Method and device for adaptive starting torque

Abstract

The present invention provides a method and device for self-adapting starting torque, the method comprising the following steps: before a stop command is issued, the first output of the integrator module of the free function module changes synchronously with the integral output of the speed controller module; at the moment the stop command is issued, the first output of the integrator module is locked as a steady-state torque proportional value associated with a steady-state torque value; within a first time period after restarting, the first output of the integrator module is maintained at the steady-state torque proportional value and output to the speed controller module, so that the speed controller module controls the frequency converter with the steady-state torque value associated with the steady-state torque proportional value as an integral adjustment amount. The self-adaptation of the starting torque is achieved by the method and device, which is flexible and widely applicable.

Description

Technical Field

[0001] The invention relates to the field of frequency converter control, and in particular to a method and a device for realizing frequency converter starting torque self-adaptation. Background Art

[0002] Inverters are widely used in lifting equipment, trolleys and other mechanical loads. In these applications, when restarting, due to the effect of gravity, the load or trolley may slide down a certain distance before running in the set direction, commonly known as "slipping hook". At present, the method to solve this problem is usually to set a "brake opening torque" parameter for the frequency converter. When restarting, the frequency converter outputs the set "brake opening torque" to prevent "slipping off the hook"; the torque value set by this method is a fixed value, which can only be applied to a certain specific situation. When the fixed value is smaller than the load, the load will "slip off the hook" when restarting; when the fixed value is larger than the load, the load will "rush forward" when restarting; for example, when the frequency converter is applied to a trolley, the direction of the "brake opening torque" required for the trolley to start on an uphill section and a downhill section is different, and the parameter of the "brake opening torque" needs to be set to a positive or negative number; or if several carriages are on different sections, for example, two carriages are on an uphill section and the last carriage is on a flat road, the "brake opening torque" required for each carriage is also different. Summary of the invention

[0003] In view of this, the present invention proposes a device and method for realizing self-adaptation of starting torque of a frequency converter, so as to solve the above problems and realize self-adaptation of starting torque of the frequency converter.

[0004] According to one embodiment of the present invention, a starting torque adaptive method is provided, which is applicable to a frequency converter including a free function module, and is characterized in that it comprises the following steps:

[0005] Step S1: before the stop command is issued, the first output of the integrator module of the free function module changes synchronously with the integral output of the speed controller module;

[0006] Step S2: When the stop command is issued, the first output of the integrator module is locked as a steady-state torque proportional value, wherein the steady-state torque proportional value is a value related to the integral output at the moment the stop command is issued, and the integral output at the moment the stop command is issued is the steady-state torque value;

[0007] Step S3: In the first time period after restarting, the first output of the integrator module is maintained at the steady-state torque proportional value and output to the speed controller module, and the speed controller module uses the steady-state torque value related to the steady-state torque proportional value as the integral adjustment amount to control the motor, wherein the first time period starts at the restarting moment.

[0008] Furthermore, before the stop instruction is issued, the first output of the integrator module is equal to the first input of the integrator module, and the first input of the integrator module is associated with the integrated output of the speed controller module.

[0009] Furthermore, the first input quantity of the integrator module is equal to a function of the integrated output quantity.

[0010] Furthermore, the step of maintaining the first output of the integrator module at a steady-state torque proportional value within the first time period after restarting further includes: controlling the first output of the integrator module to maintain the steady-state torque proportional value through the conduction delay module of the free function module.

[0011] Furthermore, within the first time period after restarting, the steady-state torque proportional value is output to the speed controller module, and the speed controller uses the steady-state torque value related to the steady-state torque proportional value as the integral adjustment amount to control the motor, further comprising: controlling the speed controller module through the pulse generation module of the free function module to output the steady-state torque value related to the steady-state torque proportional value as the integral adjustment amount to control the motor.

[0012] Furthermore, it also includes step S4 which starts simultaneously with step S3: in a second time period after restarting, maintaining the first output of the integrator module at a steady-state torque proportional value, wherein the second time period includes the first time period, so that in the second time period after the end of the first time period, the integrator module can still output the steady-state torque proportional value to the speed controller module.

[0013] Furthermore, before the above steps, the following free function module activation determination step S0 is also included:

[0014] Determine whether the inverter is online.

[0015] If the inverter is offline, it prompts to manually activate the free function module, and after manually activating the free function module, steps S1-S3 are executed in sequence;

[0016] If the inverter is online, determine whether the inverter control unit is a control unit that automatically activates the free function module;

[0017] If it is not a control unit that automatically activates the free function module, it is further determined whether the free function module of the inverter has been activated;

[0018] If the free function module is not activated, activate the free function module online and perform steps S1-S3 in sequence;

[0019] If the free function module is activated, execute steps S1-S3 in sequence;

[0020] If it is a control unit that automatically activates the free function module, steps S1-S3 are executed in sequence.

