CN1578099A - Electric power changing device - Google Patents
Electric power changing device Download PDFInfo
- Publication number
- CN1578099A CN1578099A CNA2004100598628A CN200410059862A CN1578099A CN 1578099 A CN1578099 A CN 1578099A CN A2004100598628 A CNA2004100598628 A CN A2004100598628A CN 200410059862 A CN200410059862 A CN 200410059862A CN 1578099 A CN1578099 A CN 1578099A
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- power
- current
- value
- braking
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Abstract
The power converter controls the current flowing a motor according to a prescribed current command value when braking the motor, while detecting or calculating a converter output electricity for controlling the frequency of an output voltage so that the electricity comes to be a prescribed power command value. Here, an excitation current is set at about a rated current, and a torque current is set at a value sufficiently smaller than the excitation current. No power control is performed during operation of the motor, but the power command value is set to be zero or 5-6% of nominal power during braking.
Description
Technical field
The present invention relates to a kind of power-converting device that comprises the vector control apparatus that is used for the speed Control induction motor.
Background technology
Do not possess regeneration function conventional art power-converting device as shown in Figure 8.In Fig. 8, the three-phase alternating voltage that AC power 1 is provided is converted to direct voltage with suitable converter 2, level and smooth with 3 pairs of direct voltages of smmothing capacitor, by inverse converter 4 direct voltage is converted to the three-phase alternating voltage of optional frequency again, be applied on the induction motor 5.
Regenerative current mainly is to produce when making motor deceleration.Therefore, in the power-converting device that does not possess regeneration function, during motor deceleration, or stop to allow it slow down naturally to the power supply of motor, or take to meet the rule that descends according to the load motor rotating speed mode that allows rotary speed instruction slowly descend from converter.Therefore the deceleration of motor, stop time that need be equivalent to freely slow down, thus very slow.When being ω, freely slow down speed reducing ratio d ω/dt of producing as the formula (1) with the mechanical rotation angular speed of motor.J is the moment of inertia (the moment of inertia) of motor and mechanical system in addition, and τ L is a load torque.
J×dω/dt＝-τL (1)
When the load of motor was fan, moment of inertia J can be very big, and d ω/dt (lapse rate ratio) diminishes, and stops to motor, needs dozens of minutes to arrive several hours time.
Therefore, in order to shorten the deceleration time of motor, described in technology in the past such as the patent documentation 1, the input deceleration instruction, frequency instruction is in case descend, with the direct voltage test section 14 among Fig. 8, detect the direct voltage Vdc of smmothing capacitor, reduce frequency instruction value and make direct voltage be no more than setting.
In above-mentioned technology in the past,, the part count of equipment and the burden of software have been increased owing to must measure the direct voltage Vdc of smmothing capacitor.In addition, significantly reduce frequency instruction, be that slip frequency is when negative direction increases, because motor flux reduces, cause the fluctuation of control moment and the increase of regenerating power easily, the converter power output promptly takes place increase to negative direction, the direct voltage Vdc that is easy to generate smmothing capacitor raises.
Patent documentation 1: the spy opens the 2001-333587 communique.
Summary of the invention
Do not need the objective of the invention is to the parts that append of brake resistance and direct current detection, a kind of stable power-converting device that carries out the induction motor braking can be provided.
Power-converting device of the present invention is crossed the electric current of this motor according to given current instruction value control flows when induction motor is braked, and detection or computational transformation device power output, and the frequency of control output voltage makes this power reach the power command value of regulation.At this moment, exciting current is set at the degree of rated current, and torque current is set at abundant littler than exciting current, the value near zero.
Description of drawings
Fig. 1 represents the key diagram of the control part of embodiment 1.
Fig. 2 represents the power-converting device structure chart relevant with embodiment 1.
Fig. 3 represents the key diagram of the d shaft current command calculations portion of embodiment 2.
Fig. 4 represents the key diagram of the power control section of embodiment 4.
Fig. 5 represents the key diagram of embodiment 5 power control section and speed command compensation section.
Fig. 6 represents the key diagram of variation of the speed value of embodiment 5.
