Weaving motor power management method and device based on common DC bus

Abstract

The present invention relates to the field of weaving technology, and specifically provides a method and device for managing electric energy of a weaving motor based on a common DC bus. The method includes obtaining the voltage state of the DC bus; wherein the DC bus is electrically connected to a plurality of motors; the voltage state includes a normal state, a transient overvoltage state, and an overload state; when the DC bus is in a transient overvoltage state, the acceleration of the motor is controlled according to a preset first control strategy to reduce the instantaneous power of the motor until the DC bus is switched from the transient overvoltage state to a normal state or an overload state; when the DC bus is in an overload state, the electric energy of the DC bus is dynamically allocated according to a preset second control strategy to store or release electric energy until the DC bus is switched from an overload state to a normal state. The method and device for managing electric energy of a weaving motor based on a common DC bus of the present invention improve the reliability and safety of weaving equipment, and are helpful for producing complex, high-quality patterned fabrics.

Description

Technical Field

[0001] The invention relates to the field of weaving technology, and in particular to a method and a device for managing electric energy of a weaving motor based on a common direct current bus. Background Art

[0002] The shedding mechanism is one of the key components of weaving equipment. It controls the separation of warp yarns by lifting the heald frame to form a shed for the insertion of weft yarns. With the advancement of weaving technology and the increasing market demand for fabric diversity, the shedding mechanism replaces traditional mechanical cams, multi-arm mechanisms, etc. by setting an independent motor for each heald frame to independently control the heald frame, thereby improving the flexibility of the shedding process.

[0003] Although the electronic opening mechanism driven by a motor has many advantages, it also faces several challenges in practical applications, among which the energy consumption problem is particularly prominent. Due to the large number of heald frames in the opening mechanism, the corresponding number of motors is also large, and the energy consumption is high. In order to improve the energy consumption problem, the technicians referred to the common DC bus technology in the non-woven field. The common DC bus technology sets up a DC bus and connects it to the energy storage device and multiple motors respectively to achieve energy recovery and sharing, so as to achieve energy saving.

[0004] However, the common DC bus technology has not been widely used in the weaving field. When technicians tried to apply the common DC bus technology to weaving motors, they found that due to the high speed and frequent acceleration and deceleration characteristics of weaving motors in weaving equipment, their typical motion beat cycle is less than 100ms. Therefore, the corresponding physical quantities in the common DC bus system connected to the weaving motors will undergo frequent and drastic changes, and the excess electrical energy on the bus often cannot be transferred in time. This makes the bus prone to instantaneous overvoltage and overload. This not only easily reduces the weaving quality, but also reduces the service life of the equipment, and there are safety hazards. Summary of the invention

[0005] The weaving motor power management method and device based on a common DC bus provided in the embodiments of the present invention at least solve the problem of instantaneous overvoltage and overload of the bus caused by high-speed and frequent acceleration and deceleration of the weaving equipment motor, facilitate the introduction of the DC bus into the weaving equipment to save energy, and at the same time improve the reliability and safety of the weaving equipment, which is conducive to the production of complex and high-quality patterned fabrics.

[0006] In a first aspect, the present invention provides a method for managing electric energy of a weaving motor based on a common DC bus, comprising the following steps: obtaining a voltage state of a DC bus; wherein the DC bus is electrically connected to a plurality of motors; the voltage state comprises a normal state, a transient overvoltage state and an overload state; when the DC bus is in the transient overvoltage state, controlling the acceleration of the motor according to a preset first control strategy to reduce the instantaneous power of the motor until the DC bus is switched from the transient overvoltage state to the normal state or the overload state; when the DC bus is in the overload state, dynamically allocating the electric energy of the DC bus according to a preset second control strategy to store or release electric energy until the DC bus is switched from the overload state to the normal state.

[0007] In one embodiment of the present invention, obtaining the voltage state of the DC bus includes: obtaining the real-time voltage and voltage rise speed of the DC bus; judging the voltage threshold and the real-time voltage, and the speed threshold and the voltage rise speed; when the real-time voltage does not exceed the voltage threshold, and the voltage rise speed does not exceed the speed threshold, determining that the DC bus is in the normal state; when the real-time voltage does not exceed the voltage threshold, and the voltage rise speed exceeds the speed threshold, determining that the DC bus is in an instantaneous overvoltage state; when the real-time voltage exceeds the voltage threshold, judging the duration threshold and the boost duration; the boost duration is the duration that the real-time voltage exceeds the voltage threshold; when the boost duration does not exceed the duration threshold, determining that the DC bus is in an instantaneous overvoltage state; when the boost duration exceeds the duration threshold, determining that the DC bus is in an overload state.