[0021] According to another aspect of the present invention, there is also provided a starting torque adaptive device, which is applicable to a frequency converter including a free function module, comprising:

[0022] Integrator module, included in the free function module;

[0023] The speed controller module is connected to the integrator module of the free function module, and outputs an integral output quantity used as the integral regulation of the frequency converter;

[0024] Wherein, before the stop command is issued, the first output of the integrator module changes synchronously with the integral output of the speed controller module; at the moment the stop command is issued, the first output of the integrator module is locked at the steady-state torque proportional value, wherein the steady-state torque proportional value is a value related to the integral output at the moment the stop command is issued, and the integral output at the moment the stop command is issued is the steady-state torque value; within the first time period after restarting, the first output of the integrator module is maintained at the steady-state torque proportional value and is output to the speed controller module, and the speed controller module outputs the steady-state torque value as the integral adjustment amount to control the motor, wherein the first time period starts at the restart moment.

[0025] Further, before the stop command is issued, the first output of the integrator module is equal to the first input of the integrator module, and the first input of the integrator module is associated with the integrated output of the speed controller module.

[0026] Furthermore, it also includes a turn-on delay module of the free function module, which is connected to the integrator module. In the first time period after restarting, the first output of the integrator module is controlled to be maintained at a steady-state torque proportional value.

[0027] Furthermore, it also includes a pulse generation module of the free function module, which is connected to the speed controller module. In the first time period after restarting, the pulse generation module controls the speed controller module to output a steady-state torque value related to the steady-state torque ratio value as an integral adjustment amount to control the motor.

[0028] Furthermore, the first input quantity of the integrator module is equal to a function of the integrated output quantity.

[0029] Furthermore, the first output of the integrator module is maintained at a steady-state torque proportional value within a second time period after restarting, wherein the second time period includes the first time period, so that within the second time period after the first time period ends, the integrator module can still output the steady-state torque proportional value to the speed controller module.

[0030] According to the method and device for self-adapting starting torque provided by the present invention, the steady-state torque ratio value related to the steady-state torque value can be recorded by the integrator module, and when restarting, the recorded steady-state torque ratio value is output to the speed controller module, so that the speed controller module outputs the steady-state torque value to control the motor, and the self-adaptation of the starting torque is truly realized. At the same time, the method and device utilize the free function module function of the frequency converter, which is simple and easy to operate and has a wide range of applicable scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the above and other features and advantages of the present invention will be more apparent to those skilled in the art. In the accompanying drawings:

[0032] Figure 1 A flowchart of a method for adaptively starting torque according to an exemplary embodiment is shown in FIG.

[0033] Figure 2 A structural diagram of a device for realizing inverter starting torque adaptation according to an exemplary embodiment

[0034] Figure 3 FIG. 1 is a pulse diagram before a parking command is issued according to an exemplary embodiment.

[0035] Figure 4 FIG. 1 is a pulse diagram before and after restart according to an exemplary embodiment.

[0036] Figure 5 A flowchart of a free function module judging activation step of a method for realizing inverter starting torque adaptation according to an exemplary embodiment

[0037] The reference numerals are as follows:

[0038] 2 Integrator Module 4 Speed ​​Controller Module

[0039] 6Conduction delay module8Pulse generation module

[0040] A The first output of the integrator module B The first input of the integrator module

[0041] C. Speed ​​controller module integral output D. Steady-state torque proportional value

[0042] E Steady-state torque value G Speed ​​controller module integral input

[0043] X start-stop signal Y conduction delay module output signal

[0044] t1 The first time period after restarting t2 The second time period after restarting

[0045] 100 inverter 200 motor

[0046] 300 free function modules DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is further described in detail with reference to the following embodiments.

[0048] Figure 1 The steps of a starting torque adaptive method according to an exemplary embodiment are applicable to a frequency converter 100 including a free function module 300, and the frequency converter 100 is used to control a motor 200; Figure 1 As shown, the starting torque adaptive method includes steps S1-S3:

[0049] Wherein, step S1: before the parking instruction is issued, the first output quantity A of the integrator module 2 of the free function module 300 changes synchronously with the integral output quantity C of the speed controller module 4 .

[0050] Specifically, the free function module 300 is a collection of function modules for realizing some specific functions in the frequency converter to which the method of the present invention is applicable. When the free function module 300 is in an activated state, various submodules contained in the free function module can be flexibly used to realize the operation and control functions of the frequency converter. For example, the integrator module, the conduction delay module, and the pulse generation module used in the present invention are all submodules of the free function module.

[0051] The speed controller module 4 is a unit used for proportional-integral regulation of the frequency converter 100, wherein the proportional regulation corresponds to the regulation of acceleration, and the integral regulation corresponds to the regulation of output torque. According to the purpose of the present invention, the present invention only involves the integral regulation part. The integral output amount C output by the speed controller module 4 is the integral regulation amount used for the integral regulation part.

[0052] As a submodule of the free function module 300, the integrator module 2 outputs a first output quantity A. Before the stop command is issued, the first output quantity A of the integrator module 2 changes synchronously with the integrated output quantity C of the speed controller module 4, and the first output quantity A of the integrator module 2 can be used to record the integrated output quantity C before the stop command is issued in real time.

