阅读说明：本技术 一种基于转速电流双闭环控制的电机控制器自稳定模块 (Motor controller self-stabilization module based on rotating speed and current double-closed-loop control ) 是由 唐宝 刘运录 浦绍星 于 2021-08-02 设计创作，主要内容包括：本发明公开了一种基于转速电流双闭环控制的电机控制器自稳定模块,包括加法模块以及环路自稳定模块；所述环路自稳定模块包含减法模块、比较积分模块和判断模块,该环路自稳定模块用于接收电机双闭环控制系统电流给定值与过流计算值以输出判断后的速度误差修正值。本发明采用转速电流双闭环的电机控制器,当电机双闭环控制系统因过流出现热积累时,通过快速的积分计算,对速度环的比例增量进行修正,进而改变电流环给定量,达到系统异常时快速降额,提高电机双闭环控制系统的可靠性。(The invention discloses a motor controller self-stabilization module based on rotating speed and current double closed-loop control, which comprises an addition module and a loop self-stabilization module; the loop self-stabilization module comprises a subtraction module, a comparison integration module and a judgment module, and is used for receiving a current set value and an overcurrent calculated value of the motor double closed-loop control system to output a speed error correction value after judgment. The invention adopts the motor controller of the rotating speed current double closed loop, when the motor double closed loop control system has heat accumulation due to overcurrent, the proportional increment of the speed loop is corrected through quick integral calculation, thereby changing the given quantity of the current loop, achieving quick derating when the system is abnormal, and improving the reliability of the motor double closed loop control system.)

1. A motor controller self-stabilization module based on rotating speed and current double closed-loop control comprises an addition module and a loop self-stabilization module; the method is characterized in that: the loop self-stabilization module comprises a subtraction module, a comparison integration module and a judgment module, and is used for receiving a current set value and an overcurrent calculated value of the motor double closed-loop control system to output a speed error correction value after judgment.

2. The motor controller self-stabilization module based on the rotating speed and current double closed-loop control as claimed in claim 1, characterized in that: the addition module is used for transmitting the given current value to the comparison integration module.

3. The motor controller self-stabilization module based on the rotating speed and current double closed-loop control as claimed in claim 1, characterized in that: the judging module is used for judging a current set value of the motor double closed-loop control system to output an actual limit output value of the motor, and the judging module is used for sending a judged speed error correction value to the adding module.

4. The motor controller self-stabilization module based on the rotating speed and current double closed-loop control as claimed in claim 1, characterized in that: the subtraction module receives and corrects the over-current calculated value of the motor to obtain a current corrected value, and the current corrected value is transmitted to the comparison and integration module.

5. The motor controller self-stabilization module based on the rotating speed and current double closed-loop control as claimed in claim 1, characterized in that: the comparison and integration module is used for comparing the current given value with the current correction value to obtain a speed error integral value and transmitting the speed error integral value to the judgment module.

Technical Field

The invention relates to the technical field of motor controllers, in particular to a self-stabilizing module based on a rotating speed current double-closed-loop, and specifically relates to a self-stabilizing module based on a rotating speed current double-closed-loop control for a motor controller.

Background

The motor controller is an integrated circuit which controls the motor to work according to the set direction, speed, angle and response time through active work; the motor controller is as follows: open-phase protection, overcurrent/overload/locked rotor/short circuit protection three-phase current unbalance protection, and the safe operation of the motor is ensured; the motor controller is used as a control center of the whole braking system and consists of an inverter and a controller, wherein the inverter receives direct current electric energy transmitted by a battery.

With the continuous development of electronic technology, in order to suppress motor load disturbance and improve the control effect, a control strategy of a motor controller generally adopts a control strategy of a rotating speed and current double closed loop, a double closed loop control system can only suppress overcurrent during starting or stalling, and when the system has other faults to cause overcurrent, the system cannot protect or derate.

Disclosure of Invention

The invention aims to provide a motor controller self-stabilization module based on rotating speed and current double closed-loop control, so as to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme:

a motor controller self-stabilization module based on rotating speed and current double closed-loop control comprises an addition module and a loop self-stabilization module; the loop self-stabilization module comprises a subtraction module, a comparison integration module and a judgment module, and is used for receiving a current set value and an overcurrent calculated value of the motor double closed-loop control system to output a speed error correction value after judgment.

Preferably, the adding module is used for transmitting the given current value to the comparison and integration module.

Preferably, the judging module is configured to judge a current set value of the motor double closed-loop control system to output an actual limit output value of the motor, and the judging module is configured to send the judged speed error correction value to the adding module.

