阅读说明：本技术 一种电机变频驱动控制方法及系统 (Motor variable frequency drive control method and system ) 是由 秦灿华 彭勃 何亚屏 成正林 张志� 张哲� 陈孟君 韩志成 奥恩 李嘉 喻通 于 2019-02-12 设计创作，主要内容包括：本发明公开了一种电机变频驱动控制方法,获取各电机的实时转速,并与给定转速做差后,输入至对应的速度调节器,输出对应的转速信号；将转速信号经限幅控制器进行限幅调整后,输出转矩给定值至对应转矩调节器；同时获取各电机的转矩实时值；转矩调节器根据转矩给定值与转矩实时值对电机进行转矩闭环控制。本发明还公开了一种电机变频驱动控制系统,包括处理器和存储器,存储器储存有计算机程序,该程序被处理器执行时实现如上所述的控制方法。本发明的电机变频驱动控制方法及系统均具有提高电机工作可靠性等优点。(The invention discloses a motor variable frequency drive control method, which comprises the steps of obtaining the real-time rotating speed of each motor, making a difference with a given rotating speed, inputting the difference to a corresponding speed regulator, and outputting a corresponding rotating speed signal; after the amplitude limiting adjustment is carried out on the rotating speed signal through an amplitude limiting controller, a torque set value is output to a corresponding torque regulator; simultaneously acquiring the torque real-time values of the motors; and the torque regulator performs torque closed-loop control on the motor according to the torque set value and the torque real-time value. The invention also discloses a motor variable frequency drive control system, which comprises a processor and a memory, wherein the memory stores a computer program, and the program realizes the control method when being executed by the processor. The motor variable frequency drive control method and the motor variable frequency drive control system have the advantages of improving the working reliability of the motor and the like.)

1. A motor variable frequency drive control method is characterized in that,

acquiring the real-time rotating speed of each motor, and inputting the real-time rotating speed to a corresponding speed regulator after the real-time rotating speed is different from a given rotating speed, and outputting a corresponding rotating speed signal;

after the amplitude limiting adjustment is carried out on the rotating speed signal through an amplitude limiting controller, a torque set value is output to a corresponding torque regulator; simultaneously acquiring the torque real-time values of the motors;

and the torque regulator performs torque closed-loop control on the motor according to the torque set value and the torque real-time value.

2. The variable frequency drive control method of a motor according to claim 1, wherein when the motor is plural and divided into a master motor and a slave motor, the given rotation speed inputted from the speed regulator of the motor is K times the given rotation speed of the master motor, where K > 1.

3. The method of claim 2, wherein the input of the amplitude-limiting controller of each slave motor is the smaller of the torque set value of the master motor and the speed output value of the speed regulator of the slave motor.

4. The method for controlling the variable-frequency drive of the motor according to claim 2 or 3, wherein the master motor is in hard connection or soft connection with each slave motor.

5. The method of claim 4, wherein the hard connection is a coaxial connection or a geared connection.

6. The method of claim 4, wherein the flexible connection is a belt connection.

7. The method for controlling the variable frequency drive of the motor according to claim 2 or 3, wherein the number of the motors is two.

8. The method of claim 1, 2 or 3, wherein when the motor is single, the input of the amplitude-limiting controller of the motor is the smaller of the preset torque set value and the output value of the speed regulator of the motor.

9. The method for controlling a variable frequency drive of an electric motor according to claim 1, 2 or 3, wherein the speed controller is a PI controller or a sliding mode controller or a fuzzy controller.

10. A variable frequency drive control system for an electric motor, comprising a processor and a memory, said memory storing a computer program which, when executed by the processor, implements a control method as claimed in any one of claims 1 to 9.

Technical Field

The invention mainly relates to the technical field of motors, in particular to a motor variable frequency drive control method and a motor variable frequency drive control system.

Background

The multi-machine driving system is basically divided into two modes of hard connection and software connection, wherein the hard connection drives such as motor coaxial or gear connection; the flexible connection drive is mostly belt connection. The difference between hard and soft connections: in the hard connection driving, because the two motors are coaxial or in gear connection, the rotating speeds of the two motors are strictly synchronous; in the soft connection driving, because the two motors are connected by the belt, the belt is influenced by the outside and the slipping condition may occur, so that the rotating speeds of the two motors cannot be strictly synchronized, the condition that the rotating speeds of the two motors are inconsistent may occur at a certain moment in the operation process, and in addition, the condition that the initial position of the rotating shaft of the motor is not fixed also exists in the starting initial state. The power balance control is an important part in the control of the dual-machine driving system, and the power level of each driving system can be reduced as far as possible only if the dual-machine power is balanced, so that the purposes of cost reduction and efficiency improvement are achieved. At present, hard connection and soft connection have different control modes, such as:

1. in the control mode of master-slave follow-up in the hard connection mode, because the two motors are in hard connection, the rotating speeds are completely consistent, only the rotating speed is needed to be adopted for the speed controller of the master machine, and only the torque controller is needed for the slave machine;

2. in the master-slave follow-up control mode in the soft connection mode, because the two motors are in soft connection and the rotating speeds are not completely consistent, the rotating speeds of the master motor and the slave motor need to be respectively acquired to respectively control the master machine and the slave machine.