[0008] In one embodiment of the present invention, the acceleration of the motor is controlled according to a preset first control strategy to reduce the instantaneous power of the motor, including: reducing the target acceleration of the motor according to a preset method to obtain an actual acceleration; and controlling the rotation of the motor according to the actual acceleration to reduce the instantaneous power of the motor.

[0009] In one embodiment of the present invention, reducing the target acceleration of the motor according to a preset manner to obtain the actual acceleration includes: reducing the target acceleration according to a regulation function to obtain the actual acceleration, which satisfies the following formula: ,in, is the actual acceleration, is the adjustment function, , the adjustment function The output value is related to the real-time voltage of the DC bus Related, For time, is the target acceleration.

[0010] In one embodiment of the present invention, the electric energy of the DC bus is dynamically allocated according to a preset second control strategy to store or release electric energy, including: obtaining the total energy consumption state of the DC bus; wherein the total energy consumption state includes an energy consumption state and an energy feeding state; when the DC bus is in the energy feeding state, storing excess electric energy in the DC bus to a memory; when the DC bus is in the energy consumption state, obtaining the lack of electric energy through the DC bus.

[0011] In one embodiment of the present invention, the total energy consumption state of the DC bus is obtained, including: obtaining the power consumption of the motor; wherein the power consumption includes acceleration power consumption and deceleration power consumption; according to the acceleration power consumption and the deceleration power consumption, the total energy consumption of the motor is calculated to obtain the total energy consumption state of the DC bus.

[0012] In one embodiment of the present invention, obtaining the power consumption of the motor includes: calculating the deceleration power consumption according to the following formula: ; Calculate the acceleration power consumption according to the following formula: ,in, The power consumed for the deceleration is The power consumed for the acceleration is, For time, is the total inertia of the motor and its load, is the real-time angular velocity of the motor, is the angular velocity change rate of the motor, is the friction force of the motor.

[0013] In one embodiment of the present invention, the following steps are further included: obtaining actual parameters; the actual parameters include a preset opening angle, a preset static time, and a real-time spindle position; and obtaining the motion trajectory of the motor according to the calculation function and the actual parameters, satisfying the following formula: ,in, The motor rotates according to the motion trajectory until the time The real-time opening angle at For time, is the calculation function, is the preset opening angle, is the preset still time, is the real-time spindle position.

[0014] In one embodiment of the present invention, the following steps are further included: adjusting the input current of the motor according to the motion trajectory to The algorithm controls the motor to rotate according to the motion trajectory, satisfying the following formula: ,in, is the input current of the motor, is the angular velocity of the motor.

[0015] In a second aspect, the present invention also provides a weaving motor power management device based on a common DC bus, comprising multiple motors; a DC bus, the DC bus is electrically connected to the multiple motors, and the DC bus is used to be electrically connected to a power supply end; the voltage state of the DC bus includes a normal state, a transient overvoltage state and an overload state; and a controller, the controller is respectively connected to the DC bus and the multiple motors, the controller is used to obtain the voltage state, and when the DC bus is in the transient overvoltage state, the controller controls the acceleration of the motor according to a preset first control strategy to reduce the instantaneous power of the motor until the DC bus switches from the transient overvoltage state to the normal state or the overload state; and, when the DC bus is in the overload state, the electric energy of the DC bus is dynamically allocated according to a preset second control strategy to store or release electric energy until the DC bus switches from the overload state to the normal state.

[0016] The above technical solution of the present invention has the following beneficial effects compared with the prior art:

