A frequency converter control method and related equipment

Abstract

The present application discloses a frequency converter control method and related equipment. The method includes: obtaining a first torque setting value for a first motor; obtaining a second torque actual value for a second motor, wherein the first motor and the second motor are motors in the same working system; determining an additional speed given value for the first motor based on the first torque setting value and the second torque actual value; and controlling the frequency converter corresponding to the first motor based on the additional speed given value. The frequency converter control method proposed in the embodiment of the present application can achieve current balancing control of multiple motors by obtaining the first torque setting value for the first motor and the second torque actual value for the second motor, determining an additional speed given value based on the first torque setting value and the second torque actual value, and controlling the frequency converter corresponding to the first motor based on the additional speed given value.

Description

Technical Field

[0001] The present invention relates to the field of inverter control, and more specifically, to an inverter control method and related equipment. Background Art

[0002] In some complex operating systems, multiple motors are involved, each controlling a different device. These devices must work together to complete their tasks. Therefore, the control of these multiple motors requires coordinated control to achieve current balance between them. Summary of the Invention

[0003] The Summary of the Invention introduces a series of simplified concepts that will be further described in the Detailed Description of the Invention. The Summary of the Invention is not intended to limit the key features and essential features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0004] In order to achieve balanced control among multiple motors, in a first aspect, the present invention provides a frequency converter control method, the method comprising:

[0005] Obtaining a first torque setting value of the first motor;

[0006] Acquire a second actual torque value of a second motor, wherein the first motor and the second motor are motors in the same working system;

[0007] determining an additional speed reference value for the first motor based on the first torque set value and the second torque actual value;

[0008] A frequency converter corresponding to the first motor is controlled based on the additional speed given value.

[0009] Optionally, determining the additional speed given value of the first motor based on the first torque setting value and the second torque actual value includes:

[0010] using the difference between the first torque setting value and the second torque actual value as an adjustment reference value;

[0011] PI regulation is performed based on the adjustment reference value to obtain the acceleration set value.

[0012] Optionally, performing PI regulation based on the adjustment reference value to obtain the acceleration given value includes:

[0013] Performing a first filtering process on the adjustment reference value;

[0014] A PI regulation is performed based on the adjustment reference value after the first filtering process to obtain the added speed reference value.

[0015] Optionally, the first filtering process is millisecond-level filtering process.

[0016] Optionally, performing PI regulation based on the filtered adjustment reference value to obtain the additional speed given value includes:

[0017] Performing PI regulation based on the filtered adjustment reference value to obtain a preset given value;

[0018] The preset given value is subjected to a limiting process to obtain the additional speed given value.

[0019] Optionally, the limiting the preset given value to obtain the additional speed given value includes:

[0020] The preset given value is subjected to a limiting process and a second filtering process to obtain the additional speed given value.

[0021] Optionally, the limiting the preset given value to obtain the additional speed given value includes:

[0022] Obtain the process parameters of the equipment corresponding to the target motor;

[0023] determining a target amplitude by using the process parameters;

[0024] The preset given value is limited based on the target amplitude to obtain the additional speed given value.

[0025] In a second aspect, the present invention further provides a frequency converter control device, comprising:

[0026] A first acquiring unit, configured to acquire a first torque setting value of the first motor;

[0027] a second acquiring unit, configured to acquire a second actual torque value of a second motor, wherein the first motor and the second motor are motors in the same working system;

[0028] a determining unit, configured to determine an additional speed given value of the first motor based on the first torque set value and the second torque actual value;

[0029] A control unit is used to control the frequency converter corresponding to the first motor based on the additional speed given value.

[0030] In a third aspect, an electronic device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor is configured to implement the steps of the inverter control method of any one of the first aspects described above when executing the computer program stored in the memory.

[0031] In a fourth aspect, the present invention further proposes a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the inverter control method according to any one of the above items in the first aspect.

[0032] In summary, the inverter control method proposed in the embodiment of the present application includes: obtaining a first torque setting value for a first motor; obtaining a second torque actual value for a second motor, wherein the first motor and the second motor are motors in the same working system; determining an additional speed given value for the first motor based on the first torque setting value and the second torque actual value; and controlling the inverter corresponding to the first motor based on the additional speed given value. The inverter control method proposed in the embodiment of the present application can achieve current balancing control among multiple motors by obtaining the first torque setting value for the first motor and the second torque actual value for the second motor, determining the additional speed given value based on the first torque setting value and the second torque actual value, and controlling the inverter corresponding to the first motor based on the additional speed given value.

