• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    There is provided an induction motor control system in which speed control of an induction motor is effected in digital fashion through use of a computer but without complex processing, and with a computer that need not be large in scale. This is accomplished by processing at least a speed command signal (VCMD), actual speed signal (TSA) and torque signal (ER) in analog fashion, enabling simplification of an induction motor speed control digital processing section which performs all other control operations in a digital manner. In a speed control network having a closed loop, a frequency-to-voltage converter (14), adder-subtractor (15), proportional integrator (16), polarity discriminator (17), absolute value circuit (18) and voltage-to-frequency converter (19) are constructed of circuitry operable on the basis of analog values, with all other circuits being constructed of circuitry operable on the basis of digital values.
    公开号:SU1327806A3
    申请号:SU813348146
    申请日:1981-10-30
    公开日:1987-07-30
    发明作者:Кавада Сигеки；Исида Хироси
    申请人:Фудзицу Фанук Лимитед (Фирма)；
    IPC主号:
    专利说明:

    The invention relates to electrical engineering, specifically to control systems. Synchronous, motor,
    The purpose of the invention is to simplify by reducing the requirements for a calculating device by reducing the size of the digital part of the control system.
    FIG. 1 is a block diagram of an asynchronous electric drive; in fig. 2 — functions of curves stored in the memory of the block diagram of an asynchronous electric drive; in fig. 3 is a block diagram of a converter for powering a three-phase asynchronous motor; in fig. 4 shows waveforms for describing pulse width modulation.
    Asynchronous electric drive contains asynchronous motor 1 (Fig. 1) connected to converter 2, pulse sensor 3 is position with two sequences of pulses at the output, control system consists of two parts, one of which is made on analog blocks, and the other is based on digital the first part includes a pulse-analog converter 4, the inputs of which are connected to a pulse sensor 3 position through the position sensor quad pulse unit 5, and the output is connected to the first One comparison unit, the second input of which is connected to the speed setting unit, and the output through the proportional-integral controller 7 is connected to the absolute signal value determining unit 8 and to the polarity determining unit 9, the output of the unit 8 is connected to the analog-pulse converter input 10. The digital resolver is made on a microprocessor 11 made up of a block 12. processing information, block 13 of the control program setting, block 14 of setting functions of the form S f (V), T ((;), (I) and sin9. In addition, the drive control circuit contains two logic elements 15 and 6, three logic element I.PI 17,18 and 19, logic element NOT 20, moment calculating unit 21, speed determining unit 22, slip determining unit 23, two blocks 24 and 25 summing, current amplitude setting unit 26, analog-to-digital converters 27, 28 and 29, moreover, in the digital part of the control network, information processing units 12, the assignment of the control program 13 (specifying function 14, 21 calculating moments, determining - speed 22, determining the sliding 23, 25 and summing 2A, specifying am- shtitudy current and digital to analog converters 26 and 29 are connected 27518
    inter-common data bus 30, the second inputs of the digital-to-analog converters 27.28 and 29 are connected to the output of the current amplitude block 26, and their outputs are outputs
    digital part of the control system. The output of the direction of rotation of the block 4 quadruple pulses of the position 3 is connected to the common data bus, and the outputs Forward
    and Back of this block are connected to the first logical element OR 17, the output Forward is connected to the input of the second element OR 18, and the Back is connected to the input of the third element OR 19,
    the output of the first logic element OR 17 is connected to the input of the speed determining unit 22, the output of the analog-pulse converter 10 is connected to the inputs of the time calculator 21, the slip definition 23, the output of the last is connected to the first inputs of two elements 15 and 16, the second input first element and 15,
    but. also the second input of the second element
    And 16 through the logical element NOT 20 is connected to the output PL of the polarity determination unit 9 and to the common data bus, the outputs of the first and second elements And 15 and 16 are connected to other
    inputs of the second and third elements OR 18 and 19., the outputs of which are connected respectively to the first and second blocks 24 And 25 summation. To converter control input
    2, a sawtooth voltage generator 31 is connected.
    The dependence of the slip S on the rotational speed V; moment T from the angle if; moment from current I and harmonic
    the functions of the rotation angle sin b (Fig. 2) are specified in block 14 of the microprocessor.
    A converter circuit for powering an induction motor includes a pulse width modulator 32
    (Fig. 3), which contains comparators 33.34 and 35, a HE circuit 36.37 and 38, and a driver 39-44, an inverter 45, which includes six power transistors 46-51 and six diodes 52-57, and three-phase full-wave rectifier 58. Each of the comparators 33-35 is designed to compare the amplitude of the STS sawtooth signal (Fig. 4) with the amplitude of the corresponding three-phase signal 1
    and
    , i AC and the formation of a logical 1, when the amplitude of the input AC signal is greater than the sawtooth signal, or logical O, when the amplitude of the sawtooth signal is larger. 06- ram attention to the input signal i. The output of comparator 33 is the current iyc command, having the shape shown in FIG. 4. Other comparators produce similar output signals iyc wc i which are not shown. In other words, comparators 33-35 create commands iy,. , i three-phase current with pulse-width modulation in accordance with the amplitudes iy, i,,. The HEs 36-38 and the drivers 39-44 work together to convert current current commands iyj, wc to drive signals for turning on or off the transistors 46-51 forming inverter 45.