Fig. 7 represents the key diagram of the braking control action instruction department of embodiment 6
Fig. 8 represents the key diagram of the power-converting device of conventional art.
Among the figure: the 1-AC power, 2-is along converter, 3-smmothing capacitor, the 4-inverse converter, 5-induction motor, 10-control part, 11-PWM gate pulse calculating part, 12-current detector, 13-voltage detector, 20-voltage instruction calculating part, the 21-coordinate converting section, 22-phase calculation portion, 30-power control section, 31-frequency instruction compensation value calculation portion, 32-power difference calculating part, 33-power instruction calculating part, 34-power calculation portion, 35-frequency instruction value compensation section, the 36-rate limiters, 40-d shaft current control part, 41-d shaft voltage compensation value calculation portion, 42-d shaft current Difference Calculation portion, 43-d shaft current command calculations portion, 44-d shaft voltage instruction compensation section, 50-q shaft current control part, 51-q shaft voltage compensation value calculation portion, 52-q shaft current Difference Calculation portion, 53-q shaft current command calculations portion, 54-q shaft voltage instruction compensation section, 60-braking control action instruction department, 70-speed command compensation section.
Concrete form of implementation
Below adopt accompanying drawing to describe the present invention in detail.
(embodiment 1)
With Fig. 1, Fig. 2 the 1st embodiment of the present invention is described.Fig. 2 is the structure chart of the power-converting device relevant with present embodiment, and Fig. 1 is the major part of Fig. 2, i.e. the details drawing of control part.The different piece of Fig. 2 and Fig. 8 is not possess direct voltage test section 14.
Present embodiment control part 10 is described in detail.In Fig. 1, in frequency instruction value compensation section 35, frequency instruction offset Δ ω and speed value ω r that power control section 30 is calculated
*Addition generates ω r
*, add slip frequency offset ω s as frequency instruction value ω 1
*Frequency of utilization command value ω 1
*, calculate phase theta in phase calculation portion 22
*In control part 30, according to calculating power P, and, obtain the power command value P that provides with power instruction calculating part 33 at power difference calculating part 32 by the 34 detected voltage V of power calculation portion, electric current I
*Deviation, calculate frequency instruction offset Δ ω in frequency instruction compensation value calculation portion 31.Power control section 30 is carried out ON (opening), the OFF (stopping) of action according to the instruction of braking control action instruction department 60.
Then in Fig. 1, utilize frequency instruction value ω 1
*And excitation (d axle) current instruction value Id
*And moment (q axle) current instruction value Iq
*, calculate d shaft voltage instruction when electronic () respectively and the q shaft voltage instructs when electronic () at voltage instruction calculating part 20.D axle, q axle are the rotating coordinate systems with ω 1 rotation in addition.Then on these voltage instruction values, use the d shaft voltage instruction offset Δ d that generates by d shaft current control part 40 and q shaft current control 50
*With q shaft voltage instruction offset Δ q
*Revise in d shaft voltage instruction compensation section 44, q shaft voltage instruction compensation section 54 respectively, correction result is as d shaft voltage command value (during braking) Vd
*, q shaft voltage command value (during braking) Vq
*
D shaft voltage command value Vd
*, q shaft voltage command value Vq
*In coordinate converting section 21, utilize phase theta to be transformed to three-phase alternating voltage command value V
*
At d shaft current control part 40, will be by excitation (d axle) the current instruction value Id of d shaft current command calculations portion 43 generations
*Deviation between 42 calculating of d shaft current Difference Calculation portion and detection d shaft current Id calculates d shaft voltage offset Δ Vd in d shaft voltage compensation value calculation portion 41 again
*At q shaft current control part 50, moment (q axle) the current instruction value Iq that will generate in q shaft current command calculations portion 53
*Deviation between 52 calculating of q shaft current Difference Calculation portion and q shaft current Iq calculates q shaft voltage offset Δ Vq at q shaft voltage compensation calculating part 51 again
*D shaft current control part 40 and q shaft current control part 50 are according to the instruction action of braking control action instruction department 60.