[0017] The power management method and device for a weaving motor based on a common DC bus described in the present invention, when the DC bus is in an overload state, controls the acceleration of the motor according to a preset first control strategy, realizes the adjustment of the motor motion beat, thereby quickly responding to short-term high-frequency voltage fluctuations, to handle instantaneous overvoltage, and reducing the instantaneous pressure of the DC bus. When the DC bus is in an overload state, according to the preset second control strategy, the power of the DC bus is dynamically allocated and balanced within the typical motion beat cycle of the weaving equipment, handles the voltage deviation with a long duration, and ensures that the equipment can operate stably for a long time. The power management method and device for a weaving motor based on a common DC bus described in the present invention, on the one hand, facilitates the introduction of the DC bus into the weaving equipment, effectively saves the energy consumption required for weaving while ensuring the performance, and improves the energy utilization efficiency. On the other hand, it realizes the precise management of the DC bus voltage during the high-speed operation of the weaving motor, effectively avoids the occurrence of instantaneous overvoltage and overload, improves the reliability and safety of the weaving equipment, and prolongs the service life of the equipment. It is particularly suitable for weaving motors, so that it can meet the complex motion mode of the heald frame, and helps to produce complex and high-quality flower-patterned fabrics. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other embodiments can be obtained based on these drawings without creative work. In the drawings:

[0019] Figure 1 It is a flow chart of a power management method for a weaving motor based on a common DC bus in a preferred embodiment of the present invention.

[0020] Figure 2 It is a structural schematic diagram of a power management device for a weaving motor based on a common DC bus in a preferred embodiment of the present invention.

[0021] The above drawings include the following reference numerals:

[0022] 11. Servo motor; 12. Driver; 20. DC bus; 30. Controller; 40. Memory; 50. Manager; 60. Transformer, rectifier; 70. Power grid; 80. Opening mechanism. DETAILED DESCRIPTION

[0023] Embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as being limited to the embodiments described herein, which are instead provided for a more thorough and complete understanding of the present invention. It should be understood that the drawings and embodiments of the present invention are only for exemplary purposes and are not intended to limit the scope of protection of the present invention.

[0024] Reference Figure 1 As shown, the present invention provides a method for managing electric energy of a weaving motor based on a common DC bus, comprising the following steps:

[0025] The voltage state of the DC bus is obtained, wherein the voltage state of the DC bus includes a normal state, an instantaneous overvoltage state, and an overload state.

[0026] When the DC bus is in a transient overvoltage state, the acceleration of the motor is controlled according to a preset first control strategy to reduce the instantaneous power of the motor until the DC bus switches from the transient overvoltage state to the normal state, or switches from the transient overvoltage state to the overload state.

[0027] When the DC bus is in an overload state, the electric energy of the DC bus is dynamically allocated according to a preset second regulation strategy to store or release electric energy until the DC bus is switched from the overload state to a normal state.

[0028] It should be noted that the normal state means that the voltage of the DC bus is normal and within the ideal range; the instantaneous overvoltage state means that the voltage of the DC bus has an abnormal peak in a short time; the overload state means that the voltage of the DC bus has an abnormal peak for a long time. The instantaneous power of the motor is related to the acceleration of the motor; correspondingly, the acceleration of the motor is related to the speed, torque and real-time opening angle of the motor, and the parameters can be converted to each other by integrating and differentiating them accordingly. Therefore, those skilled in the art can also adjust the speed, torque and real-time opening angle of the motor to reduce the instantaneous power of the motor.

[0029] The DC bus is electrically connected to multiple motors, each of which is connected to the opening mechanism to drive the opening mechanism to move. Those skilled in the art can flexibly adjust the number of motors according to actual production needs in order to adapt to the corresponding heald frames and produce different types of fabrics. The voltage state of the DC bus will also change accordingly as the motors rotate and start and stop. During high-speed weaving, the frequent acceleration and deceleration of the motor can easily lead to abnormal DC bus voltage, and the excess electrical energy on the DC bus often cannot be transferred in time, which in turn affects the performance and life of the equipment, and even causes safety accidents.

[0030] Therefore, the power management method for weaving motors based on a common DC bus described in the present invention controls the acceleration of the motor according to a preset first control strategy when the DC bus is in an overloaded state, and adjusts the motor's motion rhythm, thereby quickly responding to short-term high-frequency voltage fluctuations to handle instantaneous overvoltages and reduce the instantaneous pressure of the DC bus. When the DC bus is in an overloaded state, according to a preset second control strategy, the power of the DC bus is dynamically allocated and balanced within the typical motion rhythm cycle of the weaving equipment, and voltage deviations with a long duration are handled to ensure that the equipment can operate stably for a long time.