[0033] The inverter control method of the present invention, and other advantages, objectives and features of the present invention will be partially reflected in the following description, and will also be partially understood by those skilled in the art through research and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present description. The same reference symbols are used throughout the drawings to represent the same components. In the drawings:

[0035] Figure 1 A flow chart of a frequency converter control method provided in an embodiment of the present application;

[0036] Figure 2 A schematic diagram of the structure of a frequency converter control system provided in an embodiment of the present application;

[0037] Figure 3 A schematic structural diagram of a frequency converter control device provided in an embodiment of the present application;

[0038] Figure 4 A schematic diagram of the electronic device structure of a frequency converter control method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0039] The inverter control method proposed in the embodiment of the present application can achieve current balancing control of multiple motors by obtaining the first torque setting value of the first motor and the second torque actual value of the second motor, determining the additional speed given value based on the first torque setting value and the second torque actual value, and controlling the inverter corresponding to the first motor based on the additional speed given value.

[0040] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments described herein can be implemented in a sequence other than that illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or that are inherent to these processes, methods, products or devices. The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the embodiments described are only part of the embodiments of the present application, not all of the embodiments.

[0041] See also Figure 1 , is a flow chart of a frequency converter control method provided in an embodiment of the present application, which may specifically include:

[0042] S110, obtaining a first torque setting value of the first motor;

[0043] For example, the torque setting value may be determined based on an input value in the control device, or may be obtained by querying a correspondence table between operating condition information and torque setting values ​​based on the operating condition information of the current device.

[0044] S120: Acquire a second actual torque value of a second motor, wherein the first motor and the second motor are motors in the same working system;

[0045] For example, the actual torque value of the second motor is obtained through the corresponding sensor. The second motor and the first motor are in the same working system. For example, the working system can be a straightening machine system. The first motor and the second motor can be two motors of the Master Drives transmission system. The frequency converter to be controlled is the Siemens frequency converter corresponding to the first motor and the second motor in the Master Drives transmission system. In the current Master Drives transmission system, the coordination between the two motors is achieved through the T100 process board, and the T100 process board can only be used for Master Drives products and cannot be applied to the new generation of SINAMICS series products.

[0046] S130, determining an additional speed given value of the first motor based on the first torque setting value and the second torque actual value;

[0047] Exemplarily, the additional speed given value of the first motor is determined according to the acquired torque setting value of the first motor and the second torque actual value of the second motor.

[0048] S140. Control a frequency converter corresponding to the first motor based on the additional speed given value.

[0049] For example, the operation of the frequency converter corresponding to the first motor is controlled according to the obtained acceleration given value. It should be noted that the second motor can also determine the additional speed given value of the second motor according to the first torque actual value of the first motor and the second torque set value of the second motor, and control the frequency converter of the second motor through the additional speed given value of the second motor, so as to achieve coordinated control of the first motor and the second motor, and realize the function conversion of the T100 process control board by adopting the DCC (Drive Control Chart) programming method inside the transmission, and realize the current balance control of multiple motors.

[0050] In summary, the inverter control method proposed in the embodiment of the present application obtains the first torque setting value of the first motor and the second torque actual value of the second motor, determines the additional speed given value according to the first torque setting value and the second torque actual value, and controls the inverter corresponding to the first motor according to the additional speed given value, thereby realizing current balance control of multiple motors.

[0051] In some examples, determining an additional speed reference value for the first motor based on the first torque setting value and the second torque actual value includes:

[0052] using the difference between the first torque setting value and the second torque actual value as an adjustment reference value;

[0053] PI regulation is performed based on the adjustment reference value to obtain the acceleration set value.

[0054] For example, the additional speed setpoint can be obtained by calculating the difference between the first torque setting value and the second torque actual value to obtain an adjustment reference value, and performing PI regulation on the adjustment reference value. A PI regulator forms a control deviation based on the set value and the actual output value, and the proportional and integral of the deviation are linearly combined to form a control variable to control the controlled object.

[0055] In some examples, performing PI regulation based on the adjustment reference value to obtain the additional speed set value includes:

[0056] Performing a first filtering process on the adjustment reference value;

[0057] A PI regulation is performed based on the adjustment reference value after the first filtering process to obtain the added speed reference value.

[0058] For example, before performing PI adjustment on the reference value, a first filtering process may be performed on the adjusted reference value to filter out invalid information, thereby avoiding the impact on the control result and reducing the computational complexity of the PI adjustment.

[0059] In some examples, the first filtering process is a millisecond-level filtering process.

[0060] For example, since the coordinated control between the motors requires higher precision, it is necessary to perform millisecond-level filtering on the adjustment reference value to improve the coordinated working effect between the motors.

[0061] In some examples, performing PI regulation based on the filtered adjustment reference value to obtain the acceleration set value includes:

[0062] Performing PI regulation based on the filtered adjustment reference value to obtain a preset given value;

[0063] The preset given value is subjected to a limiting process to obtain the acceleration given value.