The two control modes represent two typical modes in the current hard-connection and soft-connection multi-machine driving system respectively. Regardless of the direct torque control mode or the vector control mode, the two modes are mainly different in that the acquisition sources of the rotating speed information caused by the synchronization of the rotating speeds of the two motors are different, and the two modes have the following common point: 1. the main machines adopt speed control; 2. the slave machines are controlled by torque; 3. the slave does not employ speed control. However, the above solutions have problems:

1. the mode 1 only adapts to a hard connection control system, the mode 2 only adapts to a soft connection control system, and both schemes cannot simultaneously adapt to two connection modes of hard connection and soft connection;

2. modes 1 and 2 can not realize operation in a master-slave mode under the condition that connection is disconnected, because connection is disconnected, a single torque ring can not realize stable operation of a motor, inconvenience is brought to debugging, testing and the like, and mode 2 is easy to runaway and fly from a slave machine (only torque control) under the condition that a belt is seriously slipped.

As shown in fig. 3, in addition, in the single-machine control system, the control system only has a torque controller, and does not have a speed controller, and the control of the electric vehicle is the case where only torque control alone is common, and in addition, the tested machine is loaded through torque control in the experimental system. According to the scheme, when the load torque of the motor is lost suddenly, for example, wheels slip or uneven road tires leave the ground in the process of ascending a slope of an electric vehicle, or under the conditions that the load stress of the motor is accompanied and tested due to the fault of a component tested article in an experimental system, the motor is easy to runaway under the independent torque control, equipment can be damaged in serious conditions, and safety accidents are caused.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: aiming at the technical problems in the prior art, the invention provides a motor variable frequency drive control method and system for improving the working safety and reliability of a motor.

In order to solve the technical problems, the technical scheme provided by the invention is as follows:

a motor variable frequency drive control method specifically comprises the following steps:

acquiring the real-time rotating speed of each motor, and inputting the real-time rotating speed to a corresponding speed regulator after the real-time rotating speed is different from a given rotating speed, and outputting a corresponding rotating speed signal;

after the amplitude limiting adjustment is carried out on the rotating speed signal through an amplitude limiting controller, a torque set value is output to a corresponding torque regulator; simultaneously acquiring the torque real-time values of the motors;

and the torque regulator performs torque closed-loop control on the motor according to the torque set value and the torque real-time value.

As a further improvement of the above technical solution:

when the motor is plural and divided into a master motor and a slave motor, the given rotation speed inputted from the speed regulator of the slave motor is K times the given rotation speed of the master motor, where K > 1.

The input of the amplitude limiting controller of each slave motor is the smaller value of the torque set value of the master motor and the speed output value of the speed regulator of the slave motor.

And the main motor is in hard connection or soft connection with each slave motor.

The hard connection is coaxial connection or gear connection.

The flexible connection is a belt connection.

The number of the motors is two.

When the motor is single, the input of the amplitude limiting controller of the motor is the smaller value of the preset torque set value and the output value of the speed regulator of the motor.

The speed controller is a PI controller or a sliding mode controller or a fuzzy controller.

The invention also discloses a motor variable frequency drive control system, which comprises a processor and a memory, wherein the memory stores a computer program, and the program realizes the control method when being executed by the processor.

Compared with the prior art, the invention has the advantages that:

according to the motor variable frequency drive control method and system, speed control is added on the basis that an original slave motor only has torque control, the master motor and the slave motor can independently run (under the condition of solving connection) without modifying and processing any parameter, the convenience of debugging and testing is improved, and the problem of runaway and runaway of the slave motor under the condition of belt slippage can be avoided; and the power of multiple motors is balanced, the power level of each driving system is reduced, and the purposes of cost reduction and efficiency improvement are achieved.

The invention relates to a motor variable frequency drive control method and a system, wherein the control of a main motor comprises speed control and torque control, wherein the input in amplitude limiting control is the output value omega of a speed regulator_PI_^out1The smaller value of the maximum limiting value of the torque is output T_{ref_M1}And the normal work of the motor is guaranteed.

According to the motor variable frequency drive control method and the motor variable frequency drive control system, the slave motor can automatically perform seamless switching between the speed control mode and the torque control mode according to the load condition, the rotating speed of the slave motor is actively adjusted, faults such as overspeed and runaway of the slave motor are avoided, the synchronism between the master motor and the slave motor is realized to a certain extent, and the working reliability of the motor is improved.

Drawings

Fig. 1 is a control block diagram according to a first embodiment of the present invention.

Fig. 2 is a control block diagram of a second embodiment of the present invention.

Fig. 3 is a control block diagram of a single motor in the prior art.

Detailed Description

The invention is further described below with reference to the figures and the specific embodiments of the description.