[0053] According to one embodiment of the present invention, before the parking instruction is issued, the first output quantity A of the integrator module 2 is equal to the first input quantity B of the integrator module 2, and the first input quantity B of the integrator module 2 is associated with the integrated output quantity C of the speed controller module 4. The specific implementation is as follows: the integrator module 2 has a "direct setting value" function. When the "direct setting value" function is turned on, the direct setting value output quantity of the integrator module 2 can be equal to the direct setting value input quantity. Before the parking instruction is issued, the "direct setting value" function of the integrator module 2 is started, and the direct setting value output quantity of the integrator module 2 is set to the first output quantity A, and the direct setting value input quantity is set to the first input quantity B, so the first output quantity A is equal to the first input quantity B; at the same time, the first input quantity B of the integrator module 2 is associated with the integrated output quantity C of the speed controller module 4, so the first input quantity B of the integrator module 2 is associated with the integrated output quantity C of the speed controller module 4.

[0054] According to one embodiment, by using the output of the on-delay module 6 mentioned later in the specification as the switch quantity for turning on or off the "direct set value" function of the integrator control module 2, the "direct set value" function of the integrator module 2 is turned on before the parking command is issued.

[0055] S2: At the moment the stop command is issued, the first output quantity A of the integrator module 2 is locked as the steady-state torque proportional value D, wherein the steady-state torque proportional value D is a value related to the integral output quantity C at the moment the stop command is issued, and the integral output quantity C at the moment the stop command is issued is the steady-state torque value E.

[0056] Specifically, before the stop command is issued, the motor is in a uniform speed running state, and the integral output C output by the speed controller module 4 is the steady-state torque value E, that is, the torque required for the load to maintain uniform linear motion. For a lifting load, the steady-state torque is the torque required to overcome the load's own gravity; for a translational load, the steady-state torque is the torque required to overcome friction resistance. The first output A of the integrator module 2 is associated with the integral output C, so at the moment the stop command is issued, the first output A output by the integrator module 2 is locked to a value associated with the integral output C at this time, that is, the steady-state torque value E, that is, the steady-state torque proportional value D. The integrator module 2 latches the steady-state torque proportional value D through its own latching function, and is used to input it to the speed controller module 4 as an input after restarting.

[0057] Furthermore, before the parking instruction is issued, the first input quantity B of the integrator module 2 is equal to the function of the integral output quantity C. Specifically, the present invention establishes a correlation function between the collected integral output quantity C and the first input quantity B by means of mathematical statistical analysis. The correlation function preferably depends on the compensation amount required by the first output quantity A for the hook slipping state of the load device.

[0058] According to a preferred embodiment of the present invention, the frequency converter 100 can be pre-trained: the frequency converter data parameters and hook slip data parameters during operation are collected, and the frequency converter data parameters at least include three-phase current data, three-phase voltage data, speed data, and torque data to form a data pool; establish an association relationship for the above data, and establish a corresponding data generation model, and the data generation model includes an association function between the frequency converter data parameters and the hook slip data parameters; use the stochastic gradient descent method to train the association function; after the association function converges, end the training, generate the trained association function, and use it as the conversion between the above-mentioned integral output quantity C and the first input quantity B. Correspondingly, the conversion relationship between the above-mentioned first input quantity B and the integral output quantity C is also the conversion relationship between the steady-state torque proportional value D and the steady-state torque value E.

[0059] Preferably, the first input quantity B of the integrator module 2 is equal to the integrated output quantity C divided by the rated torque of the motor, and correspondingly, the steady-state torque ratio value D is equal to the steady-state torque value E divided by the rated torque of the motor.

[0060] S3: In the first time period t1 after restarting, the first output quantity A of the integrator module 2 is maintained at the steady-state torque proportional value D and output to the speed controller module 4, and the speed controller module 4 uses the steady-state torque value E related to the steady-state torque proportional value D as the integral adjustment quantity to control the motor 200, wherein the first time period t1 starts at the restarting moment.

[0061] Specifically, within the first time period t1 after restarting, the speed controller module 4 receives the steady-state torque proportional value D output by the integrator module 2, and outputs the steady-state torque value E related to the steady-state torque proportional value D as an integral adjustment amount to control the motor 200, thereby achieving the goal that the load does not "slip" or "rush forward" during startup.

[0062] According to another embodiment of the present invention, the first output quantity A of the integrator module 2 is controlled to be maintained at the steady-state torque proportional value D by the on-delay module 6 of the free function module 300; the on-delay module 6 is a time-limited element with a BOOL type used for on-delay. The principle is to set the output value of the output terminal according to the rising edge of the pulse on the input terminal and the set pulse delay time; if the input terminal is not on the rising edge, the output terminal is 0; if the duration of the input terminal being on the rising edge is less than the set pulse delay time, the output terminal is 0; if the duration of the input terminal being on the rising edge is greater than the set pulse delay time, the output terminal is 1.

[0063] Specifically, the input end of the conduction delay module 6 receives the start-stop signal X representing stopping or starting, and the output end is connected to the integrator module 2, so that the output of the conduction delay module 6 is used as a switch quantity for turning on or off the "direct setting value" function of the integrator module 2. When the output of the conduction delay module 6 is 1, the "direct setting value" function of the integrator module 2 is turned on, and when the output of the conduction delay module 6 is 0, the "direct setting value" function of the integrator module 2 is not turned on.

