage frequency converter 2, a low-voltage frequency converter 7 and a permanent magnet synchronous speed reduction motor 9 in transmission connection with the main shaft 15 of the lifter, wherein the high-voltage frequency converter 2 and the low-voltage frequency converter 7 are respectively connected with a controlled end of the permanent magnet synchronous speed reduction motor 9 through a first control switch 301 and a second control switch 302, a power end of the high-voltage frequency converter 2 is connected to a high-voltage feed cabinet 1, a power end of the low-voltage frequency converter 7 is connected to a low-voltage power module through a third control switch 6, and the low-voltage frequency converter 7 is also connected to a brake resistor 8; the first control switch 301 and the second control switch 302 are both arranged inside the switch cabinet 3; the control unit 11 controls the connections to the first control switch 301, the second control switch 302 and the third control switch 6, respectively. The control unit 11 may be a single chip microcomputer, a PLC or other devices, and preferably, the control unit 11 in this embodiment is a programmable controller.
The working principle of the low-frequency emergency dragging device is as follows:
When the permanent magnet synchronous speed-reducing motor 9 is in an electric state, the rectification feedback module of the high-voltage frequency converter 2 rectifies an alternating current power supply of a power grid into direct current through the high-voltage feed cabinet, and then the direct current is inverted into an alternating current power supply with specified frequency and specified voltage by the inversion part to control the permanent magnet synchronous speed-reducing motor 9. When the permanent magnet synchronous speed reduction motor 9 is in a power generation state, the inversion part of the high-voltage frequency converter 2 can complete the rectification function, and the rectification feedback module of the high-voltage frequency converter 2 inverts according to the frequency phase of the power grid, so that the electric energy can be fed back to the power grid in a high quality through the high-voltage feed cabinet. Meanwhile, the power unit also has fault protection functions of overvoltage, undervoltage, voltage equalizing, overcurrent, open-phase, overheat and the like.
As shown in fig. 3, the control strategy of the low frequency emergency traction device of the present invention includes:
S301, controlling the first control switch 301 to be closed and controlling the first control switch 302 and the third control switch 6 to be opened in response to the high-voltage frequency converter 2 and the high-voltage feed cabinet to be normal;
When the first control switch 301 is closed and the first control switch 302 and the third control switch 6 are opened, the operation of the permanent magnet synchronous speed reduction motor 9 is controlled by the high voltage inverter 2.
And S302, in response to the fault of the high-voltage frequency converter 2 or the high-voltage feed cabinet, the first control switch 302 and the third control switch 6 are controlled to be closed, and the first control switch 301 is controlled to be opened.
When the first control switch 301 is opened, the first control switch 302 and the third control switch 6 are closed, the low-voltage frequency converter 7 controls the operation of the permanent magnet synchronous speed reducing motor 9, so that the load on the main shaft 15 of the elevator can be lifted in a low-speed emergency.
In the embodiment, when the high-voltage frequency converter 2 or the low-voltage frequency converter 7 controls the permanent magnet synchronous speed reducing motor 9, a FOC vector control method is adopted. Because the permanent magnet rotor generates a constant electromagnetic field, when the stator is energized with a three-phase symmetrical sine wave alternating current, a rotating magnetic field is generated. The two magnetic fields interact to generate electromagnetic force to drive the rotor to rotate. If the frequency and phase of the stator three-phase power supply can be changed, the rotation speed and position of the rotor can be changed. Therefore, the control of the permanent magnet synchronous motor 9 in this embodiment is also similar to that of a three-phase asynchronous motor, and the FOC vector control method is adopted.
The permanent magnet synchronous speed-reducing motor is generally rated at about 50HZ, and a stator voltage-frequency characteristic curve of the conventional high-voltage inverter 2 using FOC vector control is shown in fig. 4, which is described by taking 50HZ as an example. The permanent magnet rotor generates a constant electromagnetic field, and the magnetic flux and rated torque of the permanent magnet synchronous speed-reducing motor 9 remain unchanged in a linear relationship. At this time, the UF characteristic value C of the permanent magnet synchronous motor 9 is defined as the ratio of its power supply voltage to power supply frequency. The above UF characteristic value is also required to be followed when the low-voltage inverter 7 is adopted for control, and only if the characteristic value C is ensured to be unchanged, the permanent magnet synchronous speed reduction motor 9 can be driven to operate under various load conditions when the low-voltage inverter 7 is switched.