[0031] The power management method for weaving motors based on a common DC bus described in the present invention, on the one hand, facilitates the introduction of the DC bus into the weaving equipment, effectively saves the energy consumption required for weaving and improves the energy utilization efficiency while ensuring the performance. On the other hand, it realizes the precise management of the DC bus voltage during the high-speed operation of the weaving motor, effectively avoids the occurrence of instantaneous overvoltage and overload, improves the reliability and safety of the weaving equipment, and prolongs the service life of the equipment. It is particularly suitable for weaving motors, so that they can meet the complex motion mode of the heald frame, and help produce complex, high-quality patterned fabrics.

[0032] In some embodiments of the power management method for a weaving motor based on a common DC bus of the present invention, obtaining the voltage state of the DC bus includes:

[0033] Get the real-time voltage and voltage rise speed of the DC bus.

[0034] Determine the voltage threshold and the real-time voltage, as well as the speed threshold and the voltage rise speed.

[0035] When the real-time voltage does not exceed the voltage threshold and the voltage rise speed does not exceed the speed threshold, it is determined that the DC bus is in a normal state.

[0036] When the real-time voltage does not exceed the voltage threshold and the voltage rise speed exceeds the speed threshold, it is determined that the DC bus is in a transient overvoltage state.

[0037] When the real-time voltage exceeds the voltage threshold, the duration threshold and the voltage boost duration are determined.

[0038] When the boost duration does not exceed the duration threshold, it is determined that the DC bus is in a transient overvoltage state.

[0039] When the boost duration exceeds the duration threshold, it is determined that the DC bus is in an overload state.

[0040] Among them, the boost duration is the duration that the real-time voltage exceeds the voltage threshold. How to obtain the real-time voltage, voltage rise speed and boost duration of the DC bus belongs to the prior art and will not be repeated here. Those skilled in the art can set the voltage threshold, speed threshold and duration threshold according to actual needs. For example, the voltage threshold of a conventional three-phase motor driver is about 411V.

[0041] By comparing and judging the above parameters, the voltage state of the DC bus can be easily and quickly obtained, so as to quickly respond to and handle the voltage abnormality of the DC bus, avoid the occurrence of instantaneous overvoltage and overload, improve the reliability and safety of weaving equipment, and extend the service life of the equipment.

[0042] In some embodiments, the power management method for a weaving motor based on a common DC bus of the present invention controls the acceleration of the motor according to a preset first regulation strategy to reduce the instantaneous power of the motor, including:

[0043] The target acceleration of the motor is reduced according to a preset method to obtain the actual acceleration.

[0044] According to the actual acceleration, the motor rotation is controlled to reduce the instantaneous power of the motor.

[0045] As the instantaneous power of the motor decreases, the real-time voltage of the DC bus decreases. Generally speaking, the real-time voltage reduction of the DC bus will restore the DC bus to a normal state. However, if the boost duration of the DC bus exceeds the duration threshold, the DC bus is in an overload state and is handled by the preset second control strategy.

[0046] Those skilled in the art can set a practical method for reducing the target acceleration of the motor according to actual needs. For example, the target acceleration can be reduced by adjusting the frequency or amplitude of acceleration or deceleration of the motor.

[0047] Preferably, in some embodiments, reducing the target acceleration of the motor according to a preset manner to obtain the actual acceleration includes:

[0048] According to the adjustment function, the target acceleration is reduced to obtain the actual acceleration, which satisfies the following formula:

[0049]

[0050] in, is the actual acceleration, is the adjustment function, , adjustment function The output value and the real-time voltage of the DC bus Related, For time, is the target acceleration.

[0051] Specifically, when the real-time voltage of the DC bus When normal and in the ideal range, the adjustment function The output value of is close to 1, ensuring that the weaving equipment maintains normal operating parameters and weaves. When the voltage threshold is approached or exceeded, the regulation function The output value of approaches 0, which reduces the original target acceleration and obtains the reduced actual acceleration, so as to control the rotation of the motor according to the actual acceleration and reduce the instantaneous power of the motor.

[0052] By using the regulation function, the motor movement rhythm can be adjusted, so as to quickly respond to short-term high-frequency voltage fluctuations, handle instantaneous overvoltage, and reduce the instantaneous pressure of the DC bus. The reliability and safety of weaving equipment are improved and the service life of the equipment is extended. It is especially suitable for weaving motors, so that they can meet the complex heald frame movement mode, which helps to produce complex and high-quality patterned fabrics.

[0053] In some embodiments, the power management method for a weaving motor based on a common DC bus of the present invention dynamically allocates the power of the DC bus according to a preset second regulation strategy to store or release power, including:

[0054] Obtain the total energy consumption state of the DC bus, where the total energy consumption state of the DC bus includes the energy consumption state and the energy feeding state.