[0064] The pulse delay time is set to the first time period t1, so in the first time period t1 of restart, the start-stop signal X is on the rising edge, but the output of the on-delay module 6 is 0, so the "direct set value" function of the integrator module 2 is not turned on, so at this time the first output quantity A of the integrator module 2 is not equal to the first input quantity B, and the first output quantity A of the integrator module 2 does not change synchronously with the integral output quantity C of the speed controller module 4, but still maintains the steady-state torque proportional value D at the moment the stop command is issued.

[0065] According to another embodiment of the present invention, within the first time period t1 after restarting, the pulse generation module 8 of the free function module 300 controls the speed controller module 4 to output a steady-state torque value E related to the steady-state torque proportional value D as an integral adjustment amount to control the motor 200.

[0066] The specific implementation is as follows: the speed controller module 4 has a "direct set value" function. When the "direct set value" function is turned on, its direct set value output is equal to the direct set value input; the direct set value output of the speed controller module 4 is set to the integral output C, and its direct set value input is set to the integral input G, and its integral input G is associated with the first output A of the integrator module 2; therefore, when the "direct set value" function is turned on, its direct set value output is equal to its direct set value input, that is, the integral output C is equal to the integral input G, that is, it is associated with the first output A.

[0067] The pulse generation module 8 is used to control the opening and closing of the "direct setting value" function of the speed controller module 4. Specifically, the pulse generation module 8 is a time-limited element, which is used to generate a pulse of duration. If the input pulse is a rising edge within the set pulse duration, the output end is 1. The input end of the pulse generation module 8 receives the start-stop signal X, and the output end is connected to the speed controller module 4 as a switch quantity for opening or closing the "direct setting value" function of the speed controller module 4. When the output of the pulse generation module 8 is 1, the "direct setting value" function of the speed controller module 4 is turned on, and when the output of the pulse generation module 8 is 0, the "direct setting value" function of the speed controller module 4 is turned off. Therefore, the pulse duration is set to the first time period t1. During the first time period t1 of restart, the start-stop signal is on the rising edge, and the pulse generation module 8 outputs 1, thereby turning on the "direct set value" function of the speed controller module 4. At this time, the first output quantity A of the integrator module 2 is the steady-state torque proportional value D. Therefore, the integral output quantity C of the speed controller module 4 is the steady-state torque value E related to the steady-state torque proportional value D of the first output quantity A, and the steady-state torque value E is used as the integral adjustment quantity to control the motor 200.

[0068] Furthermore, it also includes a step S4 that starts simultaneously with step S3: in the second time period t2 after restarting, the first output quantity A of the integrator module 2 is maintained at the steady-state torque proportional value D, and the second time period t2 includes the first time period t1, so that during the time from the end of the first time period t1 to the end of the second time period t2, the integrator module 2 can still output the steady-state torque proportional value D to the speed controller module 4.

[0069] Through this feature, the locking time of the steady-state torque proportion value D related to the steady-state torque value E can be made longer. Even if within the first time period t1, the effect of controlling the speed controller module 4 to output the steady-state torque value E as the integral adjustment amount to control the motor 200 cannot be achieved due to reasons such as the motor failing to start successfully, the locked steady-state torque proportion value D can be input into the speed controller module 4 in the second time period t2 after the first time period t1 when the above problem is solved, thereby achieving the purpose of the invention.

[0070] Preferably, the pulse delay time of the conduction delay module 6 is set to t2, and the pulse duration time of the pulse generation module 8 is set to t1, and t2 is greater than t1.

[0071] Further, according to the above method for realizing the adaptive start-up torque of the inverter 100, before the above steps S1, S2, and S3, a free function module judgment activation step S0 is also included, such as Figure 5 As shown, step S0 is specifically:

[0072] Step S01: determine whether the inverter 100 is online;

[0073] If the frequency converter 100 is offline, then execute step S02: prompt the user to manually activate the free function module 300, and manually activate the free function module 300. After executing step S02, execute S03: execute steps S1-S3 in sequence;

[0074] If the inverter 100 is online, then S04 is executed: determining whether the inverter 100 is a control unit whose free function module 300 has been automatically activated;

[0075] Specifically, the free function module function is activated by default on some inverters, and is not activated by default on some inverters; for example, for Siemens G120 series inverters, the free function module is not activated by default in the inverter with the control unit CU250S-2, and is activated by default in the inverter with the control unit CU240B-2 and CU240E-2.

[0076] If it is determined that the control unit is not one in which the free function module 300 has been automatically activated, such as the CU250S-2 control unit of the Siemens G120 series inverter, step S05 is executed: determining whether the free function module has been activated;

[0077] If the free function module is not automatically activated, then execute S06: activate the free function module online, and after executing S06, execute S03: execute steps S1-S3 in sequence;

[0078] If the free function module has been activated, directly execute S03: execute steps S1-S3 in sequence.

[0079] If it is determined that the free function module 300 is automatically activated as the control unit, such as the CU240B-2 and CU240E-2 control units of the Siemens G120 series inverter, S03 is directly executed: steps S1-S3 are executed in sequence.

[0080] Through the above step S0, the starting torque self-adaptation method can be automatically executed, which is more convenient and efficient for the commissioning personnel.