The rated voltage of the low-voltage frequency converter 7 is 7.5% -12% of the rated voltage of the permanent magnet synchronous speed-reducing motor 9, and the rated voltage of the low-voltage frequency converter 7 is selected to be 450-690V by taking the permanent magnet synchronous speed-reducing motor 9 with the rated voltage of 6KV as an example, and C=U1/F1 is a constant value, so that the higher the rated voltage of the low-voltage frequency converter 7 is selected, the higher the corresponding low-frequency operating frequency and operating speed are relatively. As shown in fig. 5, if the rated voltage is 6KV, the rated voltage of the low-voltage inverter 7 is selected to be 660V, and the operating frequency corresponds to 0-5.5HZ. Therefore, a low-voltage frequency converter with rated voltage of 660V and rated frequency of 5.5HZ and rated motor power of 660Pe/6000 can be selected, namely, the low-voltage frequency converter is based on 11% of the rated power of the permanent magnet synchronous speed reduction motor 9.
According to the low-frequency emergency dragging device, due to the arrangement of the low-voltage frequency converter 7 and the low-voltage power supply module, when the high-voltage frequency converter 2 fails or the high-voltage switch cabinet fails, the low-voltage frequency converter 7 can be used for controlling the permanent magnet synchronous speed reducing motor 9 of the low-frequency emergency dragging device to run at a low speed, and the load on the main shaft 15 of the elevator is subjected to low-speed emergency lifting, so that danger is avoided, and the personal safety and property safety of mine workers are ensured.
In the above embodiments, it is mentioned that the permanent magnet synchronous speed reduction motor 9 is controlled by the FOC vector control method, as shown in fig. 6, and in one embodiment, the FOC vector control method includes:
s601, obtaining the d-axis actual stator current of the permanent magnet synchronous speed reduction motor 9 And q-axis actual stator current/>And obtains the position/>, of the rotor of the permanent magnet synchronous speed reduction motor 9Sum angular velocity/>；
There are various methods for obtaining the position θ and angular velocity ω of the rotor of the permanent magnet synchronous motor 9, for example, according to the actual stator current of the permanent magnet synchronous motor 9α axisActual stator current of beta axis/>Actual stator voltage of alpha axis/>Actual stator voltage of beta axis/>Calculating to obtain the position theta and the angular velocity omega of the rotor; a position sensor may be mounted on the rotor of the permanent magnet synchronous motor 9 to measure the position θ and the angular velocity ω of the rotor in real time.
S602, according to the power frequency and the load of the permanent magnet synchronous speed reducing motor 9, the angular speed is adjustedCompensating and obtaining the compensated angular velocity/>; Compensated angular velocity/>The calculated expression of (2) is as follows:
（1）
In the formula (1), the components are as follows, For values after normalization of the mains frequency,/>Values after normalizing the load of the permanent magnet synchronous speed reduction motor 9; the value after the normalization of the power supply frequency is equal to the actual power supply frequency of the permanent magnet synchronous speed reducing motor 9 divided by the rated power supply frequency of the permanent magnet synchronous speed reducing motor 9; the value after the load normalization is equal to the actual load of the permanent magnet synchronous speed reduction motor 9 divided by the rated load of the permanent magnet synchronous speed reduction motor 9.
S603, according to the given reference angular velocityAnd compensated angular velocity/>Difference/>Obtaining q-axis reference current/>And combine the d-axis actual stator current/>The q-axis actual stator current/>The permanent magnet synchronous speed reducing motor 9 is driven.
In the above embodiments, it is mentioned that the d-axis actual stator current of the permanent magnet synchronous reducing motor 9 is obtainedAnd q-axis actual stator current/>In one embodiment, as shown in FIG. 7, the d-axis actual stator current/>, of the permanent magnet synchronous speed-reducing motor 9 is obtainedAnd q-axis actual stator current/>Comprising the following steps:
s701, collecting three-phase stator current of permanent magnet synchronous speed reduction motor 9 、/>And/>Clark conversion is carried out on the stator current to obtain the actual stator current/>, of the 9 alpha shaft of the permanent magnet synchronous speed reduction motorAnd actual stator current of beta axis/>；
The three-phase stator current of the permanent magnet synchronous speed reducing motor 9 can be collected through a current transformer.
