前苏联专利SU1291034A3 Device for controlling induction motor

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专利摘要:
Induction motor drive apparatus controls actual speed of an induction motor (4) in relation to command speed by driving signals applied to the motor (4) and is such as to limit the torque of the motor (4) in a low speed operating region, by limiting a deviation signal (command speed minus actual speed), to less than a prescribed value. …<??>The apparatus includes a deviation signal generator (7,8), a torque limit signal generator (17), an amplitude controller (16) for controlling the amplitude of the deviation signal when a torque limit signal (TLS) is present, a slip signal generator (10) which generates a slip signal (Vso) of a constant voltage of polarity depending upon the rotational direction of the motor (4), an adder (11) for adding an actual speed signal (Vn) to the slip signal (Vso), and a multiplier (18) for multiplying the output (Vs min ) of the amplitude controller by the output (Vso + Vn) of the adder (11). The driving signals have a frequency proportional to the output (Vso + Vn) of the adder (11), and an effective value dependent upon the output (Vs min . Vso + Vn) of the multiplier (18).
公开号:SU1291034A3
申请号:SU792861258
申请日:1979-12-28
公开日:1987-02-15
发明作者:Кавада Сигеки；Исида Хироси；Койвай Ютака
申请人:Фудзицу Фанук Лимитед (Фирма)；
IPC主号:

专利说明:

voltage and frequency. The device also contains a nonlinear block 8 with a saturation type characteristic J whose input is associated with the output of the compare block 6. The first input of block 6 is connected to the output of block 7 for setting the rotation speed, and the second input of block 6 is connected to the output of meter 5 of actual rotational speed mounted on the shaft of an induction motor.
The output of the non-linear unit 8 is connected to the inputs of the unit 10 and the polarity discriminator 12, which is part of the voltage and frequency control unit. The output of the discriminator 12 is connected to the input of the generator 32 and the control input of the ring counter 14. The output of the generator 32 is connected to one input of the summation unit 9, another input connected to the meter 5. The asynchronous motor through the inverter N) 3, the unregulated rectifier 2 is connected to the source 1 food. The output of And 3 includes a voltage measuring unit connected
With power and frequency control. The output of the control unit
AND
The invention relates to electrical engineering, and more specifically to a frequency-controlled asynchronous electric drive, and can be used in mechanisms with a large g: the speed control apazone.
The purpose of the invention is to increase the smoothness of controlling the rotational speed at variable load.
Figure 1 shows a device for controlling an asynchronous motor; figure 2 - timing diagrams.
A device for controlling an induction motor contains a three-phase alternating voltage source 1 (Fig. 1), which is connected to an unregulated rectifier 2, the output of which is connected to a voltage inverter 3, An asynchronous motor 4 is connected to the output of inverter 3, on the shaft of which a meter 5 is mounted The actual rotational speed of the engine, the output of which is connected to the first input of the first comparison unit 6, is input voltage and frequency, and is connected to the control input OZ. The output of the voltage regulating unit and the frequency are generated by the AWS, AWP, BRM, BPM, CPM, CPM signals for alternately opening and closing the transistors AND 3. At output I 3, step voltage AC voltage Uv wu modulated across the width of the pulses to supply asynchronous motor 4, the effective voltage E, of the indicated voltages is proportional to the deviation of the speed V and the signal of the frequency command V, and their primary frequency f is proportional to the signal of the command frequency Vx .. The deviation of the speed V is approximately proportional to Degree of load fluctuations. When the load changes, the deviation of the speed v changes, therefore, the effective voltage E changes, as a result of which the torque changes. The device, in addition to controlling the speed depending on the change in load, allows you to smoothly stop the induction motor 4. 2 sludge.
A swarm whose input is connected to block 7 for setting speed. The device also contains a nonlinear block 8 with a saturation type characteristic, block 9
5 the summation, the second input of which is connected to the meter of the actual rotational speed, the voltage and frequency control unit, which is composed of the absolute value of the speed deviation, the discriminator 12 polarity, the voltage-frequency, three-phase converter 13 from the two blocks 10 and 11 an annular counter 14, first and second multipliers 15 lei 15 and 16, a voltage measuring unit made in the form of a series-connected amplifier 17, a KC filter 18 and a rectifier 19, soy. Single inverter with output 3, vto 20; of the comparator block 20, a sawtooth voltage generator 21, a pulse-width modulator composed of three comparators 22.23 and 24, synchronization blocks 25-30, a generator
31
31 torque limiting signals, I e-oscillator 32 slip frequency and voltage limiter 33, with the first inputs of the three comparators 22,23 and 24 connected to the saw voltage generator 21, and their outputs through the synchronization blocks 25-30 with the control inputs of the inverter 3, the output of the first shaper 10 of the absolute value of the speed deviation through the voltage limiter 33 and the output of the second shaper 11 of the absolute value of the speed deviation are connected to the inputs of the first multiplier 15, the output of which is connected to the output of the measuring unit no tension. The output of the second comparison unit 20 is connected to the input of the second multiplier 16, the outputs of which are connected to the second inputs of the three comparators 22,23 and 24. The other inputs of the second multiplier 16 are connected via an annular counter 14 to the output of the voltage-frequency converter 13, the input of which is through the second an absolute value deviation value generating unit 11 is connected to the output of the summation unit 9. The discriminator 12 of the polarity is connected by an output to the control input of the ring counter 14 and the input of the generator 32 of the slip frequency, the output of which is connected to the first input of the summation unit 9. The input of the first absolute speed deviation unit 10 is connected to the output of the nonlinear unit 8, and the output is connected to the second one. an input of a voltage limiter 33, the first input of which is connected to the output of the generator 31 of a torque limiting signal.
Voltage limiter 33 contains a limiting circuit 34, a switch 35, an installation unit 36, wherein one switch input forms the first input of a voltage limiter, the second input of switch 35 is connected to the output of the setpoint block 36, and the output of switch 35 is connected to a limiting circuit 34, the second input of which forms the second input of the voltage limiter.
These units of the device for controlling an asynchronous motor perform the following functions.
Three-phase AC source 1 provides a sinusoidal three-phase alternating current for the full wave