[0081] Figure 3 The figure shows a pulse diagram before a parking instruction is issued according to an embodiment of the present invention. Figure 4 1 is a pulse diagram before and after restart according to an embodiment of the present invention. Figure 3 and Figure 4 The two scales on the left, the outer one represents Newton meters, and the inner one represents the ratio. Figure 3 and Figure 4The steps and principle of the method for realizing the adaptive start torque of the inverter 100 are introduced:

[0082] like Figure 3 As shown in , X represents the start-stop signal, A is the first output of the integrator module 2, C is the integral output C of the speed controller 4, A is the proportional value, and the unit of C is Newton-meter.

[0083] When the time is 0-about 1200ms, the start-stop signal X is equal to 1, which is the state before the stop command is issued. It can be seen that the first output A of the integrator module 2 changes synchronously with the integrated output C.

[0084] When the time is about 1200ms, the start-stop signal X changes from 1 to 0. This is the moment when the stop command is issued. The integral output quantity C at this time is the steady-state torque value E, which is equal to 65 Nm. The first output quantity A at the moment when the stop command is issued is the steady-state torque ratio value D, which is about 0.27.

[0085] like Figure 4 As shown, X represents the start-stop signal, A is the first output of the integrator module 2 , C is the integral output of the speed controller 4 , and Y is the output terminal signal of the conduction delay module 4 .

[0086] In the first 0-600ms of the waveform, the output of the start-stop signal X is 0, which means the vehicle is in the parking state. At 600ms, the start-stop signal X changes from 0 to 1, which is the restart moment. It can be seen that at the restart moment, the first output A of the integrator module 2 is Figure 3 The steady-state torque ratio value latched when the stop command is issued is 0.27.

[0087] During the period of 600ms-800ms after restart, corresponding to the first time period t1, the first output A of the integrator module 2 is maintained at Figure 3 When the stop command is issued, the latched steady-state torque ratio value is 0.27, and the integral output C of the speed controller module 4 also remains at the steady-state torque value of 65 Nm corresponding to the steady-state torque ratio value of 0.27. After 800 ms, the integral output C of the speed controller module 4 is no longer the steady-state torque value of 65 Nm corresponding to the steady-state torque ratio value of 0.27, but begins to change in real time.

[0088] At the same time, it can be seen that in the time of 600-2600ms corresponding to the second time period t2, the start-stop signal X is equal to 1, the output signal Y of the on-delay module 4 is 0, and the first output quantity A of the integrator module 2 does not change with the integral output quantity C, but remains at the steady-state torque proportional value of 0.27 latched at the moment of closing; and after 2600ms, the output signal Y of the on-delay module 4 changes from 0 to 1. At this time, the first output quantity A of the integrator module 2 no longer remains at the steady-state torque proportional value of 0.27, but begins to change synchronously with the integral output quantity C of the speed controller module 4.

[0089] comprehensive Figure 3 and Figure 4 It can be seen that the present invention realizes real-time recording of the integral output of the speed controller before the stop command is issued, and uses the steady-state torque value E as the "brake opening torque" of the inverter 100 to control the motor within the first time period t1 after the latch is reopened at the moment the stop command is issued, thereby achieving the inventive purpose of the present invention.

[0090] According to another aspect of the present invention, the present invention also provides a device for adaptive starting torque, such as Figure 2 The figure shows a starting torque adaptive device according to an exemplary embodiment, including an integrator module 2 and a speed controller module 4; the integrator module 2 is included in the free function module 300, and the speed controller module 4 is connected to the integrator module 2, and outputs the integral output C used as the integral adjustment of the frequency converter 100 to the integrator module 2; wherein, before the stop command is issued, the first output A of the integrator module 2 changes synchronously with the integral output C of the speed controller module 4; at the moment when the stop command is issued, the first output A of the integrator module 2 is locked at the steady-state torque proportional value D, wherein the steady-state torque proportional value D is a value related to the integral output C at the moment when the stop command is issued, and the integral output C at the moment when the stop command is issued is the steady-state torque value E; it should be noted that, 1100ms-1200ms before the stop command is issued, the first output A of the integrator module 2 has a short delay due to the long execution cycle of the free function module and the long sampling. In the first time period t1 after restarting, the first output of the integrator module is maintained at the steady-state torque proportional value D and is output to the speed controller module 4, and the speed controller module 4 outputs the steady-state torque value E as the integral adjustment amount to control the motor 200, wherein the first time period t1 starts at the restarting moment.

[0091] Specifically, the free function module 300 is a collection of function modules for realizing some specific functions in the frequency converter to which the device of the present invention is applicable. When the free function module 300 is in an activated state, various submodules contained in the free function module can be flexibly used to realize the operation and control functions of the frequency converter. For example, the integrator module, the conduction delay module, and the pulse generation module used in the present invention are all submodules of the free function module.

[0092] The speed controller module 4 is a unit used for proportional-integral regulation of the frequency converter 100, wherein the proportional regulation corresponds to the regulation of acceleration, and the integral regulation corresponds to the regulation of output torque. According to the purpose of the present invention, the present invention only involves the integral regulation part. The integral output amount C output by the speed controller module 4 is the integral regulation amount used for the integral regulation part.