S702, actual stator current of alpha axis of permanent magnet synchronous speed reduction motor 9And actual stator current of beta axis/>Performing Park conversion to obtain d-axis actual stator current/>, of the permanent magnet synchronous speed reduction motor 9And q-axis actual stator current/>。
The above embodiment refers to obtaining q-axis reference currentAnd combine the d-axis actual stator current/>The q-axis actual stator current/>Driving the permanent magnet synchronous motor 9, as shown in fig. 8, in one embodiment the q-axis reference current/>, is obtainedAnd combine the d-axis actual stator current/>The q-axis actual stator current/>Driving the permanent magnet synchronous gear motor 9 includes:
s801, given d-axis reference current And will give the reference angular velocity/>And compensated angular velocity/>Difference/>Inputting a first PI controller to obtain q-axis reference current/>；
S802, according to d-axis actual stator currentQ-axis actual stator current/>Q-axis reference current/>D-axis reference current/>Obtaining d-axis current bias value/>And q-axis current bias value/>; And d-axis current bias value/>And q-axis current bias value/>Respectively input into a second PI controller and a third PI controller so as to obtain d-axis reference voltage/>And q-axis reference voltage/>；
S803, for the obtained d-axis reference voltageAnd q-axis reference voltage/>Performing Park inverse transformation to obtain/>Reference voltage of shaft/>And/>Reference voltage of shaft/>; And will/>Reference voltage of shaft/>And/>Reference voltage of shaft/>Inputting the three-phase PWM signals to an SVPWM module to generate three-phase PWM signals;
s804, the on-off of the three-phase inverter is controlled by using the generated three-phase PWM signal, so as to drive the permanent magnet synchronous speed reducing motor 9.
The schematic diagram of the FOC vector control method in the present invention is shown in fig. 9, and includes an angular velocity loop PI controller module A, d, an axis current loop PI controller module B, q, an axis current loop PI controller module C, an inverse Park transformation module D, SVPWM, an inverter module F, a permanent magnet synchronous motor G, clark transformation module H, park, an angular velocity compensation module J, and an angular velocity and position acquisition module K.
In the prior art, a traditional FPC vector control method is generally adopted when the permanent magnet synchronous motor is controlled, but the traditional FOC vector control method needs to calculate the angular velocity difference value between the reference angular velocity and the actual angular velocity of the motor when the motor is controlled, and takes the angular velocity difference value between the reference angular velocity and the actual angular velocity of the motor as the input of an angular velocity loop PI controller module in the FOC vector control to carry out the FOC vector control on the motor; the rotating speed of the permanent magnet synchronous speed reducing motor is inversely proportional to the load of the permanent magnet synchronous speed reducing motor and is directly proportional to the power frequency of the permanent magnet synchronous speed reducing motor, and the load and the power frequency of the permanent magnet synchronous speed reducing motor can be changed during actual working; for the same angular velocity differenceWhen the power frequency is larger than the rated frequency, the rotating speed variation amplitude of the motor can be caused to be larger, when the power frequency is smaller than the rated frequency, the rotating speed variation amplitude of the motor can be caused to be smaller, when the motor load is larger than the rated load, the rotating speed variation amplitude of the motor can be caused to be larger, when the motor load is smaller than the rated load, the control step length of each control of the rotating speed of the motor is inconsistent, the control is unstable, and the control precision is not high. The improved FOC vector control method does not carry out FOC vector control according to the difference value between the reference angular velocity and the actual angular velocity of the motor, but considers the influence of power frequency and motor load on the rotating speed of the motor, and the rotating speed variation of the motor is in direct proportion to the angular velocity difference value input into the angular velocity loop PI controller module after the motor is controlled by adopting the FOC vector control method; compensating the obtained original motor angular velocity, and compensating the compensated angular velocity/>The difference between the reference angular velocity and the angular velocity is used as the input of an angular velocity loop PI controller module in FOC vector control, and when the frequency is larger, the compensated angular velocity/>The angular speed difference value of the input angular speed loop PI controller module is reduced, so that the phenomenon that the rotating speed variation of the motor is larger after the motor is controlled is avoided; when the frequency is too small, the compensated angular velocity/>The angular speed difference value of the input angular speed loop PI controller module is increased, so that the change of the rotating speed of the motor after the motor is controlled is prevented from being smaller; similarly, when the load is smaller, the compensated angular velocity is causedThe angular speed difference value of the input angular speed loop PI controller module is reduced, so that the phenomenon that the rotating speed variation of the motor is larger after the motor is controlled is avoided; when the load is larger, the compensated angular velocity/>The angular speed difference value of the input angular speed loop PI controller module is increased, so that the change of the rotating speed of the motor after the motor is controlled is prevented from being smaller; therefore, the step length of each control of the rotating speed of the permanent magnet synchronous speed reduction motor tends to be consistent, the control precision is higher, the control of the motor is more stable, and the working reliability and stability of the low-frequency emergency dragging device are improved.