[0055] When the DC bus is in the energy feeding state, the excess electric energy in the DC bus is stored in the memory.

[0056] When the DC bus is in an energy consumption state, the missing electrical energy is obtained through the DC bus.

[0057] It should be noted that among the multiple motors electrically connected to the DC bus, the motor needs to obtain electrical energy from the DC bus when accelerating, and can feed back electrical energy to the DC bus when decelerating. The energy consumption state indicates that the energy consumed by all accelerating motors is greater than the energy fed back by all decelerating motors. The energy feeding state indicates that the energy consumed by all accelerating motors is less than the energy fed back by all decelerating motors.

[0058] The total energy consumption state of the DC bus also includes a balanced state. Preferably, in the balanced state, the electric energy generated by each motor during acceleration and deceleration is shared through the DC bus. Exemplarily, the electric energy generated by the motor in deceleration is used by the motor in acceleration, which can reduce the energy consumption of the traditional brake resistor and reduce the total energy consumption.

[0059] When the DC bus is in an energy-consuming state, the DC bus can obtain electric energy from the storage or from the power supply end, such as the power grid, to supply the motor with electric energy. Preferably, when the DC bus is in an energy-consuming state, the DC bus preferentially obtains electric energy from the storage; if the electric energy in the storage is insufficient, the DC bus obtains electric energy from the power grid to reduce dependence on the external power grid and improve energy balance capability.

[0060] By dynamically allocating the power of the DC bus according to the total energy consumption state of the DC bus, and storing or releasing the power, it is possible to effectively reduce energy consumption and improve energy utilization while ensuring performance. In addition, to a certain extent, it can also reduce the impact on the power supply end.

[0061] Those skilled in the art can set a method for obtaining the total energy consumption state of the DC bus according to actual needs. For example, a torque sensor is used to monitor the torque change of the motor in real time to obtain torque-related parameters to calculate power and energy consumption.

[0062] Preferably, in some embodiments, obtaining the total energy consumption state of the DC bus includes:

[0063] The power consumption of the motor is obtained, wherein the power consumption includes acceleration power consumption and deceleration power consumption.

[0064] According to the acceleration power consumption and deceleration power consumption, the total energy consumption of the motor is calculated to obtain the total energy consumption state of the DC bus.

[0065] By obtaining the acceleration power consumption and deceleration power consumption of the motor, the total energy consumption of the motor can be calculated conveniently and quickly, and the total energy consumption state of the DC bus can be obtained.

[0066] Those skilled in the art can set a method for obtaining the acceleration power consumption and deceleration power consumption of the motor according to actual needs. For example, the current and voltage data of the motor when it is running are directly collected through a current and voltage monitor to deduce power consumption and calculate energy consumption.

[0067] Furthermore, in some embodiments, obtaining the power consumption of the motor includes:

[0068] The deceleration power consumption is calculated according to the following formula:

[0069] .

[0070] The acceleration power consumption is calculated according to the following formula:

[0071] .

[0072] in, To decelerate, power is consumed. To speed up power consumption, For time, is the total inertia of the motor and its load, is the real-time angular velocity of the motor, is the angular velocity change rate of the motor, is the friction force of the motor. In this embodiment, the load of the motor is the heald frame.

[0073] Unlike conventional motors, the motors used in weaving equipment require high-speed, frequent acceleration and deceleration during use, and are greatly affected by friction. Therefore, when calculating the power consumption of the weaving motor, the friction power is taken into account in order to obtain the corresponding power consumption more accurately, thereby calculating the accurate total energy consumption, obtaining the total energy consumption state of the DC bus, and dynamically allocating the power of the DC bus. While ensuring performance, it can effectively reduce energy consumption, improve energy utilization, and reduce the impact on the power supply end, such as the power grid.

[0074] The power management method for a weaving motor based on a common DC bus according to the present invention, in some embodiments, further comprises the following steps:

[0075] Get actual parameters. The actual parameters include preset opening angle, preset static time and real-time spindle position.

[0076] According to the calculation function and actual parameters, the motion trajectory of the motor is obtained. The following formula is satisfied:

[0077] .