In the present embodiment, excitation (d axle) current instruction value Id
*, Id
*, moment (q axle) current instruction value Iq
*, Iq
*, power instruction P
*, set as follows.When electronic, excitation (d axle) current instruction value Id
*Be set at rated exciting current, moment (q axle) current instruction value Iq
*Use detected torque current and the certain filtered signal of process.In addition, when electronic, power control section 30, d shaft current control part 40, q shaft current control part 50 are failure to actuate.When braking, excitation (d axle) current instruction value Id
*, moment (q axle) current-order Iq
*Identical when electronic, but power control section 30, d shaft current control part 40,50 actions of q shaft current control part, excitation (d axle) current instruction value Id
*Be set at rated current (synthesizing of rated exciting current and rated moment electric current), moment (q axle) current instruction value Iq
*Set for much smaller than excitation (d axle) current instruction value Id
*For example, moment (q axle) current instruction value Iq
*Be set in the negative value below 10% of rated current, for the resultant current I1 that makes d shaft current and q shaft current is no more than setting, moment (q axle) current instruction value Iq
*Be set in rated current+10%～-10% between.
Power command value P
*When electronic, do not carry out power control, during braking power command value P
*Be set at 5%～6% of zero or rated power, when the direct voltage Vdc of smmothing capacitor is excessive, increase power command value P
*This is the cause that because of regeneration the direct voltage of smmothing capacitor is raise in order to prevent, but power command value P
*Cross the highland words, braking moment can disappear, power command value P
*Higher limit as the formula (2), reach the part that 1 impedance of motor consumes.This is because will produce the cause of such retarding moment Δ τ＜0 as the formula (3).Here, τ L is a loading moment, and ω r is the motor rotary speed.
P
*Higher limit≤3 * R1 * ((Id
*) 2+ (Iq
*)
2) (2)
Δτ＝{P-3×R1×(Id
2+Iq
2)}/ωr-τL＜0 (3)
In the present embodiment, during braking power roughly be controlled at zero above on the occasion of.Excitation (d axle) electric current I d is controlled at rated current (rated exciting current several times) in addition, and moment (q axle) electric current I q is controlled to much smaller than excitation (d axle) electric current I d, so regenerating power is mainly by 3 * R1 * Id
2Consume.In addition, braking moment Δ τ produces according to formula (3), can brake motor.And at this moment the excitation of motor (d axle) electric current I d is than the big several times of rated current, so the magnetic flux of motor is in saturation condition and stablizes, braking easily.
In addition, in the present embodiment, detect or calculate the power output of converter, control frequency makes it reach command value, also can detect or calculate direct voltage Vdc, control frequency makes it arrive the value of regulation or is no more than setting, and these can both receive the effect of stablizing deceleration control equally.
In addition, make above-mentioned control action during, the absolute value Be Controlled of the slip frequency ω s of difference must be little more a lot of than specified slip frequency between the output frequency ω 1 of converter and the ω r.Therefore, motor flux and torque fluctuations are very little, may realize stably braking.
(embodiment 2)
Use Fig. 3 that present embodiment is described,, set excitation current instruction value Id in d shaft current command calculations portion 43
*The time, will be from the current instruction value (Id before the braking beginning
*: rated exciting current) switch to the value of braking the current instruction value (rated current) after beginning and set Id by the rate limiters that changes at the appointed time
*Interconversion rate rises to 2 time constant T2 of motor till the rated exciting current in second from 0.The excitation current instruction value can be changed to the required value (rated current) of braking smoothly by the value (rated exciting current) before the braking in the present embodiment, therefore the rapid sudden change of electric current can be suppressed, the rising of the direct voltage Vdc of the fluctuation of power and smmothing capacitor can be suppressed simultaneously.
(embodiment 3)
Present embodiment is described.Only narrate the present embodiment difference from Example 1.In the present embodiment, make excitation current instruction value Id
*Frequency vibration with regulation.Because like this, the exciting current composition is 2 sides of inflow motor also.Therefore in embodiment 1 (formula 2) (formula 3) represented just occur in loss in 1 impedance of motor, but the loss owing to 2 impedances of motor in the present embodiment also takes place, so the retarding moment Δ τ shown in (formula 3) is the bigger value of bearing, the deceleration effect is more obvious.