29
ten
five
20
25
thirty
35
40
five
0
five
0344
A rectifier 2, consisting of f3 diodes, which produces a direct current driver. Inverter 3, consisting of power transistors and diodes, receives the rectified voltage from rectifier 2 and converts this voltage into a three-phase AC voltage, which has a stepped, nearly sinusoidal voltage, the shape of the voltage, the effective value of which can be changed control two-position synchronization of power transistors. Three-phase asin-chronn | The 1st motor 4 has a shaft on which the actual speed meter 5 is installed, for example, a tachometer, the latter producing an analog voltage proportional to the rotation speed n of the motor. The speed setting unit 7 supplies to the first comparison unit 6 an analog voltage proportional to the speed p. The comparison unit 6 generates an output voltage proportional to the deviation (ps-p) between the set speed and the real one.
Non-linear unit 8 includes an error amplifier having a characteristic of the initial delay or a limit circuit.
Summation block 9 is designed: to sum the real speed and the signal from the output of block 8.
The absolute value generation unit 10 produces an output signal representing the absolute value of the speed deviation (p. N), and the absolute value unit 11 produces an output signal representing the absolute value of the speed signal obtained in the summation unit 9. Voltage converter 13 - frequency drives a chain of pulses whose frequency is proportional to the voltage set by the absolute value generating unit 11. The ring counter 14 has three trigger states that produce three-phase square-wave signals AS, BS and CS, successively phase-shifted in (FIG. 2). The direction of the phase of rotation of the three-phase square signals AS, BS, CS is determined by the output of the discriminator 12 polarity.
The first multiplier 15 multiplies the speed deviation value (n) by the output (n |.) Of block 11 and outputs the output voltage n (Pr - n), corresponding to 5
The speed deviation and the speed signal P (,. The two-semiconductor rectifier 19 rectifies the three-phase AC voltage received from the inverter 3, the Low-pass filter 18, containing the resistors and the capacitor, smoothes the pulsations of the rectified direct-current voltage, supplied by the rectifier 19. The second multiplier 16 multiplies the rectangular signals AS, BSj CS at the output of the ring counter 14 by a voltage error signal from block 20 and outputs three-phase rectangular signals AS, BS, CS 5 of which the amplitudes correspond speed deviation and the speed signal
The sawtooth generator 21 produces a sawtooth signal .STS with a period significantly shorter than that of AS, BS, CS signals. Three comparators 2-24 compare the amplitudes of the sawtooth signal and AS, BS, CS signals and each produces an output signal. 21 Sawtooth generator 22 The multiplier 16 and three comparators 22-24 comprise a pulse width modulator circuit designed to control the phase of the APM BPM signals; CPM (FIG. 2), which respectively consist of AS, BS, CS signals after they are modulated across a pulse width in accordance with their amplitudes. The outputs of the comparators 22-24 through the blocks 25-30 synchronization delivers its output signals to the corresponding base of the power transistors of the inverter 3.
The device works as follows.
In the case where the asynchronous motor 4 rotates in the direct direction -II., The change in load will lead to a change in the actual speed of the motor V according to an increase or
reduce the load suppose
that the load increased, the actual speed V as a result decreased. The actual motor speed V is detected by the actual speed meter 5 (such as the generator), which produces a voltage proportional to the speed. The adder 6 from the speed setting unit 7 receives the signal of the speed command Vsch and the signal of the actual speed of the engine V to obtain the output signal representing the difference of these signals S (Vj V). Output signal
1034
fishing V
l N p is fed to the circuit 10 of the absolute value of the speed deviation and to the discriminator 12 of polarity, the signal is divided into the signal of the absolute
Vg values and the RDS rotation direction signal. The absolute value signal YS is then supplied to a voltage limiter 33. The rotational direction signal RDS is supplied to the slip signal generator 32 and to the ring counter 14. The slip signal generator 32 generates a slip signal Vc
containing polo
positive or negative constant voltage corresponding to the direction of rotation of the induction motor 4, i.e. the logical value of the rds rotation direction signal. In this case, the amplitude of the slip signal Vj is adjusted until the amplitude of the speed deflection signal V is equal at the time when the asynchronous motor 4 rotates in steady-state mode. The adder 9 collapses; the slip slip Vj and the actual speed signal V, and in response you turn on the signal of the VP frequency command to the absolute formation unit 11. The south value of the deviation cKopdcTH, The signal of the VP frequency command goes to the converter 13 eg g-enke -frequency which converts it into an FP pulse sequence (FIG. 2), the frequency of which is proportional to the signal. The ring counter 14 receives the signal of the direction of rotation from the discriminator 12 of polarity and the pulse sequence FP from the voltage-to-frequency converter 13, generating in response three-phase square-wave signals AS, BS, CS. The amplitude value of k of these signals is constant,
the frequency is proportional to the signal of the frequency command V, and the signals themselves exhibit the phase direction indicated above. In turn, the signals AS, BS, CS are given by multiplying
Tel 16.
At the same time, the speed deviation signal Vg, supplied from the voltage limiter 33, together with the signal of the frequency command Vp from block 11
The amplifications of the absolute value of the speed deviation are used to obtain a command signal to the primary voltage leg to effect the control by varying the voltage.