[0064] For example, after filtering and PI regulation, a preset setpoint is generated. However, this preset setpoint can be used to address unexpected situations, such as if one motor is stuck or overloaded. This can cause the acceleration setpoint of the other motor to increase, potentially leading to overcompensation and potentially causing a dangerous situation or equipment damage. To prevent this, the preset setpoint is clipped to obtain an additional speed setpoint, limiting current control for load sharing between the motors and ensuring system safety.

[0065] In some examples, the step of limiting the preset given value to obtain the additional speed given value includes:

[0066] The preset given value is subjected to a limiting process and a second filtering process to obtain the additional speed given value.

[0067] For example, a second filtering process is performed after the limiting process, and the value after the second filtering process is used as the additional speed given value, and finally sent to the additional speed given link of the inverter. The additional speed given link will eventually affect the speed given value before the inverter ramp, and the current balance control of the motor is achieved by adjusting the speed by the torque difference.

[0068] In some examples, the step of limiting the preset given value to obtain the acceleration given value includes:

[0069] Obtain the process parameters of the equipment corresponding to the target motor;

[0070] determining a target amplitude by using the process parameters;

[0071] The preset given value is limited based on the target amplitude to obtain the acceleration given value.

[0072] For example, different working systems or different production conditions of the working systems correspond to different process parameters. To achieve these process parameters, the operating condition information such as the maximum output power of the motor will correspond. Based on this operating condition information, the maximum output power that the motor should correspond to under normal operation can be obtained. Based on the maximum output power, the target amplitude corresponding to this process parameter can be inferred. The acceleration given value obtained by limiting the preset given value for this target amplitude can protect the motor against sudden situations in the system.

[0073] In summary, the embodiment of the present application calculates and processes the two torque values ​​of the two motors, adjusts the coefficients based on process requirements, integrates the calculated difference of the processed torque values, limits and filters the integrated value, and ultimately sends it to the additional speed setting link of the inverter. The additional speed setting link ultimately affects the speed setting value before the inverter ramp. The speed is adjusted by adjusting the torque difference to achieve the current balance control of the motor. This method is programmed and controlled within the inverter. Compared with the external PLC control method, it can make the system response time faster. This method can achieve current balance control between multiple motors in the straightening machine system through DCC programming. Compared with the MasterDrives transmission T100 process board, the DCC programming method can implement online monitoring functions.

[0074] In some examples, such as Figure 2As shown, it is a schematic diagram of a frequency converter control system proposed in an embodiment of the present application, which can be used for balanced current distribution between Siemens frequency converters, can solve the functional conversion of the T100 process board in the Master Drives transmission system, and can realize the current balance control between multiple motors in the straightening machine system through DCC programming.

[0075] Specifically, in the inverter program No. 1, 211 is the torque setting value processing program for motor No. 1, 212 is the actual value processing program for the torque of motor No. 2, 213 is the deviation program for calculating the torque of the two motors, 214 is the filter after the torque difference, 215 is the first speed regulator KP, 216 is the output limiting program of the first speed regulator, and 217 is the filter after the first limiting.

[0076] In the No. 2 inverter program, 221 is the No. 2 motor torque set value processing program, 222 is the No. 1 motor torque actual value processing program, 223 is the program for calculating the deviation of the two motor torques, 224 is the filter after the torque difference, 225 is the second speed regulator KP, 226 is the second speed regulator output limiting program, and 227 is the filter after the second limiting.

[0077] The actual torque value of motor No. 1 can be directly read into the DCC program through parameters, and the actual value of the motor is processed by 211. The processing content is mainly related to the actual process requirements, specific coefficient settings, etc., and a torque setting value is output. The torque value of motor No. 2 can be collected through optical fiber communication between the two control units. The actual torque value of motor No. 2 is processed in 212, and the actual torque value is output. The difference 213 between the torque setting value and the torque actual value is calculated, and the filter 214 is mainly used to filter the millisecond-level fluctuations of the torque and send it to the speed regulator 215. After processing by KP and Tn, the output value 216 is limited. It can be set in combination with the actual on-site process to prevent the compensation value from being too large in an abnormal state. Finally, after filtering by 217, the additional speed given value is finally given.

[0078] The actual torque value of motor No. 2 can be directly read into the DCC program through parameters, and the actual value of the motor is processed by 221. The processing content is mainly related to the actual process requirements, specific coefficient settings, etc., and a torque setting value is output. The torque value of motor No. 1 can be collected through optical fiber communication between the two control units. The actual torque value of motor No. 2 is processed in 222, and the actual torque value is output. The difference between the torque setting value and the torque actual value is calculated by 223. After the filter 224, the millisecond-level fluctuation of the torque is mainly filtered and sent to the speed regulator 225. After processing by KP and Tn, the output value 226 is limited. It can be set in combination with the actual on-site process to prevent the compensation value from being too large in an abnormal state. Finally, after filtering by 227, the additional speed given value is finally given.