The low-frequency emergency dragging device is provided with the low-voltage frequency converter and the low-voltage power supply module, so that when the high-voltage frequency converter fails or the high-voltage switch cabinet fails, the low-voltage frequency converter can be used for controlling the permanent magnet synchronous speed reduction motor of the low-frequency emergency dragging device to run at a low speed, and the load on the main shaft of the elevator is subjected to low-speed emergency lifting, thereby greatly improving the reliability and safety of the work of the low-frequency emergency dragging device, avoiding danger and guaranteeing the personal safety and property safety of mine workers.
In the above embodiments it was mentioned that the power supply side of the low voltage converter 7 is connected to the low voltage power supply module via the third control switch 6, and in one embodiment the low voltage power supply module comprises a power generation device 4 and a step-up rectifier transformer 5, wherein the power output side of the power generation device 4 is connected to the primary side of the step-up rectifier transformer 5 and the secondary side of the step-up rectifier transformer 5 is connected to the third control switch 6. The power generation device 4 may be a photovoltaic power generation device, a wind power generation device or a diesel generator, and preferably, the power generation device 4 in this embodiment adopts a diesel generator.
In order to acquire the rotation speed and the position of the rotor of the permanent magnet synchronous motor to control the permanent magnet synchronous motor, in one embodiment, the low frequency emergency dragging device of the present invention further includes a first position sensor BM1 and a second position sensor BM2 mounted on the rotor of the permanent magnet synchronous motor; wherein the signal output end of the first position sensor BM1 is connected with the high-voltage frequency converter 2, and the signal output end of the second position sensor BM2 is connected with the low-voltage frequency converter 7.
In order to provide stable hydraulic power to the hoisting machine, the low frequency emergency traction device of the invention in one embodiment also comprises a hydraulic station 13.
In order to ensure that the bearings of the permanent magnet elevator spindle 15, the bearings of the spindle of the synchronous gear motor, the gears of the elevator spindle 15 and the gears of the spindle of the synchronous gear motor work well, in one embodiment a lubrication station 14 is also included.
In order to provide a stable power supply for the hydraulic station and the lubrication station for stable operation, in one embodiment, a low-voltage auxiliary power cabinet 12 is further included, and the output end of the low-voltage auxiliary power cabinet 12 is connected to the hydraulic station 13 and the lubrication station 14 of the low-frequency emergency dragging device.
In the description of the present specification, the meaning of "a plurality", "a number" or "a plurality" is at least two, for example, two, three or more, etc., unless explicitly defined otherwise.
While various embodiments of the present invention have been shown and described herein, it will be obvious to those skilled in the art that such embodiments are provided by way of example only. Many modifications, changes, and substitutions will now occur to those skilled in the art without departing from the spirit and scope of the invention. It should be understood that various alternatives to the embodiments of the invention described herein may be employed in practicing the invention.