To this end, the signals V and V are multiplied in multiplier 15, generating a command signal of the primary voltage V, the amplitude of which is equal to the product Vg V. While the induction motor 4 continues to rotate at the command speed V and with the prescribed speed deviation, increasing the load will increase the speed deviation Vg and, therefore, increase the amplitude of the command signal of the primary voltage Vg.
In parallel with the above considered JD-based circuit, the three-phase AC voltages V,. , Vwv (Fig. 2) from inverter 3 passes through a two-wave rectification in rectifier 19. A low-pass filter 18 reduces the ripple level in a constant voltage, obtained after a two-half cure, and produces an output voltage, - proportionally to the total the error signal resulting from voltage fluctuations in the three-phase power source 1, as well as errors in the operation of the phase control system that drives the inverter 3, the command signal of the primary voltage V and a constant voltage with low frequency filter 18 arrive at adder 20, defining a difference therebetween, i.e., the command signal of the primary voltage V is corrected in accordance with the error signal resulting from fluctuations in the voltage and error of the phase control system. The corrected primary voltage command signal, denoted V after amplification in amplifier 37, is fed to multiplier 16, which, due to the arrival of three-phase square wave signals AS, BS, CS, on it, leaks the signals AS, BS, CS to the command signal of the primary voltage Vg in order to obtain the three-fs signals of the squares AS, BS, CS, corresponding in amplitude to the speed deviation signal V and the signal of the frequency command V ,. and proportional to the frequency of the command signal you often v j.
Comparators 22-24 compare the peak values of the corresponding AS, BS, CS square signals with the amplitude of the STS ramp received from generator 21
Each sawtooth adapter, each comparator is adapted to receive at output 1, if the amplitude of the AS, BS, CS signals exceeds the amplitude of the sawtooth signal. Thus, the comparators 22-24 produce phase control signals of an APM, BPM, CPM for the three phases and these signals are modulated across the pulse width in accordance with the amplitude of each of the square signals AS, BS, CS. The effective voltage value of each of the signal, phase control of an AWP, BPM, CPM is proportional to the speed deviation V and the signal of the frequency command VP, since the amplitude of each of the square signals AS, BS, CS is proportional to Vj and V, In addition, the frequency of each the phase control signals of an APM, BPM, CPM is proportional to the signal of the frequency command Vj. due to the fact that the frequency of the signals AS, BS, CS is proportional to it. At the output of the synchronization blocks 25-30, signals of the APM, APM, BPM, BPM, CPM, CPM are formed to control the opening and closing of the power transistors Q, - Q e voltage inverter 3, where APM, BPM, CPM are the inverted signals APM, BPM, CPM These signals drive the power transistors O - O ,, alternately with
1 b
In order to receive from the inverter 3 step ac voltages Vy, V modulated across the width of the pulses. The three-phase voltages Vyy, Vy, are supplied as the primary voltage to the induction motor 4 and serve to regulate its speed. At the same time, the effective value of E, three-phase voltages V, vw wu is proportional to the speed deviation v and the signal of the frequency command V, and their primary frequency f is proportional to the signal of the command frequency V. When the speed deviation v is a constant value, the effective value of E / primary voltage and the primary frequency f will be proportional to each other. Consequently, the speed of the asynchronous motor 4 will be adjusted in accordance with the change of frequency and voltage.
The order of operation is repeated until the speed deviation between the actual speed V and the command speed V reaches the prescribed speed deviation. Effective value of tp; n - phase voltages of alternating current
uv VN
wu
depends on speed
deviation v. In addition, the speed deviation is proportional to the degree of load oscillation. Therefore, if the actual speed decreases, i.e., the velocity deviation VJ increases due to an increase in load, then the effective value of E, the primary voltages Vu, Vy, will become larger than the value determined by regulation by changing the frequency
Ve becomes equal to the slip voltage signal, as a result of which 15 will increase in front of the section, the generated torque. When the bath is on the spindle, and then the tool is actually increased, or the speed is fixed in the spindle, the speed deviation of the Vg will decrease. Since the actual speed due to the reduction of the load, the effective V. is zero — the motor stops the value of E, the primary voltage 20 turns, the signal of the frequency command Vyy, Vy, Vfjy will become less than the value determined by the help of frequency control and voltage as a result, the torque will decrease.
The slip signal amplitude V 0 is kept constant in each case, although the actual speed
wives V ,,
Vs
v "- v, v
Speed deviation
becomes maxi, resulting in V
25 is higher than the maximum voltage of the limiting Vjj. Ogu s nickel 33 acts to limit the speed deviation and generates the output signal for the output C, nal,,, 30 Signal CLF1. The command value is set to sigma. / y slip Vj, and the command signal of the primary voltage VP is different. Due to the r-th applied to the asynchronasynchronous elektronvkg.g- mg mg.,. w Such regulation leads to a smooth and stable rotation of the induction motor 4,
Consider regulation in orientation mode.
Transition from cutting pemip a to primary drive primary voltage
orientation may occur only if the asynchronous motor is stopped. In order for the motor to stop rotating, the torque limiting signal-3 generator 31 produces an orientation signal, equivalent to the TLS torque limiting signal, and; block 7 - speed setting will issue a command signal