[0079] The final speed is added or subtracted to achieve current balance control of the inverter to meet the needs of process control.

[0080] See also Figure 3 , an embodiment of the frequency converter control device in the embodiment of the present application may include:

[0081] A first acquiring unit 21 is configured to acquire a first torque setting value of the first motor;

[0082] A second acquiring unit 22 is configured to acquire a second actual torque value of a second motor, wherein the first motor and the second motor are motors in the same working system;

[0083] A determining unit 23, configured to determine an additional speed given value of the first motor based on the first torque set value and the second torque actual value;

[0084] The control unit 24 is configured to control the frequency converter corresponding to the first motor based on the additional speed given value.

[0085] like Figure 4 As shown, an embodiment of the present application also provides an electronic device 300, including a memory 310, a processor 320, and a computer program 311 stored in the memory 320 and executable on the processor. When the processor 320 executes the computer program 311, the steps of any of the above-mentioned inverter control methods are implemented.

[0086] Since the electronic device introduced in this embodiment is a device used to implement an inverter control device in the embodiment of the present application, based on the method introduced in the embodiment of the present application, technical personnel in this field can understand the specific implementation method of the electronic device of this embodiment and its various variations. Therefore, how the electronic device implements the method in the embodiment of the present application is no longer introduced in detail here. As long as the equipment used by technical personnel in this field to implement the method in the embodiment of the present application falls within the scope of protection to be protected by this application.

[0087] In the specific implementation process, the computer program 311 can be implemented when executed by the processor Figure 1 Any implementation manner in the corresponding embodiments.

[0088] It should be noted that, in the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0089] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0090] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0091] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0092] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0093] The present application also provides a computer program product, which includes computer software instructions. When the computer software instructions are executed on a processing device, the processing device is caused to execute the following Figure 1 The process of the inverter control method in the corresponding embodiment.

[0094] A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that a computer can store or a data storage device such as a server or data center that includes one or more available media integrated. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid state drive (SSD)).

[0095] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0096] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0097] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0098] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0099] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0100] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A frequency converter control method, characterized in that: include: Obtaining a first torque setting value of the first motor; Acquire a second actual torque value of a second motor, wherein the first motor and the second motor are motors in the same working system; determining an additional speed reference value for the first motor based on the first torque set value and the second torque actual value; The frequency converter corresponding to the first motor is controlled based on the additional speed given value to achieve current balance control of multiple motors.

2. The method according to claim 1, wherein The determining of an additional speed reference value of the first motor based on the first torque setting value and the second torque actual value includes: using the difference between the first torque setting value and the second torque actual value as an adjustment reference value; A PI regulation is performed based on the adjustment reference value to obtain the additional speed set value.

3. The method according to claim 2, wherein the performing PI regulation based on the adjustment reference value to obtain the additional speed given value comprises: Performing a first filtering process on the adjustment reference value; PI regulation is performed based on the adjustment reference value after the first filtering process to obtain the additional speed set value.

4. The method according to claim 3, wherein The first filtering process is a millisecond-level filtering process.

5. The method according to claim 3, wherein The performing PI regulation based on the adjustment reference value after the first filtering process to obtain the additional speed given value includes: Performing PI regulation based on the adjustment reference value after the first filtering process to obtain a preset given value; The preset given value is subjected to a limiting process to obtain the additional speed given value.

6. The method according to claim 5, wherein The step of limiting the preset given value to obtain the additional speed given value includes: The preset given value is subjected to a limiting process and a second filtering process to obtain the additional speed given value.

7. The method according to claim 5, wherein The step of limiting the preset given value to obtain the additional speed given value includes: Obtain the process parameters of the equipment corresponding to the target motor; determining a target amplitude by using the process parameters; The preset given value is limited based on the target amplitude to obtain the additional speed given value.

8. A frequency converter control device, characterized in that: include: A first acquiring unit, configured to acquire a first torque setting value of the first motor; a second acquiring unit, configured to acquire a second actual torque value of a second motor, wherein the first motor and the second motor are motors in the same working system; a determining unit, configured to determine an additional speed given value of the first motor based on the first torque set value and the second torque actual value; A control unit is used to control the frequency converter corresponding to the first motor based on the additional speed given value to achieve current balance control of multiple motors.

9. An electronic device comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor is configured to implement the steps of the inverter control method according to any one of claims 1 to 7 when executing the computer program stored in the memory.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the inverter control method according to any one of claims 1 to 7 is implemented.

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