Claims (6)
1. A low frequency emergency traction device, comprising: the main shaft of the elevator is used for driving the load to move up and down; the permanent magnet synchronous speed reducing motor is in transmission connection with the main shaft of the elevator and is used for driving the main shaft of the elevator to rotate; the high-voltage frequency converter is connected to the controlled end of the permanent magnet synchronous speed reduction motor through a first control switch and is used for driving the permanent magnet synchronous speed reduction motor to rotate; the output end of the high-voltage feed cabinet is connected to the power end of the high-voltage frequency converter and is used for providing electric energy for the high-voltage frequency converter;
The low-voltage frequency converter is connected to the controlled end of the permanent magnet synchronous speed reduction motor through a second control switch and is used for driving the permanent magnet synchronous speed reduction motor to rotate; the low-voltage power supply module is connected to the power end of the low-voltage frequency converter through a third control switch and is used for providing electric energy for the low-voltage frequency converter; a control unit controlling the first control switch, the second control switch and the third control switch; the control strategy of the low-frequency emergency dragging device is as follows: the first control switch is controlled to be closed, and the second control switch and the third control switch are controlled to be opened in response to the high-voltage frequency converter and the high-voltage feed cabinet being normal; the second control switch and the third control switch are controlled to be closed and the first control switch is controlled to be opened in response to the fault of the high-voltage frequency converter or the high-voltage feed cabinet;
the permanent magnet synchronous speed reducing motor is controlled by adopting an FOC vector control method, and the FOC vector control method comprises the following steps:
obtaining d-axis actual stator current of permanent magnet synchronous speed reduction motor And q-axis actual stator current/>And obtain the position/>, of the rotor of the permanent magnet synchronous speed reduction motorSum angular velocity/>；
The angular speed is adjusted according to the power frequency and the load of the permanent magnet synchronous speed reducing motorCompensating and obtaining the compensated angular velocity/>；
Compensated angular velocityThe calculated expression of (2) is as follows:
；
In the method, in the process of the invention, For values after normalization of the mains frequency,/>Normalizing the load of the permanent magnet synchronous speed reducing motor;
According to a given reference angular velocity And compensated angular velocity/>Difference/>Obtaining q-axis reference current/>And combine the d-axis actual stator current/>The q-axis actual stator current/>Driving a permanent magnet synchronous speed reducing motor;
The d-axis actual stator current of the permanent magnet synchronous speed reduction motor is obtained And q-axis actual stator current/>Comprising the following steps:
Three-phase stator current of permanent magnet synchronous speed reducing motor is collected 、/>And/>And Clark conversion is carried out on the stator current to obtain the actual stator current/>, of the alpha axis, of the permanent magnet synchronous speed reduction motorAnd actual stator current of beta axis/>；
Actual stator current to alpha-axis of permanent magnet synchronous speed-reducing motorAnd actual stator current of beta axis/>Performing Park conversion to obtain d-axis actual stator current/>, of the permanent magnet synchronous speed reduction motorAnd q-axis actual stator current/>；
The q-axis reference current is obtainedAnd combine the d-axis actual stator current/>The q-axis actual stator currentDriving the permanent magnet synchronous speed reduction motor includes:
Given d-axis reference current And will give the reference angular velocity/>And compensated angular velocity/>Difference/>Inputting a first PI controller to obtain q-axis reference current/>；
According to the d-axis actual stator currentQ-axis actual stator current/>Q-axis reference current/>D-axis reference current/>Obtaining d-axis current bias value/>And q-axis current bias value/>; And d-axis current bias value/>And q-axis current bias value/>Respectively input into a second PI controller and a third PI controller so as to obtain d-axis reference voltage/>And q-axis reference voltage；
For the obtained d-axis reference voltageAnd q-axis reference voltage/>Performing Park inverse transformation to obtain/>Reference voltage of shaft/>And/>Reference voltage of shaft/>; And will/>Reference voltage of shaft/>And/>Reference voltage of shaft/>Inputting the three-phase PWM signals to an SVPWM module to generate three-phase PWM signals;
And controlling the on-off of the three-phase inverter by using the generated three-phase PWM signals, so as to drive the permanent magnet synchronous speed-reducing motor.
2. The low frequency emergency traction device of claim 1, wherein the high voltage inverter and the low voltage inverter control the permanent magnet synchronous motor following the same UF characteristic value, the UF characteristic value being a ratio of a power supply voltage to a power supply frequency of the permanent magnet synchronous motor.
3. The low frequency emergency traction device of claim 1, wherein the low frequency power supply module comprises a power generation device and a boost rectifier transformer, wherein a power output of the power generation device is connected to a primary side of the boost rectifier transformer, and a secondary side of the boost rectifier transformer is connected to the third control switch.
4. The low frequency emergency traction device of claim 1, further comprising a first position sensor and a second position sensor mounted on a rotor of the permanent magnet synchronous motor, wherein a signal output of the first position sensor is connected to the high voltage inverter and a signal output of the second position sensor is connected to the low voltage inverter.
5. The low frequency emergency traction device of claim 1, further comprising a hydraulic station for providing hydraulic power to the low frequency emergency traction device.