velocity V is smaller than in cutting mode. As a result of the orientation signal, the limiting circuit 34 acts to limit the speed deviation V to the prescribed limiting voltage value Vgj set by the installer circuit 36
In the steady state, the speed deviation is maintained at a constant small value, and the induction motor rotates at a low speed corresponding to the command speed. Thus, the inequality Vg i V is satisfied, and wow; P -
about
129103410
voltage capacitor 33 generates V as output signal. The result is a small value of the command signal of the primary
voltage V t
While the motor continues to rotate in steady state, the pin jutting out of the machine spindle strikes the stopping point, resulting in the rest of the motor turning. In the position where the pin collided with the stopping part, the cut-out area formed on the tool
Ve becomes equal to the signal shown in front of the section formed on the spindle, and then the tool is rigidly mounted in the spindle. Since the actual speed V. is zero - the engine stopped rotating, the signal of the frequent command
appears in front of the section formed on the spindle and then the tool is rigidly mounted in the spindle. Since the actual speed V. is zero - the engine stopped rotating, the signal of the frequent command
wives V ,,
Vs
v "- v, v
Speed deviation
becomes maxi, resulting in V
There is more ma / r go voltage limiting Vjj. Ogu s nickel 33 acts to limit the speed deviation and generates the output signal for the output C, nal,,, 30 Signal CLF1. The command value is set to sigma. / y slip Vj, and the command signal of the primary voltage VP is different. Due to the r-th attached to asynchronous
the torque generated by the motor is limited, limited, which allows the engine to stop smoothly without damage;