Preferably, the subtraction module receives and corrects the over-current calculation value of the motor to obtain a current correction value, and the current correction value is transmitted to the comparative integration module.

Preferably, the comparison and integration module is used for comparing the current given value with the current correction value to obtain a speed error integral value, and transmitting the speed error integral value to the judgment module.

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

1. the invention is used for designing the motor controller closed loop self-stabilization module adopting the rotating speed and current double closed loop control strategy, when the motor double closed loop control system has heat accumulation due to overcurrent, the proportional increment of a speed loop is corrected through rapid integral calculation, so that the given quantity of the current loop is changed, the rapid derating when the system is abnormal is achieved, the reliability of the motor double closed loop control system is improved, and the popularization and the use of the loop self-stabilization module are facilitated.

2. After the double-closed-loop control system is used, when the double-closed-loop control system of the motor normally works, the motor can track a given rotating speed in time, the torque current is small, and the loop self-stabilizing module does not work; when the motor double closed-loop control system has an abnormal overcurrent condition, the fast derating is realized through the loop self-stabilizing module; when the time of the abnormal overcurrent condition of the system reaches the set threshold time of the system, the loop self-stabilization module sends out a system fault protection signal to realize the protection of the motor double closed-loop control system.

Drawings

Fig. 1 is a schematic block diagram of the present invention.

In the figure: the device comprises a 1 adding module, a 2 loop self-stabilization module, a 201 subtracting module, a 202 comparing and integrating module and a 203 judging module.

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, the present invention provides a technical solution: a motor controller self-stabilization module based on rotating speed and current double closed-loop control comprises an addition module 1 and a loop self-stabilization module 2; the loop self-stabilization module 2 comprises a subtraction module 201, a comparison integration module 202 and a judgment module 203, and the loop self-stabilization module 2 is used for receiving a current given value and an overcurrent calculated value of the motor double closed-loop control system to output a speed error correction value after judgment; the summing block 1 is used to deliver a current setpoint to the comparative integration block 202.

The judging module 203 is used for judging a current given value of the motor double closed-loop control system to output an actual limit output value of the motor, and the judging module 203 is used for sending a judged speed error correction value to the adding module 1; the subtraction module 201 receives and corrects the over-current calculated value of the motor to obtain a current corrected value, and the current corrected value is transmitted to the comparison integration module 202; the comparing and integrating module 202 is used for comparing the current set value with the current correction value to obtain a speed error integral value, and transmitting the speed error integral value to the judging module 203.

The invention discloses a loop self-stabilization module of a high-power motor controller, which comprises a normal mode and a self-stabilization mode in working modes:

and (3) a normal mode: the system does not overcurrent, namely an overcurrent calculated value is 0, the current setting is smaller than a set threshold, the speed error correction is invalid through a judgment module 203, and the motor double closed-loop control system works normally;

self-stabilization mode: the given current value is larger than the difference between the set threshold and the overcurrent calculated value, the speed error correction is effective after the result of the judgment module 203, and the polarity of the correction value is opposite to that of the error value; actual speed error reduction speed error integral speed reduction; the current setpoint is equal to the set threshold minus the over-current calculation.

Referring to fig. 1, a schematic block diagram of the loop self-stabilization module 2 is shown:

overcurrent calculated value: the current that the motor can also output; when the motor is not overcurrent, the current is 0; conversely, it is an integral value exceeding the rated current; the capability of the motor capable of running in an overload mode is represented;

setting a threshold value: the limit output current capability of the motor;

current correction value: actual limit output current capability of the motor;

current setting: the current required by the system, namely the sum of the actual speed error and the speed error integral;

the compare-integrate module 202: the larger the difference between the current given value and the current correction value is, the faster the integration speed is, and the output polarity of the current correction value is related to the polarity of the difference between the given value and the feedback value; when the given value is larger than the correction value, the motor is reduced in rated operation; otherwise, the motor works normally;

the judging module 203: when the motor needs derating, the speed error is larger than a speed error correction value, the correction value reduces the actual speed error through level non-equal proportion addition, so that the integral speed is reduced in real time, the sum of the integral and the error is reduced, and the current is given to be equal to the actual limit output capacity of the motor; otherwise, the stabilizing circuit does not function and does not participate in closed-loop control.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be a mechanical connection; either directly or indirectly through intervening media, either internally or in any other relationship. The detachable installation mode has various modes, for example, a mode of matching with a buckle through plugging, for example, a mode of connecting through a bolt, and the like.

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.