阅读说明：本技术 一种液压泵永磁电机转速调量抑制系统 (Hydraulic pump permanent magnet motor rotating speed regulating amount inhibition system ) 是由 刘兴林 况清龙 陈原野 于 2019-11-23 设计创作，主要内容包括：本发明公开了一种液压泵永磁电机转速调量抑制系统,包括速度调节器、电流调节器、液压电动泵和永磁同步电机；所述速度调节器的输出端分别与电流调节器和永磁同步电机电性相连,所述永磁同步电机的输出端与液压电动泵电性相连,所述电流调节器的输出端电性连接有转矩电流反馈计算电路,转矩电流反馈计算电路的输出端电性连接有控制器。本发明能够对电流环进行前馈控制,同时采用一阶惯性环节,对内部转速指令进行处理,在液压电动泵启动过程中,抑制转速的超调量,消除过转速对液压电动泵寿命的影响,降低压力稳定时间,提高控制系统的鲁棒性。(The invention discloses a hydraulic pump permanent magnet motor rotating speed regulating quantity inhibition system, which comprises a speed regulator, a current regulator, a hydraulic electric pump and a permanent magnet synchronous motor, wherein the speed regulator is connected with the current regulator; the output end of the speed regulator is electrically connected with the current regulator and the permanent magnet synchronous motor respectively, the output end of the permanent magnet synchronous motor is electrically connected with the hydraulic electric pump, the output end of the current regulator is electrically connected with the torque current feedback calculation circuit, and the output end of the torque current feedback calculation circuit is electrically connected with the controller. The invention can perform feedforward control on the current loop, simultaneously adopts a first-order inertia link to process an internal rotating speed instruction, inhibits the overshoot of the rotating speed in the starting process of the hydraulic electric pump, eliminates the influence of the over-rotating speed on the service life of the hydraulic electric pump, reduces the pressure stabilization time and improves the robustness of a control system.)

1. A hydraulic pump permanent magnet motor rotating speed regulating quantity inhibition system comprises a speed regulator (1), a current regulator (2), a hydraulic electric pump (4) and a permanent magnet synchronous motor (5); the method is characterized in that: the output end of the speed regulator (1) is respectively and electrically connected with the current regulator (2) and the permanent magnet synchronous motor (5), the output end of the permanent magnet synchronous motor (5) is electrically connected with the hydraulic electric pump (4), the output end of the current regulator (2) is electrically connected with the torque current feedback calculation circuit (3), and the output end of the torque current feedback calculation circuit (3) is electrically connected with the controller (7); the output end of the controller (7) is connected with a first-order inertia link (8), and the first-order inertia link (8) is connected with the speed regulator (1).

2. The hydraulic pump permanent magnet motor speed regulation amount suppression system according to claim 1, characterized in that: the transfer function of the first-order inertia link (8) is 1/(1 + Ts), and the first-order inertia link (8) is used for inhibiting the rotating speed overshoot of the permanent magnet synchronous motor (5).

3. The hydraulic pump permanent magnet motor speed regulation amount suppression system according to claim 1, characterized in that: the torque current feedback calculation circuit (3) comprises an operational amplifier and a resistor, and the torque current feedback calculation circuit (3) is used for calculating the torque current of the permanent magnet synchronous motor (5) and feeding the torque current back to the controller (7).

4. The hydraulic pump permanent magnet motor speed regulation amount suppression system according to claim 1, characterized in that: the output end of the hydraulic electric pump (4) is electrically connected with an oil pressure sensor (6), and the output end of the oil pressure sensor (6) is electrically connected with the input end of the current regulator (2).

5. The hydraulic pump permanent magnet motor speed regulation amount suppression system according to claim 1, characterized in that: the current regulator (2) adopts any one of a ZT-03C type regulator and a ZX5-315 type regulator.

Technical Field

The invention relates to the technical field of a hydraulic electric pump rotating speed overshoot control system, in particular to a hydraulic pump permanent magnet motor rotating speed overshoot suppression system.