[0078] in, The motor rotates according to the motion trajectory until the time The real-time opening angle at For time, is a calculation function, belonging to the prior art, is the preset opening angle, To preset the still time, is the real-time spindle position. The above formula can be used to easily and accurately obtain the motion trajectory of the motor. The target acceleration of the motor is related to the product of the second derivative of the real-time opening angle and the transmission function. Among them, the transmission function represents the transmission relationship in the opening mechanism, such as the reduction ratio, the speed increase ratio, etc. By obtaining the motion trajectory of the motor, the acceleration can be obtained, so as to achieve corresponding adjustments.

[0079] Furthermore, the method further comprises the following steps:

[0080] Adjust the motor input current according to the motion trajectory to The algorithm controls the motor to rotate according to the motion trajectory. It satisfies the following formula;

[0081] .

[0082] in, is the input current of the motor, is the angular velocity of the motor.

[0083] In order to control the weaving motor to rotate according to the motion trajectory, When the algorithm controls the motor to rotate, the input current of the motor needs to be adjusted The motor is accelerated and decelerated to make the motor rotate to the appropriate opening angle according to the motion trajectory, ensuring accurate rotation of the motor, thereby obtaining high-quality fabrics. The above formula can be used to conveniently and accurately calculate the input current. .

[0084] Reference Figure 2 As shown, an embodiment of the present invention further provides a power management device for a weaving motor based on a common DC bus, comprising a motor, a DC bus 20 and a controller 30 .

[0085] There are multiple motors. The motor is used to connect with the opening mechanism 80 to perform weaving operations. Preferably, the motor is set as a servo motor 11, and a driver 12 is set to control its start, stop, acceleration and deceleration. Those skilled in the art can set the servo motor 11 and the driver 12 according to actual needs. Exemplarily, an all-in-one driver 12 is set to control multiple motors to reduce the number of components, simplify wiring, and improve space utilization. Preferably, an independent driver 12 is set for each servo motor 11, which is suitable for complex weaving scenarios that require precise control of the movement of each heald frame.

[0086] The DC bus 20 is electrically connected to the plurality of motors on one hand, and is electrically connected to a power supply terminal such as a power grid 70 on the other hand to realize power supply. The voltage state of the DC bus 20 includes a normal state, an instantaneous overvoltage state, and an overload state. The voltage state of the DC bus 20 will change accordingly according to the rotation, start and stop of the motor.

[0087] It should be noted that the normal state means that the voltage of the DC bus 20 is normal and within an ideal range; the transient overvoltage state means that the voltage of the DC bus 20 has an abnormal peak in a short time; the overload state means that the voltage of the DC bus 20 has an abnormal peak for a long time.

[0088] The controller 30 is connected to the DC bus 20 and the plurality of motors respectively. Preferably, the controller 30 is connected to the servo motor 11 via the driver 12. The controller 30 is used to obtain the voltage state of the DC bus 20.

[0089] When the DC bus 20 is in a transient overvoltage state, the controller 30 controls the acceleration of the motor according to a preset first control strategy to reduce the instantaneous power of the motor until the DC bus 20 switches from the transient overvoltage state to the normal state or the overload state. The instantaneous power of the motor is related to the acceleration of the motor; accordingly, the acceleration of the motor is related to the speed, torque and real-time opening angle of the motor, and the parameters can be converted to each other by integrating and differentiating them accordingly. Therefore, those skilled in the art can also adjust the speed, torque and real-time opening angle of the motor to reduce the instantaneous power of the motor.

[0090] Furthermore, when the DC bus 20 is in an overload state, the controller 30 dynamically adjusts the electric energy of the DC bus 20 according to a preset second control strategy until the DC bus 20 switches from the overload state to the normal state.

[0091] In the power management device for weaving motors based on a common DC bus described in the present invention, when the DC bus 20 is in an overload state, the controller 30 controls the acceleration of the motor according to a preset first control strategy to adjust the motor motion rhythm, thereby quickly responding to short-term high-frequency voltage fluctuations to handle instantaneous overvoltages and reduce the instantaneous pressure of the DC bus 20. When the DC bus 20 is in an overload state, the controller 30 dynamically allocates and balances the power of the DC bus 20 within the typical motion rhythm cycle of the weaving equipment according to a preset second control strategy, handles voltage deviations of longer duration, and ensures that the equipment can operate stably for a long time.