[0093] The integrator module 2 outputs a first output quantity A as a submodule of the free function module 300. Before the stop command is issued, the first output quantity A of the integrator module 2 changes synchronously with the integral output quantity C of the speed controller module 4, and the first output quantity A of the integrator module 2 can be used to record the integral output quantity C before the stop command is issued in real time.

[0094] According to one embodiment of the present invention, before the parking instruction is issued, the first output quantity A of the integrator module 2 is equal to the first input quantity B of the integrator module 2, and the first input quantity B of the integrator module 2 is associated with the integrated output quantity C of the speed controller module 4. The specific implementation is as follows: the integrator module 2 has a "direct setting value" function. When the "direct setting value" function is turned on, the direct setting value output quantity of the integrator module 2 can be equal to the direct setting value input quantity. Before the parking instruction is issued, the "direct setting value" function of the integrator module 2 is started, and the direct setting value output quantity of the integrator module 2 is set to the first output quantity A, and the direct setting value input quantity is set to the first input quantity B, so the first output quantity A is equal to the first input quantity B; at the same time, the first input quantity of the integrator module 2 is associated with the integrated output quantity of the speed controller module 4, so the first input quantity B of the integrator module 2 is associated with the integrated output quantity C of the speed controller module 4.

[0095] According to one embodiment, the output of the on-delay module 6, which will be mentioned later in the specification, is used as a switch quantity to turn on or off the "direct set value" function of the integrator control module 2, so that the "direct set value" function of the integrator module 2 is turned on before the parking command is issued.

[0096] At the moment the stop command is issued, the integrated output quantity C output by the speed controller module 4 is the steady-state torque value E, and the first output quantity A of the integrator module 2 is associated with the integrated output quantity C. Therefore, at the moment the stop command is issued, the first output quantity A output by the integrator module 2 is locked to a value associated with the steady-state torque value E, that is, the steady-state torque proportional value D. The integrator module 2 latches the steady-state torque proportional value D through its own latching function, and is used to input it to the speed controller module 4 as an input quantity after restarting.

[0097] Further, the first input quantity B of the integrator module is equal to the function of the integral output quantity C. Specifically, the present invention establishes a correlation function between the collected integral output quantity C and the first input quantity B by means of mathematical statistical analysis. The correlation function preferably depends on the compensation amount required by the first output quantity A for the hook slipping state of the load device.

[0098] According to a preferred embodiment of the present invention, the frequency converter 100 can be pre-trained: the frequency converter data parameters and hook slip data parameters during operation are collected, and the frequency converter data parameters at least include three-phase current data, three-phase voltage data, speed data, and torque data to form a data pool; establish an association relationship for the above data, and establish a corresponding data generation model, and the data generation model includes an association function between the frequency converter data parameters and the hook slip data parameters; use the stochastic gradient descent method to train the association function; after the association function converges, end the training, generate the trained association function, and use it as the conversion between the above-mentioned integral output quantity C and the first input quantity B. Correspondingly, the conversion relationship between the above-mentioned first input quantity B and the integral output quantity C is also the conversion relationship between the steady-state torque proportional value D and the steady-state torque value E.

[0099] Preferably, the first input quantity B of the integrator module 2 is equal to the integrated output quantity C divided by the rated torque of the motor, and correspondingly, the steady-state torque ratio value D is equal to the steady-state torque value E divided by the rated torque of the motor.

[0100] In the first time period t1 after restarting, the speed controller module 4 receives the steady-state torque proportional value D output by the integrator module 2, and outputs the steady-state torque value E related to the steady-state torque proportional value D as the integral adjustment amount to control the motor 200, so as to achieve the load not "slipping" or "rushing forward" during startup.

[0101] According to another embodiment of the present invention, the starting torque adaptive device also includes a turn-on delay module 6 of the free function module 300, which is connected to the integrator module 2 to control the first output quantity A of the integrator module 2 to remain at the steady-state torque proportional value D within the first time period t1 after restarting.

[0102] Specifically, the on-delay module 6 is a time-limited element with a BOOL type used for on-delay. Its principle is to set the output value of the output terminal according to the rising edge of the pulse on the input terminal and the set pulse delay time; if the input terminal is not on the rising edge, the output terminal is 0; if the duration of the input terminal being on the rising edge is less than the set pulse delay time, the output terminal is 0; if the duration of the input terminal being on the rising edge is greater than the set pulse delay time, the output terminal is 1.

[0103] The input end of the conduction delay module 6 receives the start-stop signal X representing parking or starting, and the output end is connected to the integrator module 2, so that the output of the conduction delay module 6 is used as a switch quantity for turning on or off the "direct set value" function of the integrator module 2. When the output of the conduction delay module 6 is 1, the "direct set value" function of the integrator module 2 is turned on, and when the output of the conduction delay module 6 is 0, the "direct set value" function of the integrator module 2 is not turned on.

[0104] The pulse delay time is set to the first time period t1, so in the first time period t1 of restart, the start-stop signal X is on the rising edge, but the output of the on-delay module 6 is 0, so the "direct set value" function of the integrator module 2 is not turned on, so at this time the first output quantity A of the integrator module 2 is not equal to the first input quantity B, and the first output quantity A of the integrator module 2 does not change synchronously with the integral output quantity C of the speed controller module 4, but still maintains the steady-state torque proportional value D at the moment the stop command is issued.

