Method and system for high-precision adjustment of speed of large flywheel device

Abstract

The invention provides a method and system for high-precision speed adjustment of a large flywheel device, and belongs to the technical field of speed adjustment of large-load equipment. The method comprises the following steps: setting the maximum rotating speed and rated torque of a motor; setting the mass and rotational inertia of the torque load of the large flywheel, and setting I to be a smaller value; p and D are set according to motor rotational inertia and rotating speed adjusting precision; and if the rotation speed adjusting precision does not meet the rotation speed adjusting precision requirement, resetting the PID parameter according to the overshoot of the rotation speed when the actual rotation speed reaches the rated rotation speed, and repeatedly testing to re-simulate the rotation speed adjusting precision of the motor. When the actual rotating speed reaches the rated rotating speed, the rotating speed adjusting precision meets the rotating speed adjusting precision requirement. According to the method, the characteristics of the motor and the load are combined, PID parameters are set in advance, deviation of parameter setting is found out, the parameters are corrected, actual motor debugging is carried out according to qualified parameters, the parameter requirements of equipment are met, the dependency of personnel is greatly reduced, the debugging period is greatly shortened, high-precision speed adjustment can be achieved, and the debugging period is shortened.

Description

Technical Field

[0001] The invention belongs to the technical field of speed regulation of large-load equipment, and in particular relates to a method and system for high-precision speed regulation of a large flywheel device. Background Art

[0002] With the continuous development of the aerospace industry, the demand for various high-performance test equipment is increasing. High-performance test equipment has put forward more and more stringent requirements in terms of parameter requirements and debugging cycles, which requires equipment manufacturers to design better control schemes and debugging methods to meet the requirements of aerospace for high-performance indicators and debugging cycles of equipment and keep up with the pace of rapid development. The startup and high-precision speed debugging of such large-load motors is the core of the debugging of aerospace test bench equipment and is a very critical component of the test bench. Relying solely on the experience accumulated by individual debugging personnel on site is increasingly unable to meet the debugging requirements of high-precision equipment.

[0003] The existing debugging method is that the on-site debugging personnel set the PID parameters according to their own experience and debug again and again without clear direction. This not only wastes a lot of manpower and material resources, but also greatly prolongs the debugging cycle and increases the overall cost of the product.

[0004] Therefore, it is necessary to provide a method for high-precision speed regulation of a large flywheel device. Summary of the invention

[0005] In order to solve the technical problem that high-precision speed regulation cannot be achieved for large-load equipment in the related art, the present application provides a method and system for high-precision speed regulation of large flywheel devices. This new debugging method combines the motor and load characteristics, uses a large model to set PID parameters in advance, finds the deviation of parameter settings through simulation software operation, corrects the parameters and performs actual motor debugging based on the qualified parameters obtained by the model operation, meets the equipment parameter requirements, greatly reduces the dependence of personnel and the debugging cycle, can achieve high-precision speed regulation, and shortens the debugging cycle. The technical solution is as follows:

[0006] In a first aspect, a method for high-precision speed regulation of a large flywheel device is provided, comprising:

[0007] Step 1: According to the technical requirements of the process test, set the maximum speed and rated torque of the motor through the load simulation software;

[0008] Step 2: Set the mass and moment of inertia of the large flywheel torque load through the load simulation software, and set the integral parameter I in the PID parameters to a smaller value;

[0009] Step 3: Set the proportional parameter P and differential parameter D in the PID parameters according to the motor's rotational inertia and speed adjustment accuracy;

[0010] Step 4. Simulate the motor speed regulation accuracy and adjustment time through the load simulation software. If the speed regulation accuracy does not meet the speed regulation accuracy requirements, reset the PID parameters according to the overshoot of the speed when the actual speed reaches the rated speed. Repeat the test and re-simulate the motor speed regulation accuracy through the load simulation software until the speed regulation accuracy meets the speed regulation accuracy requirements when the actual speed reaches the rated speed without overshoot.

[0011] In one implementation, the smaller value in step 2 is greater than or equal to 0 and less than or equal to 10.

[0012] In one achievable manner, in step 1, the rated power, rated voltage, and rated current of the motor are set in combination with the motor nameplate parameters.

[0013] In one implementable manner, in step 2, the integral parameter I in the PID parameters is set to 0.

[0014] In one possible implementation, the mass of the large flywheel torque load is greater than or equal to 20 t, and the moment of inertia is greater than or equal to 30,000 kg*m 2 .

[0015] In a second aspect, a system for high-precision speed regulation of a large flywheel device is provided, which is applied to any method for high-precision speed regulation of a large flywheel device described in the first aspect, wherein the system comprises: a programmable controller PLC, an AC frequency converter, a motor and a rotary encoder, wherein the AC frequency converter is connected to the motor via a power supply cable, wherein the PLC is loaded with load simulation software,

[0016] The PLC remotely sends speed adjustment instructions to the AC inverter. The AC inverter changes the motor speed by adjusting the output. The motor feeds back the speed to the AC inverter in real time to achieve closed-loop control of speed feedback.

[0017] In one possible implementation, the AC frequency converter is provided with an encoder signal input module, and a rotary encoder with a speed measuring function is installed on the shaft side of the motor.

[0018] The rotary encoder sends the encoder signal to the encoder signal input module to achieve closed-loop control of speed feedback without the need to transfer the encoder signal through the PLC, which can improve the response speed.

[0019] In one possible implementation, the power supply cable between the AC inverter and the motor uses a dedicated cable for the inverter, which can reduce high-frequency electromagnetic interference and lower the capacitive current to the ground.