Background

The hydraulic electric pump assembly generally comprises a drive motor controller and a plunger pump, and in order to ensure the design service life of the plunger pump, the plunger pump must operate below a design rotating speed; the load sudden change is a typical working condition of the plunger pump, and in control software of a motor controller adopting PID control, a control loop needs to have enough control bandwidth to ensure the stability of the system.

However, the response speed and the rotational speed overshoot of the control loop are a pair of spear bodies, and during the starting process and the load sudden change process, the over-high forward rotational speed overshoot can cause the over-rotation operation of the plunger pump, so that the service life loss of the plunger pump is caused, the first turning period of the hydraulic electric pump assembly is shortened, and the maintenance cost of the airplane is increased; the excessively high negative overshoot causes negative pulsation of the pressure of the hydraulic system, the pressure stabilization time becomes long, and the robustness of the hydraulic system is reduced.

Disclosure of Invention

The invention aims to provide a system for inhibiting the rotation speed regulation of a permanent magnet motor of a hydraulic pump, which aims to solve the problems that the pressure stabilization time is prolonged and the robustness of a hydraulic system is reduced in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: comprises a speed regulator, a current regulator, a hydraulic electric pump and a permanent magnet synchronous motor; the output end of the speed regulator is electrically connected with the current regulator and the permanent magnet synchronous motor respectively, the output end of the permanent magnet synchronous motor is electrically connected with the hydraulic electric pump, the output end of the current regulator is electrically connected with a torque current feedback calculation circuit, and the output end of the torque current feedback calculation circuit is electrically connected with a controller; the output end of the controller is connected with a first-order inertia link, and the first-order inertia link is connected with the speed regulator.

Preferably, the transfer function of the first-order inertia element is 1/(1 + Ts), and the first-order inertia element is used for inhibiting the rotating speed overshoot of the permanent magnet synchronous motor.

Preferably, the torque current feedback calculation circuit comprises an operational amplifier and a resistor, and is configured to calculate a torque current of the permanent magnet synchronous motor and feed the torque current back to the controller.

Preferably, the output end of the hydraulic electric pump is electrically connected with an oil pressure sensor, and the output end of the oil pressure sensor is electrically connected with the input end of the current regulator.

Preferably, the current regulator adopts any one of a ZT-03C type regulator and a ZX5-315 type regulator.

Compared with the prior art, the invention has the beneficial effects that:

1. the invention can collect the pressure feedback after the pump through the oil pressure sensor, utilize the pressure differential to carry out feedforward control on the current loop, simultaneously adopt a first-order inertia link to process an internal rotating speed instruction, inhibit the overshoot of the rotating speed in the starting process and the load sudden change process of the hydraulic electric pump, eliminate the influence of the over-rotating speed on the service life of the hydraulic electric pump under the condition of ensuring that a control loop has enough response speed, reduce the pressure stabilization time and improve the robustness of a control system.

Drawings

FIG. 1 is a control block diagram of a rotational speed overshoot suppression system of the present invention;

FIG. 2 is a control schematic diagram of a rotational speed overshoot suppression system of the present invention;

fig. 3 is a circuit diagram of a torque current feedback calculation of the system for suppressing a rotational speed overshoot according to the present invention.