[0105] According to another embodiment of the present invention, the starting torque adaptive device also includes a pulse generation module 8 of the free function module 300, which is connected to the speed controller module 4 and controls the speed controller module 4 to output a steady-state torque value E related to the steady-state torque proportional value D as an integral adjustment quantity to control the motor 200 within the first time period t1 after restarting.

[0106] The specific implementation is as follows: the speed controller module 4 has a "direct set value" function. When the "direct set value" function is turned on, its direct set value output is equal to the direct set value input; the direct set value output of the speed controller module 4 is set to the integral output C, and its direct set value input is set to the integral input G, and its integral input G is associated with the first output A of the integrator module 2; therefore, when the "direct set value" function is turned on, its direct set value output is equal to its direct set value input, that is, the integral output C is equal to the integral input G, that is, it is associated with the first output A.

[0107] The pulse generation module 8 is used to control the opening and closing of the "direct setting value" function of the speed controller module 4. Specifically, the pulse generation module 8 is a time-limited element, which is used to generate a pulse of duration. If the input pulse is a rising edge within the set pulse duration, the output end is 1. The input end of the pulse generation module 8 receives the start-stop signal X, and the output end is connected to the speed controller module 4 as a switch quantity for opening or closing the "direct setting value" function of the speed controller module 4. When the output of the pulse generation module 8 is 1, the "direct setting value" function of the speed controller module 4 is turned on, and when the output of the pulse generation module 8 is 0, the "direct setting value" function of the speed controller module 4 is turned off. Therefore, the pulse duration is set to the first time period t1. During the first time period t1 of restart, the start-stop signal is on the rising edge, and the pulse generation module 8 outputs 1, thereby turning on the "direct set value" function of the speed controller module 4. At this time, the first output quantity A of the integrator module 2 is the steady-state torque proportional value D. Therefore, the integral output quantity C of the speed controller module 4 is the steady-state torque value E related to the steady-state torque proportional value D of the first output quantity A, and the steady-state torque value E is used as the integral adjustment quantity to control the motor 200.

[0108] Furthermore, the first output quantity A of the integrator module 2 is maintained at the steady-state torque proportional value D in the second time period t2 after restarting, wherein the second time period t2 includes the first time period t1, so that in the second time period t2 after the end of the first time period t1, the integrator module 2 can still output the steady-state torque proportional value D to the speed controller module 4.

[0109] Through this feature, the locking time of the steady-state torque proportion value D related to the steady-state torque value E can be made longer. Even if within the first time period t1, the effect of controlling the speed controller module 4 to output the steady-state torque value E as the integral adjustment amount to control the motor 200 cannot be achieved due to reasons such as the motor failing to start successfully, the locked steady-state torque proportion value D can be input into the speed controller module 4 when the above problem is solved within the second time period t2 after the first time period t1, thereby achieving the purpose of the invention.

[0110] Preferably, the pulse delay time of the conduction delay module 6 is set to t2, and the pulse duration time of the pulse generation module 8 is set to t1, and t2 is greater than t1.

[0111] It should be noted that the functions of the free function modules used in the present invention can also be implemented using PLC programming, thereby achieving the purpose and effect of the present invention.

[0112] The starting torque adaptive method and device provided by the present invention have the following advantages:

[0113] 1. The steady-state torque can be flexibly recorded and used as the output torque during restart, thereby realizing flexible torque control during restart; this solution has a wide range of applications and is flexible in application.

[0114] 2. The free function module function of the frequency converter is used, which is simple and easy to operate; the automatic operation of the above method and device can also be realized by setting the free function module to determine the activation module.

[0115] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for adaptive starting torque, applicable to a frequency converter (100) comprising a free function module (300), characterized in that: The frequency converter (100) is provided with a speed controller module (4), the speed controller module (4) is connected to the motor (200) and controls the speed thereof, the free function module (300) includes an integrator module (2), the integrator module (2) is connected to the speed controller module (4), and the method comprises the following steps: Step S1: before a stop command is issued, the first output (A) of the integrator module (2) changes synchronously with the integrated output (C) of the speed controller module (4); Step S2: at the moment when the stop command is issued, the first output (A) of the integrator module (2) is locked as a steady-state torque proportional value (D), wherein the steady-state torque proportional value (D) is a value related to the integrated output (C) at the moment when the stop command is issued, and the integrated output (C) at the moment when the stop command is issued is a steady-state torque value (E); Step S3: within a first time period (t1) after restarting, the first output quantity (A) of the integrator module (2) is maintained at the steady-state torque proportional value (D) and output to the speed controller module (4), and the speed controller module (4) controls the motor (200) with the steady-state torque value (E) as the integral adjustment quantity, wherein the first time period (t1) starts at the restarting moment.

2. The starting torque adaptive method according to claim 1, characterized in that: Before the parking command is issued, the first output quantity (A) of the integrator module (2) is equal to the first input quantity (B) of the integrator module (2), and the first input quantity (B) of the integrator module (2) is associated with the integrated output quantity (C) of the speed controller module (4).

3. The starting torque adaptive method according to claim 2, characterized in that: Before the parking command is issued, the first input quantity (B) of the integrator module is equal to a function of the integrated output quantity (C).