[0092] The power management device for weaving motors based on a common DC bus described in the present invention, on the one hand, facilitates the introduction of the DC bus into the weaving equipment, effectively saves the energy consumption required for weaving and improves the energy utilization efficiency while ensuring the performance. On the other hand, it realizes the precise management of the DC bus voltage 20 during the high-speed operation of the weaving motor, effectively avoids the occurrence of instantaneous overvoltage and overload, improves the reliability and safety of the weaving equipment, and prolongs the service life of the equipment. It is particularly suitable for weaving motors, so that they can meet the complex motion mode of the heald frame, and help produce complex and high-quality flower-patterned fabrics.

[0093] Preferably, the DC bus 20 uses a high-speed industrial bus to cooperate with the controller 30, and the servo motor 11 is directly controlled by the controller 30 to achieve a fast response of milliseconds (typical value is 1ms), meeting the demand of weaving equipment for strong real-time performance. Preferably, the communication protocol can be implemented using industrial buses including but not limited to EtherCAT, CANopen, Profinet, etc. Preferably, the DC bus 20 is electrically connected to the power grid 70 through a transformer and rectifier 60, so that the transformer and rectifier 60 converts the AC power of the power grid 70 into DC power.

[0094] The weaving motor power management device based on a common DC bus described in the present invention, in some embodiments, further includes a memory 40. The memory 40 is electrically connected to the DC bus 20 and the controller 30, respectively, so that the power fed back to the DC bus 20 by each servo motor 11 during the deceleration process is stored through the memory 40, and released when needed, thereby reducing the dependence on the power supply end such as the power grid 70, and improving the energy balance ability of the device.

[0095] Those skilled in the art can set the type of the memory 40 according to actual needs. For example, the memory 40 is set as a supercapacitor (also known as an electrostatic double-layer capacitor), which has high power density and fast charging and discharging capabilities, and is suitable for fast-response energy storage needs. Alternatively, the memory 40 is set as a lithium battery to meet high-capacity energy storage needs and store and release electrical energy over a longer period of time.

[0096] A person skilled in the art can set the controller 30 to dynamically allocate the electric energy of the DC bus 20 according to a preset second control strategy according to actual needs. For example, the energy management function is integrated into the controller 30 to implement energy management through control software to reduce hardware complexity.

[0097] Preferably, in some embodiments, the weaving motor power management device based on a common DC bus further includes a manager 50. The manager 50 is electrically connected to the controller 30, the memory 40 and the DC bus 20 respectively. In this embodiment, the manager 50 is used to monitor and manage the energy demand and feedback status of each servo motor 11, so as to cooperate with the controller 30 to dynamically allocate the power of the DC bus 20 to store or release the power, ensure the balance of energy in the device, and efficiently use the energy.

[0098] It should be noted that the term "including" and its variations used in the embodiments of the present invention are open inclusions, that is, "including but not limited to". The term "based on" means "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments". The modifications of "one" and "multiple" mentioned in the embodiments of the present invention are illustrative and not restrictive. Those skilled in the art should understand that unless the context clearly indicates otherwise, it should be understood as "one or more".

[0099] The user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in the embodiments of the present invention are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0100] The various steps described in the method implementation methods provided by the embodiments of the present invention may be performed in different orders and / or in parallel. In addition, the method implementation methods may include additional steps and / or omit the steps shown. The scope of protection of the present invention is not limited in this respect.

[0101] The term "embodiment" in this specification refers to specific features, structures or characteristics described in conjunction with the embodiment that can be included in at least one embodiment of the present invention. The appearance of this phrase in various places in the specification does not necessarily mean the same embodiment, nor does it mean that it is mutually exclusive with other embodiments and is independent or optional. The various embodiments in this specification are described in a related manner, and the same or similar parts between the various embodiments refer to each other. In particular, for the device, equipment, and system embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts refer to the partial description of the method embodiment.

[0102] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of protection. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the attached claims.