6. The low frequency emergency traction device of any of claims 1-5, further comprising a lubrication station for providing lubrication oil to the low frequency emergency traction device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410418915.8A CN118017902B (en) | 2024-04-09 | 2024-04-09 | Low-frequency emergency dragging device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410418915.8A CN118017902B (en) | 2024-04-09 | 2024-04-09 | Low-frequency emergency dragging device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN118017902A CN118017902A (en) | 2024-05-10 |
| CN118017902B true CN118017902B (en) | 2024-06-18 |
Family
ID=90956731
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410418915.8A Active CN118017902B (en) | 2024-04-09 | 2024-04-09 | Low-frequency emergency dragging device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN118017902B (en) |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN220393033U (en) * | 2023-08-04 | 2024-01-26 | 洛阳九亿重工集团有限公司 | Low-frequency emergency dragging device of permanent magnet gear motor direct-drive elevator |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2777615B2 (en) * | 1991-02-21 | 1998-07-23 | エクセン株式会社 | Control device for synchronous motor |
| US20110006720A1 (en) * | 2009-07-08 | 2011-01-13 | Innosave Ltd. | Method and apparatus for ac motor control |
| WO2023032182A1 (en) * | 2021-09-06 | 2023-03-09 | 三菱電機株式会社 | Electric motor monitoring device and electric motor monitoring method |
| CN114024382B (en) * | 2021-11-05 | 2023-01-13 | 中国航发西安动力控制科技有限公司 | Permanent magnet synchronous motor single-rotating-speed-loop speed regulating device based on load torque feedback |
| CN116743017A (en) * | 2023-06-15 | 2023-09-12 | 北京航空航天大学 | Reliable starting system for large-inertia load permanent magnet motor without position sensor control |
-
2024
- 2024-04-09 CN CN202410418915.8A patent/CN118017902B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN220393033U (en) * | 2023-08-04 | 2024-01-26 | 洛阳九亿重工集团有限公司 | Low-frequency emergency dragging device of permanent magnet gear motor direct-drive elevator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN118017902A (en) | 2024-05-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101031719B (en) | Transmission chain for wind power equipment and method for controlling rotation speed or torque | |
| CN102080628B (en) | Method and apparatus for controlling wind turbine | |
| CN109839830B (en) | Power level analog control method and device of three-phase alternating current motor | |
| EP2448079A2 (en) | Method and System for Providing Increased Turbine Output for Doubly Fed Induction Generator | |
| CN101304234A (en) | Power converters | |
| CN108900136A (en) | A kind of multiphase Frac unit electric driving control system | |
| US20130016537A1 (en) | Method for controlling a frequency converter and frequency converter | |
| CN101330273B (en) | Method for automatically hoisting torque of universal frequency converter base on active current component | |
| JP2007195315A (en) | Method and apparatus for controlling operation of wind turbine generator system | |
| CN112054729A (en) | Permanent magnet motor control method suitable for low-speed direct-drive elevator | |
| CN104052356A (en) | Variable-speed constant frequency electricity generation control device and electricity generation method based on brushless doubly-fed motor | |
| WO2013097374A1 (en) | Electric dynamometer | |
| CN101340174B (en) | System asynchronously implementing frequency conversion and speed regulation of rotor by dragging multiple motors with inverter | |
| CN100468908C (en) | Rotary electromagnetic type uniform tidal current controller | |
| CN103259476B (en) | Frequency conversion alternating current generation system control method with voltage harmonic suppression function | |
| CN100589318C (en) | A reverser for driving four electromotor asynchronization and realizing rotor frequency conversion speed-adjusting system | |
| CN220393033U (en) | Low-frequency emergency dragging device of permanent magnet gear motor direct-drive elevator | |
| CN105024602A (en) | Stator double-winding asynchronous motor power generation system and control method | |
| EP2017953A2 (en) | Variable speed drive system | |
| CN106470001B (en) | A kind of frequency converter and electric machine control system | |
| CN118017902B (en) | Low-frequency emergency dragging device | |
| CN113517696A (en) | Harmonic elimination equipment of island mode open winding double-fed wind power generation micro-grid system | |
| CN110112941A (en) | Inverter | |
| CN103780194B (en) | A kind of method for controlling speed regulation of double feedback electric engine | |
| CN104779856A (en) | Doubly-fed shaft generator system |
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 | ||
| GR01 | Patent grant |