4. The starting torque adaptive method according to claim 1, characterized in that: The step of maintaining the first output (A) of the integrator module (2) at the steady-state torque proportional value (D) within the first time period (t1) after restarting further comprises: the free function module (300) further comprises a conduction delay module (6), the input end of the conduction delay module (6) receives a start-stop signal X representing stopping or starting, the output end of the conduction delay module (6) is connected to the integrator module (2), and the output of the conduction delay module (6) is used as a switch quantity of the integrator module (2); The first output quantity (A) of the integrator module (2) is controlled by the on-delay module (6) to be maintained at the steady-state torque proportional value (D).

5. The starting torque adaptive method according to claim 1, characterized in that: In the first time period (t1) after restarting, the steady-state torque proportional value (D) is output to the speed controller module (4), and the speed controller module (4) uses the steady-state torque value (E) as an integral adjustment amount to control the motor (200), further comprising: the free function module (300) further comprises a pulse generation module (8), the input end of the pulse generation module (8) receives a start-stop signal X, and the output end of the pulse generation module (8) is connected to the speed controller module (4) as a switch quantity of the speed controller module (4); The pulse generation module (8) controls the speed controller module (4) to output the steady-state torque value (E) as an integral adjustment amount to control the motor (200).

6. The starting torque adaptive method according to claim 1, characterized in that: The method further comprises a step S4 which starts simultaneously with the step S3: in a second time period (t2) after restarting, maintaining the first output quantity (A) of the integrator module (2) at the steady-state torque proportional value (D), wherein the second time period (t2) includes the first time period (t1), so that in the second time period (t2) outside the first time period (t1), the integrator module (2) still outputs the steady-state torque proportional value (D) to the speed controller module (4).

7. The starting torque adaptive method according to any one of claims 1 to 6, characterized in that: Before the above steps, the following free function module determination activation step S0 is also included: determining whether the frequency converter (100) is online, If the frequency converter is offline, a prompt is given to manually activate the free function module (300), and after manually activating the free function module (300), steps S1-S3 are sequentially executed; If the frequency converter is online, determining whether the control unit of the frequency converter (100) is a control unit that automatically activates the free function module (300); If the control unit of the free function module (300) is not automatically activated, determining whether the free function module (300) of the frequency converter (100) has been activated; If the free function module (300) is not activated, after activating the free function module (300) online Execute steps S1-S3 in sequence; If the free function module (300) is activated, the steps S1-S3 are executed in sequence; If the control unit of the free function module (300) is automatically activated, the steps S1-S3 are executed in sequence.

8. A starting torque adaptive device, characterized in that: A frequency converter (100) is suitable for including a free function module (300), comprising: An integrator module (2), included in the free function module (300); A speed controller module (4) is connected to the integrator module (2) and outputs an integral output (C) used as integral adjustment of the frequency converter (100); the speed controller module (4) is also connected to the motor (200) and performs speed control on the motor; Before the stop command is issued, the first output (A) of the integrator module (2) changes synchronously with the integral output (C) of the speed controller module (4); at the moment the stop command is issued, the first output (A) of the integrator module (2) is locked at a steady-state torque proportional value (D), wherein the steady-state torque proportional value (D) is a value related to the integral output (C) at the moment the stop command is issued, and the integral output (C) at the moment the stop command is issued is a steady-state torque value (E); within a first time period (t1) after restarting, the first output (A) of the integrator module (2) is maintained at the steady-state torque proportional value (D) and is output to the speed controller module (4), and the speed controller module (4) outputs the steady-state torque value (E) as an integral adjustment value to control the motor (200), wherein the first time period (t1) starts at the restarting moment.

9. A starting torque adaptive device according to claim 8, characterized in that: Before the parking command is issued, the first output (A) of the integrator module (2) is equal to the first input (B) of the integrator module (2), and the first input (B) of the integrator module (2) is associated with the integrated output (C) of the speed controller module (4).

10. A starting torque adaptive device according to claim 8, characterized in that: The invention also includes a conduction delay module (6) in the free function module (300), wherein the conduction delay module (6) is connected to the integrator module (2) and controls the first output (A) of the integrator module (2) to be maintained at the steady-state torque proportional value (D) within a first time period (t1) after restarting.

11. A starting torque adaptive device according to claim 8, characterized in that: The invention also includes a pulse generating module (8) in the free function module (300), wherein the pulse generating module (8) is connected to the speed controller module (4) and controls the speed controller module (4) to output a steady-state torque value (E) related to the steady-state torque proportional value (D) as an integral adjustment amount to control the motor (200) within a first time period (t1) after restarting.

12. A starting torque adaptive device according to claim 10, characterized in that: The first input quantity (B) of the integrator module is equal to a function of the integrated output quantity (C).

13. A starting torque adaptive device according to claim 8, characterized in that: The first output (A) of the integrator module (2) is maintained at the steady-state torque proportional value (D) within a second time period (t2) after restarting, wherein the second time period (t2) includes the first time period (t1), so that within the second time period (t2) after the first time period (t1) ends, the integrator module (2) can still output the steady-state torque proportional value (D) to the speed controller module (4).

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