    Asynchronous electric drive works as follows.
    When the analog VCMD speed command is issued by the speed command generation means (not shown in Fig. 1), the asynchronous motor 1 attempts to rotate in the forward or reverse direction in accordance with the command value. When the motor 1 rotates, the pulse position sensor 3 generates the first and second pulse sequences P / and P, out of phase on / 2 one relative to the other and proportional in frequency to the rotational speed of the engine 1. The quadrupled pattern in determining which of the pulse sequences P, P, ahead of the other, sends a RDS signal about the direction of rotation to bus 30, sends a pulse sequence P about forward rotation to line 1 while rotating an asynchronous motor forward and a pulse sequence P, about reverse rotation in line 1 while rotating an asynchronous motor in the opposite direction. Suppose an asynchronous motor rotates forward. Impulse sequence
    five
    0
    five
    0
    five
    0
    five
    0
    five
    The forward rotation P is supplied in this case to the transducer 4 and to the speed calculation unit 22 and the summing block 24, where the pulses are read in the forward direction.
    A frequency to voltage converter 4 produces a TSA signal of actual speed with a voltage that is proportional to the speed of the asynchronous motor. This signal is applied to a comparison unit 6, which generates an error signal ER between the actual speed signal TSA and the command rate VCMD received from the speed command issuance means. The error signal ER is an analog signal. The .ER signal is integrated by the proportional integration controller 7 for conversion into the error signal ER, which is then fed to the polarity determination unit 9 and the signal absolute magnitude determination unit 8. The polarity determining unit 9 senses the polarity signal ER of the mismatch and inserts the polarity signal PL to the bus 30, the absolute value unit 8 meanwhile receives the absolute value of the signal ER and outputs this value to the voltage-to-frequency converter 10, which is adapted to create a pulse sequence P with a frequency proportional to the absolute value of ER. The pulse sequence Pg is considered in the forward direction as a 2 G moment calculation unit, where the counted value Nf is a digital value corresponding to the torque T mentioned above. The information processing unit 12 periodically reads this value, t, e, at predetermined constant intervals.
    The counted value N in block 22 corresponds to the rotational speed of the asynchronous motor 1 and is read periodically in the same way as the Contents (torque T) of block 21 using information processing block 12, while block 22 is reset to the initial state any time the content is read. When the processing unit 12 reads the contents (rotational speed) of the unit 22, it is activated by the control program in order to obtain from the functional table the characteristics
    VS (slip distribution) is the value of m, corresponding to the rotational speed, the processing block 12 sets this value to blbk 23, the latter accepts the pulse sequence P, from the transducer 10 of the voltage 10 into frequency, and divides the pulse sequence by (M-t ), where M is the capacity of block 23. As a result, it is converted into a pulse sequence Rd, indicating engine slip. Since the polarity signal PL is logical 1, the PS pulse sequence passes through the AND 15 circuit and cxeMv OR 18. To calculate the summation in block 24. Block 24 counts the forward rotation pulses P, as well as the slip pulses P a, so that its content 0 is the total rotation angle in the forward direction of the induction motor. Similarly, the content 6g of summation unit 25 displays the total rotation angle of the asynchronous motor in the reverse direction. Processing unit 12 reads a fixed-period database and performs an operation in Q.- - DB each time it reads. The value of b is the current angular position of the asynchronous motor.
    When these operations have been carried out, processing unit 12, by controlling by means of a control program, obtains three-phase sinusoidal signals, 1, 1, as well as the amplitude of stator current I using characteristic T f (I) and sinus distribution stored in memory of block 14, also with considering the calculated rotation angle 9 and the torque T, these values are given 1у, 1, 1 and to the DF converters 27-29, respectively, as a result of which the D / A converters create three-phase analog sinusoidal signals i, IYJ.-, given amplitude. These sinusoidal signals are sent to the induction motor powering converter 2, which uses them to drive the induction motor 1. The repetition of the preceding operation adjusts the rotation speed of the induction motor to the command speed.


    The drive provides all the advantages of a digital control system, but at the same time uses an analog method of generating the error signal ER and implementing proportional integration, so high resolution can be achieved with microcomputers having a small number of bits. In addition to that (this feature of the electric drive facilitates the loading of the processing unit.