(embodiment 4)
Adopt Fig. 4 that present embodiment is described.In power control section 30, be provided with the rate limiters 36 of restriction rate of change in the back of frequency instruction compensation value calculation portion 31, it is also passable perhaps before frequency instruction compensation value calculation portion 31 rate limiters to be set.The fluctuation of frequency instruction controlling value Δ ω electric current jumpy, power can be suppressed to follow in the present embodiment, the rapid rising of the direct voltage Vdc of overcurrent and smmothing capacitor can be suppressed.
(embodiment 5)
Adopt Fig. 5, Fig. 6 that present embodiment is described.Only the power control section 30 to Fig. 5 describes with other embodiment differences.In power control section 30, power command value P
*In the time of＞power P, in speed command compensation section 70, do not change speed command, so as shown in Figure 6, power command value P when meaning braking
*During＞power P, ω r
*Do not reduce, remain a steady state value, because such power P specific power command value P
*In the time of little, can suppress because ω r
*Further descend and power is reduced to negative value, can suppress the increase of the direct voltage Vdc of smmothing capacitor simultaneously.
(embodiment 6)
Adopt Fig. 7 that present embodiment is described.In the present embodiment, during the braking beginning, power control section 30, d shaft current control part 40, q shaft current control part 50 slowly move with the rate of change of regulation.With Fig. 7 braking control action instruction department 60 is described.In braking control action instruction department 60, set the value of 0 and 1 before and after braking, its rate of change with the rate limiters regulation is changed.Changing to time of 1 from 0 like this can fully satisfy at normal T2 of the secondary time of motor flux transformation period constant in second.
Next, with from 0 to 1 change on duty with the detected value frequency instruction compensation value calculation portion 31, d shaft voltage compensation value calculation portion 41, q shaft voltage compensation value calculation portion 51 and the difference of command value.Perhaps also can directly multiply by the offset itself that respectively calculates.In addition, also can be according to the limit value of the rate limiters 36 among signal change Fig. 4 of braking control action instruction department 60.This offset for example uses ratio-integration (PI) circuit to calculate.
According to present embodiment, because braking the time does not allow the control instantaneous operation, therefore can suppress the rapid variation of electric current, power, can suppress the rising of the direct voltage Vdc of overcurrent and smmothing capacitor.
As mentioned above, because exciting current is suitable with rated current, the magnetic flux of motor can stably be controlled on the one hand near saturated, produces copper loss on the other hand, and consumes regenerated energy, produces retarding moment.These actions are not to carry out immediately the zero hour in braking, but action at leisure.Therefore, in the present invention, the superpressure and the overcurrent of direct voltage can be prevented on the one hand, the deceleration time of motor can be shortened on the other hand.Owing to do not need blocked impedance, the detection of direct voltage might not need in addition, if the existing inverter that carries out motor voltage, current detecting just need not append parts.
In power-converting device of the present invention, need not to append the direct voltage detection part on the one hand, can prevent the superpressure and the overcurrent of direct voltage, can shorten the deceleration time of motor on the other hand.
Claims (10)
1, a kind of power-converting device, the velocity of rotation of control of induction, it is characterized in that, when braking, be controlled at the electric current that flows in this motor according to given current instruction value, and detect or calculate the converter power output, according to allowing this power become the frequency of the given such control output voltage of power command value.
2, a kind of power-converting device, the velocity of rotation of control of induction, it is characterized in that, when braking, detect or calculate the converter power output, according to allowing this power become the frequency of the given such control output voltage of power command value, be controlled at the electric current that flows in this motor according to this power or this power command value.
3, a kind of power-converting device, the velocity of rotation of control of induction is characterized in that, when braking, according to the deviation between exciting current detected value and the excitation current instruction value, control d shaft voltage command value; According to the deviation between torque current detected value and the torque current command value, control q shaft voltage command value; According to the deviation between this power of electric motor detected value or power calculation value and the power command value, control frequency command value.
4, a kind of power-converting device, the velocity of rotation of control of induction, it is characterized in that, the exciting current in when braking is controlled to the big value of exciting current when electronic, and, detect or computational transformation device power output or converter direct voltage in when braking, according to allowing this power or this direct voltage reach the frequency of the given such control output voltage of command value.