In the figure: the system comprises a speed regulator 1, a current regulator 2, a torque current feedback calculation circuit 3, a hydraulic electric pump 4, a permanent magnet synchronous motor 5, an oil pressure sensor 6, a controller 7 and a first-order inertia link 8.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-3, the present invention provides a technical solution: comprises a speed regulator 1, a current regulator 2, a hydraulic electric pump 4 and a permanent magnet synchronous motor 5; the output end of the speed regulator 1 is respectively and electrically connected with the current regulator 2 and the permanent magnet synchronous motor 5, wherein the speed regulator 1 adopts a TDA1154 type or S6700H type regulator; the output end of the permanent magnet synchronous motor 5 is electrically connected with the hydraulic electric pump 4, the output end of the hydraulic electric pump 4 is electrically connected with an oil pressure sensor 6, and the output end of the oil pressure sensor 6 is electrically connected with the input end of the current regulator 2; wherein, the oil pressure sensor 6 adopts any one of sensors of type 3810020, 600, 070 and type 293, 5535; the output end of the current regulator 2 is electrically connected with a torque current feedback calculation circuit 3, and the current regulator 2 adopts any one of a ZT-03C type regulator and a ZX5-315 type regulator; the output end of the torque current feedback calculation circuit 3 is electrically connected with a controller 7; the controller 7 adopts a controller of KY02S type or KY06S type, the output end of the controller 7 is connected with a first-order inertia link 8, and the first-order inertia link 8 is connected with the speed regulator 1; the first-order inertia element 8 has a transfer function of 1/(1 + Ts), and the first-order inertia element 8 is used for suppressing the rotation speed overshoot of the permanent magnet synchronous motor 5.

Referring to fig. 2, on the basis of the conventional control model, a first-order inertia link with a transfer function of 1/(1 + Ts) is added, and a time constant is reasonably selected, so that the control model has a significant effect of inhibiting the speed overshoot; the oil pressure sensor 6 collects post-pump oil pressure data of the hydraulic electric pump 4, selects proper gain Kp for processing, and then is used as current loop feedforward input to compensate the bandwidth loss of a loop, improve the response speed and improve the robustness of the system.

The discrete mode of the first-order inertia element 1/(1 + Ts) is as follows:

f(k)=Ti/(Ti+Ts)*f(k-1)+Ts/(Ti+Ts)*in(k)；

f(k-1)=f(k)；

in is the input, f is the output, Ti is the time constant, and Ts is the sampling period.

In the starting process, a controller 7 takes a given rotating speed as a target rotating speed, after the given rotating speed and a feedback rotating speed are calculated by a torque current feedback calculating circuit 3, the permanent magnet synchronous motor 5 is subjected to acceleration control through the speed regulator 1, the output of the speed regulator 1 is used as the input (ig) of the current regulator 2, the current regulator 2 transmits a current signal of the permanent magnet synchronous motor 5, and the given torque current signal and the feedback torque current signal are subjected to comprehensive operation by the torque current feedback calculating circuit 3 and then transmitted to the controller 7 as an input signal of the next-stage voltage regulation; the first-order inertia link 8 is adopted, the time constant is reasonably selected, and the method has a remarkable inhibiting effect on the rotational speed overshoot.

The robustness refers to the characteristic that the control system maintains some other performances under the perturbation of technical parameters with a certain structure or size, namely the robustness of the system, and is the key for the survival of the system under abnormal and dangerous conditions; for example, whether computer software is halted or not and whether the computer software is crashed or not or whether the computer software is crashed or not is the robustness of the software under the conditions of input errors, disk faults, network overload or intentional attack; robustness is generally used to describe the stability of something, that is, the property of something that can be relatively stable when encountering some kind of interference.

Referring to fig. 3, the torque current feedback calculating circuit 3 includes an operational amplifier and a resistor, the resistor is R13, R14 and R9, wherein the operational amplifier is any one of OP471, AD811, AD8671S, AD708, OP249, AD843 and OP 400S; the torque current feedback calculation circuit 3 is used for calculating the torque current of the permanent magnet synchronous motor 5 and feeding the torque current back to the controller 7.

According to the invention, the post-pump pressure feedback can be acquired through the oil pressure sensor 6, the current loop is subjected to feedforward control by utilizing pressure differential, meanwhile, a first-order inertia link 8 is adopted to process an internal rotating speed instruction, the overshoot of the rotating speed is inhibited in the starting process and the load sudden change process of the hydraulic electric pump 4, the influence of the over-rotating speed on the service life of the hydraulic electric pump 4 is eliminated under the condition of ensuring that a control loop has enough response speed, the pressure stabilization time is shortened, and the robustness of a control system is improved; the problems that the pressure stabilization time of the existing control system is prolonged, and the robustness of a hydraulic system is reduced are solved.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.