Claims

1. A method for managing electric energy of a weaving motor based on a common DC bus, characterized in that: The following steps are involved: Acquire a voltage state of a DC bus; wherein the DC bus is electrically connected to a plurality of motors; the voltage state includes a normal state, a transient overvoltage state, and an overload state; When the DC bus is in the instantaneous overvoltage state, the acceleration of the motor is controlled according to a preset first regulation strategy to reduce the instantaneous power of the motor until the DC bus is switched from the instantaneous overvoltage state to the normal state or the overload state; specifically, the target acceleration of the motor is reduced according to a preset method to obtain an actual acceleration; and according to the actual acceleration, the motor is controlled to rotate to reduce the instantaneous power of the motor; When the DC bus is in the overload state, the electric energy of the DC bus is dynamically allocated according to a preset second control strategy to store or release electric energy until the DC bus is switched from the overload state to the normal state; specifically, the total energy consumption state of the DC bus is obtained; wherein the total energy consumption state includes an energy consumption state and an energy feeding state; when the DC bus is in the energy feeding state, the excess electric energy in the DC bus is stored in a memory; when the DC bus is in the energy consumption state, the lack of electric energy is obtained through the DC bus; Wherein, reducing the target acceleration of the motor according to a preset manner to obtain the actual acceleration includes reducing the target acceleration according to a regulation function to obtain the actual acceleration, which satisfies the following formula: ， in, is the actual acceleration, is the adjustment function, , the adjustment function The output value is related to the real-time voltage of the DC bus Related, For time, is the target acceleration; Wherein, obtaining the total energy consumption state of the DC bus includes obtaining the power consumption of the motor; wherein the power consumption includes acceleration power consumption and deceleration power consumption; according to the acceleration power consumption and the deceleration power consumption, the total energy consumption of the motor is calculated to obtain the total energy consumption state of the DC bus.

2. The power management method for a weaving motor based on a common DC bus according to claim 1 is characterized in that: Obtaining the voltage state of the DC bus includes: Obtaining the real-time voltage and voltage rise speed of the DC bus; Determine the voltage threshold and the magnitude of the real-time voltage, and the speed threshold and the magnitude of the voltage rise speed; When the real-time voltage does not exceed the voltage threshold and the voltage rise speed does not exceed the speed threshold, it is determined that the DC bus is in the normal state; When the real-time voltage does not exceed the voltage threshold and the voltage rise speed exceeds the speed threshold, it is determined that the DC bus is in a transient overvoltage state; When the real-time voltage exceeds the voltage threshold, determine the duration threshold and the boost duration; the boost duration is the duration of time during which the real-time voltage exceeds the voltage threshold; When the boosting time does not exceed the time threshold, it is determined that the DC bus is in a transient overvoltage state; When the boosting time exceeds the time threshold, it is determined that the DC bus is in an overload state.

3. The power management method for a weaving motor based on a common DC bus according to claim 1 is characterized in that: Obtaining the power consumption of the motor, including: The deceleration power consumption is calculated according to the following formula: ， The acceleration power consumption is calculated according to the following formula: ， in, The power consumed for the deceleration is The power consumed for the acceleration is, For time, is the total inertia of the motor and its load, is the real-time angular velocity of the motor, is the angular velocity change rate of the motor, is the friction force of the motor.

4. The power management method for weaving motors based on a common DC bus according to claim 1 is characterized in that: The following steps are also included: Acquire actual parameters; the actual parameters include a preset opening angle, a preset static time and a real-time spindle position; According to the calculation function and the actual parameters, the motion trajectory of the motor is obtained, which satisfies the following formula: , in, The motor rotates according to the motion trajectory until the time The real-time opening angle at For time, is the calculation function, is the preset opening angle, is the preset still time, is the real-time spindle position.

5. The power management method for weaving motors based on a common DC bus according to claim 4 is characterized in that: The following steps are also included: According to the motion trajectory, the input current of the motor is adjusted to The algorithm controls the motor to rotate according to the motion trajectory, satisfying the following formula: ， in, is the input current of the motor, is the angular velocity of the motor.

6. A weaving motor power management device based on a common DC bus, applied to the weaving motor power management method based on a common DC bus as claimed in any one of claims 1 to 5, characterized in that: include: Multiple motors; A DC bus, the DC bus is electrically connected to the plurality of motors, and the DC bus is used to be electrically connected to a power supply terminal; the voltage state of the DC bus includes a normal state, a transient overvoltage state, and an overload state; and A controller, wherein the controller is respectively connected to the DC bus and the plurality of motors, the controller is used to obtain the voltage state, and when the DC bus is in the instantaneous overvoltage state, control the acceleration of the motor according to a preset first regulation strategy to reduce the instantaneous power of the motor until the DC bus is switched from the instantaneous overvoltage state to the normal state or the overload state; and when the DC bus is in the overload state, dynamically allocate the electric energy of the DC bus according to a preset second regulation strategy to store or release the electric energy until the DC bus is switched from the overload state to the normal state.

Images