    权利要求:
    Claims (1)
    [1]
    Invention Formula
    An asynchronous electric drive containing an asynchronous motor connected to the converter, a pulse position sensor with two output pulse sequences, a control system composed of two parts, the first of which is made on analog blocks, and the second is based on a digital solver, while The first part includes a pulse-analog converter, the inputs of which are connected to a pulse position sensor, and the output is connected to a comparison unit, the second input of which is connected to the frequency setting unit The rotary signals, and the output proportional-integral controller is connected to the absolute value detection unit and the polarity detection unit, the analog-pulse converter, the second digital part of the input control system CI with the units for determining the absolute value of the signal and determining the polarity, and the outputs are connected to the control inputs of the converter, characterized in that, in order to simplify by reducing
     requirements for a digital resolver by reducing the size of the digital part of the control system, the digital resolver is performed on a microprocessor composed of an information processing unit, a control program setting unit, a function setting unit
    S f (V), T f (.), T f (I) and sin b
    where S is the slip frequency of the asynchronous motor;
    V is the rotation frequency of the asynchronous motor;
    7
    T is the torque of the asynchronous motor; I - stator current asynchronous
    engine;
    in - the angle of rotation of the rotor of the induction motor;
    1 (- the phase difference of the voltage of the induction motor,
    A quadruple pulse generator of the position sensor, two AND logic elements, three OR logic elements, a NOT logic element, a torque calculation unit, a speed determination unit, a slip determination unit, two summation units, a current amplitude setting unit, digital-analog converters, and the digital part of the system. control information processing units, control program assignments, function assignments, moment calculations, speed determinations, slip determinations, summations, current amplitude settings and digital the tax converters are interconnected by a common data bus, the second inputs of the digital-analog converters are connected to the output of the current amplitude setting unit, and their outputs are digital outputs .t
    -255 O O t
    06 eight
    part of the control system, the inputs of the position sensor quadruple pulses are connected to the pulse
    the position sensor, the output of the direction of rotation of this block is connected to the said common data bus, and the Forward and Back outputs are connected to a pulse-analogue
    to the converter, to the first logical element OR, the output Forward is connected to the input of the second element OR, and the Back to the input of the third element OR, the output of the first logical
    the OR element is connected to the input of the speed determination unit, the output of the analog-pulse converter is connected to the inputs of the moment calculation and slip determination blocks, the output of the latter is connected to the first inputs of two elements AND, the second input of the first element AND, and the second input of the second element AND through a logical element NOT
    connected to the output of the polarity detection unit and to the common data bus; the outputs of the first and second elements AND are connected to other inputs of the second and third elements OR,
    the outputs of which are connected respectively to the first and second summation blocks.
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    Compiled by V, Tarasov Editor M, Petrova Tehred L. Serdyukova Proofreader T. Kolb
    Order 3396/59 Circulation 659Subscription
    VNIIPI USSR State Committee
    for inventions and discoveries 113035, Moscow, Zh-35, Raushsk nab., 4/5
    Production and printing company, Uzhgorod, st. Project, 4
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    同族专利:
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    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US3349303A|1964-03-04|1967-10-24|Hartman Metal Fabricators Inc|Mechanism for precisely positioning a moving part relative to a cooperating part|
    US4091294A|1972-09-01|1978-05-23|Kearney & Trecker Corporation|A.C. motor control apparatus and method|
    DD100594A1|1972-11-10|1973-09-20|
    US3790006A|1972-11-15|1974-02-05|Hartman Metal Fabricators Inc|Position control system for a warehouse apparatus|
    US3914677A|1973-06-08|1975-10-21|Sperry Rand Corp|Precision motion control device or the like|
    GB1540997A|1975-05-16|1979-02-21|Euratom|Apparatus for controlling ac-motors|
    US4087732A|1976-05-21|1978-05-02|Pritchard Eric K|Digital stepping motor device circuit|
    DE2752600C2|1977-11-25|1982-08-19|Brown, Boveri & Cie Ag, 6800 Mannheim|Method and circuit arrangement for controlling a converter-fed asynchronous machine|
    JPS5923197B2|1978-01-18|1984-05-31|Toshiba Machine Co Ltd|
    US4227137A|1978-05-30|1980-10-07|Hartman Metal Fabricators, Inc.|Digital tach and slip signal motor control|
    US4316132A|1979-05-04|1982-02-16|Eaton Corporation|PWM Inverter control and the application thereof within electric vehicles|US4558269A|1982-04-22|1985-12-10|Fanuc Ltd|Induction motor drive apparatus|
    JPS5925592A|1982-08-02|1984-02-09|Toyota Central Res & Dev Lab Inc|Control of inverter and device therefor|
    DE3375544D1|1982-11-02|1988-03-03|Fanuc Ltd|Controller for ac motor|
    JPS5996891A|1982-11-25|1984-06-04|Fanuc Ltd|Control system for ac motor|
    JPS5996890A|1982-11-25|1984-06-04|Fanuc Ltd|Control system for servo motor|
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    US5191618A|1990-12-20|1993-03-02|Hisey Bradner L|Rotary low-frequency sound reproducing apparatus and method|
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    US7421193B2|2005-06-28|2008-09-02|Kobayashi Herbert S|Digital motor control system and method|
    US8427084B2|2009-07-21|2013-04-23|Herbert S. Kobayashi|Digital pulse width modulated motor control system and method|
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    US9043062B2|2012-10-05|2015-05-26|Ford Global Technologies, Llc|Hybrid electric vehicle powertrain and control system|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    JP55152699A|JPS5778388A|1980-10-30|1980-10-30|Control system for induction motor|
    US06/316,763|US5334924A|1980-10-30|1981-10-30|Induction motor control system|
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