5, a kind of power-converting device, the velocity of rotation of control of induction, it is characterized in that, the exciting current in when braking is controlled to the big value of exciting current when electronic, and with given frequency vibration, and, detect or computational transformation device power output or converter direct voltage in when braking, according to allowing this power or this direct voltage reach the frequency of the given such control output voltage of command value.
6, a kind of power-converting device, the velocity of rotation of control of induction, it is characterized in that, the exciting current in when braking is controlled to the big value of exciting current when electronic, in when braking torque current is controlled to the value littler than rated current, is no more than set-point according to the resultant current of exciting current and torque current and controls like that.
7, power-converting device according to claim 3 is characterized in that, the excitation current instruction value when electronic is as initial value, and the excitation current instruction value when allowing braking increases with given rate of change.
8, power-converting device according to claim 1, it is characterized in that, in braking, when described power below the described power command value or described converter direct voltage when set-point is above, suppress or stop the reduction of speed value or frequency instruction value.
9, power-converting device according to claim 1 is characterized in that, described power control and Current Control during braking are moved gradually from braking the moment that begins.
10, power-converting device according to claim 1 is characterized in that, converter output frequency during as braking and the deviation between the electromotor velocity, and promptly the absolute value of slip frequency is littler than the specified slip frequency of motor.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2003180406 | 2003-06-25 | ||
| JP2003180406A JP4144446B2 (en) | 2003-06-25 | 2003-06-25 | Power converter |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2008101357129A Division CN101312333B (en) | 2003-06-25 | 2004-06-24 | Power converter |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1578099A true CN1578099A (en) | 2005-02-09 |
Family
ID=34181401
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2008101357129A Expired - Lifetime CN101312333B (en) | 2003-06-25 | 2004-06-24 | Power converter |
| CNA2004100598628A Pending CN1578099A (en) | 2003-06-25 | 2004-06-24 | Electric power changing device |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2008101357129A Expired - Lifetime CN101312333B (en) | 2003-06-25 | 2004-06-24 | Power converter |
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| Country | Link |
|---|---|
| JP (1) | JP4144446B2 (en) |
| CN (2) | CN101312333B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109308977A (en) * | 2017-07-26 | 2019-02-05 | 施耐德电器工业公司 | Controllable current switchgear and electric component including the switchgear |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104868798B (en) * | 2014-02-25 | 2017-06-13 | 台达电子工业股份有限公司 | Motor deceleration method and its applicable motor drive system |
| JP6465477B2 (en) * | 2014-11-20 | 2019-02-06 | 三菱重工業株式会社 | Motor control device, motor control method and program |
| CN113346820B (en) * | 2020-03-02 | 2022-05-17 | 广东威灵电机制造有限公司 | Motor control method, motor control device, motor system, and storage medium |
| CN113346822B (en) * | 2020-03-02 | 2022-07-12 | 广东威灵电机制造有限公司 | Motor control method, motor control device, motor system, and storage medium |
| CN113346819B (en) * | 2020-03-02 | 2022-06-10 | 广东威灵电机制造有限公司 | Motor control method, motor control device, motor system, and storage medium |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1190002C (en) * | 2002-06-25 | 2005-02-16 | 满永奎 | Frequency control method for frequency changer for pumping unit |
-
2003
- 2003-06-25 JP JP2003180406A patent/JP4144446B2/en not_active Expired - Lifetime
-
2004
- 2004-06-24 CN CN2008101357129A patent/CN101312333B/en not_active Expired - Lifetime
- 2004-06-24 CN CNA2004100598628A patent/CN1578099A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109308977A (en) * | 2017-07-26 | 2019-02-05 | 施耐德电器工业公司 | Controllable current switchgear and electric component including the switchgear |
Also Published As
| Publication number | Publication date |
|---|---|
| JP4144446B2 (en) | 2008-09-03 |
| JP2005020846A (en) | 2005-01-20 |
| CN101312333B (en) | 2013-05-22 |
| CN101312333A (en) | 2008-11-26 |
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