权利要求:
Claims (1)
[1]
Invention Formula
ate
An asynchronous motor control device containing a voltage inverter J for connecting the output to an asynchronous motor and the input to an uncontrollable output of the actual rotation speed of the engine whose output is connected to the first input of the comparison unit , the second input of which is connected to the speed setting unit, the nonlinear block with the saturation type characteristic, the summation unit, one input of which is connected to the meter of the actual speed of rotation of the engine, the control unit and frequency, composed of two blocks of forming an absolute value of the speed deviation, a polarity discriminator, a voltage-frequency converter, a three-phase ring counter, two multipliers, a voltage measuring unit made in the form of a series-connected amplifier, an RC filter and rectifiers a miter connected to the output of a voltage inverter, a comparison unit, a sawtooth voltage generator and a pulse width modulator composed of three comparators, the first inputs of which are connected to the gene The output of the sawtooth voltage and their outputs via synchronization blocks are with the control inputs of the inverter voltage and the output of the second absolute value generator of the speed deviation. Connected to one input of the first multiplier whose output is connected to the first input of the comparison unit, the control unit frequency, the second input of the specified comparison unit is connected to the output of the voltage measuring unit, the output of the said comparison unit is connected to one input of the second multiplier, the outputs of which are connected to the second the inputs of three comparators, the other inputs of the second multiplier, via a ring counter, are connected to a voltage-frequency converter, the input of which is connected to the control input of the ring counter via the second absolute speed deviation unit, the input of the first block forming the absolute value of the speed deviation is connected to the output of the said non-linear block, characterized in that, in order to improve the smoothness and rotational speeds with variable load, kW, a voltage limiting signal generator, a slip frequency generator and a voltage limiter with two inputs are entered into the voltage and frequency control unit, the output of the torque limit signal generator is connected to the first input of the voltage limiter, the second input which is connected to the output of the first unit forming the absolute value of the speed deviation, and the output of the voltage limiter is connected to another input of the first multiplier, the input of the polarity discriminator connected to the output of said non-linear unit, and the output of the polarity discriminator is connected via a slip frequency generator to another input of the summation unit.
$ GB
AWP lshpshshpshshshzh
.
Editor A.Lezhnina Order 7920/60
Tehred M.Hydanich
Corrector
Circulation 661. Subscription VNIIPI USSR State Committee
for inventions and discoveries 113035 Moscow, Zh-35, Raushsk nab., 4/5
Production and printing company, Uzhgorod, Projecto st., 4
Phys: 2
Proofreader S. Shekmar

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引用文献:

公开号 | 申请日 | 公开日 | 申请人 | 专利标题

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法律状态:

优先权:

申请号 | 申请日 | 专利标题

JP53164135A|JPS5928148B2|1978-12-30|1978-12-30|

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