[0020] The beneficial effects of the present invention are at least:

[0021] 1. When the method of the present invention is applied to test benches such as aviation and aerospace, especially when the load mass and moment of inertia of the motor are large, the speed regulation of the motor and the load will generally have lag and delay. Therefore, it is necessary to combine the technical parameters and characteristics of the motor inverter itself, use software to set PID parameters, run the program in advance through simulation software, improve the debugging accuracy, and greatly shorten the debugging cycle;

[0022] 2. The present invention can be directly completed on a frequency converter or a variable programmable controller, and the program running process does not require manual intervention at all, which reduces the workload of the debugger;

[0023] 3. The present invention can improve the research and development level of test benches in the aerospace industry, and at the same time serve as a reference for similar large-load speed and high-precision adjustment equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a system architecture diagram for high-precision speed regulation of a large flywheel device provided by an embodiment of the present invention;

[0025] Figure 2 is a schematic diagram of a speed control accuracy curve 1 provided in an embodiment of the present invention;

[0026] Figure 3 is a schematic diagram of a speed control accuracy curve 2 provided in an embodiment of the present invention;

[0027] Figure 4 It is a logic diagram of a method for high-precision speed regulation of a large flywheel device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0028] The following will be combined with the flow chart of the method of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] See also Figure 1 An embodiment of the present invention provides a system for high-precision speed regulation of a large flywheel device, the system comprising a PLC (programmable controller), an AC inverter, a speed simulation device motor and a rotary encoder.

[0030] The speed regulation of the motor of the speed simulation device is realized through the AC inverter. The PLC remotely sends the speed regulation command to the AC inverter through the communication protocol, and the AC inverter changes the motor speed by adjusting the output;

[0031] In one embodiment, the AC frequency converter is provided with an encoder signal input module, and a rotary encoder with a rotation speed measurement device is installed on the shaft side of the speed simulation device motor. The rotary encoder sends the encoder signal to the encoder signal input module, and the encoder signal directly enters the encoder signal input module of the frequency converter to perform closed-loop control of speed feedback, without the need to transfer the signal through the PLC, thereby improving the response speed.

[0032] In one embodiment, the power supply cable from the AC inverter to the motor of the speed simulation device is a dedicated cable for the inverter, which can reduce high-frequency electromagnetic interference and lower the capacitive current to the ground.

[0033] See also Figure 4 An embodiment of the present invention provides a method for high-precision speed regulation of a large flywheel device, which may include the following steps:

[0034] 1. According to the motor nameplate parameters, set the motor rated power, rated voltage, rated current and other parameters; then according to the process test technical requirements, set the motor synchronous speed to 600rpm and the rated torque to 15756n.m through the load simulation software loaded on the PLC.

[0035] 2. Since the motor load is a large flywheel torque, enter the mass of the large flywheel torque load 20t and the moment of inertia 39130kg*m into the load simulation software in sequence. 2 It can be seen that the mass and moment of inertia of the large flywheel are very large. Considering that the speed regulation will have delays and lags, the integral I is set to 0 first;

[0036] 3. Set P and D parameters: According to the motor's rotational inertia and speed adjustment accuracy, set the proportional parameter P = 5 and the differential parameter D = 20 through the load simulation software;

[0037] 4. Set the motor acceleration time, repeatedly test the operation curve, and adjust the PID parameter values ​​synchronously to meet the speed control accuracy requirements.

[0038] An embodiment of the present invention provides another method for high-precision speed regulation of a large flywheel device, which may include the following steps:

[0039] Step 1: Set the maximum speed and rated torque of the motor according to the technical requirements of the process test;

[0040] Step 2: Since the mass and moment of inertia of the large flywheel torque are very large, and considering that there will be delays and lags in speed regulation, I is set to 0 first;

[0041] Step 3: According to the motor's moment of inertia and speed adjustment accuracy, set the proportional parameter P=5 and the differential parameter D=20 through the load simulation software;

[0042] Step 4: Use software to simulate the speed adjustment accuracy and adjustment time, such as speed simulation curve 1. Figure 2 As shown, Figure 2 The vertical axis represents the speed in r / min; the horizontal axis represents the time in ms; the yellow curve represents the rated speed that the motor is to reach; the blue curve represents the actual speed of the motor; the orange curve represents the torque when the motor reaches the speed; from curve 1, it can be seen that the time it takes for the actual speed of the motor to reach the rated speed is about 100ms. When the actual speed reaches the rated speed, there will be a part of the speed overshoot, which does not meet the requirements of high-precision speed regulation;

[0043] Step 5: According to the overshoot of curve 1, reset the PID parameters, repeat the test, and re-simulate the motor speed and adjustment accuracy through the software;

[0044] Step 6: Repeat the test, reset the PID parameter I=150, and re-simulate the motor speed and adjustment accuracy through the software, such as speed simulation curve 2, see Figure 3 , Figure 3 The vertical axis represents the speed in r / min; the horizontal axis represents the time in ms; the yellow curve represents the rated speed that the motor is going to reach; the blue curve represents the actual speed of the motor; the orange curve represents the torque when the motor reaches the speed; Figure 3 It can be seen that after the I value is given, the motor torque will fluctuate when the motor reaches the rated speed, but the speed accuracy is very high when the motor reaches the rated speed, and there is no overshoot.

[0045] Step 7: By analyzing curve 2, it can be seen that the speed meets the requirements of high-precision speed regulation and reaches the rated speed time, and the debugging is completed.

[0046] The method of the present invention is mainly used in large-load equipment with high-precision speed adjustment in aerospace test benches, and in application scenarios with high requirements for test speed and test accuracy. The method can also be applied to steel, metallurgy, nonferrous metals and other industries where motor power is large and load rotational inertia is large.

[0047] The present invention provides a solution for high-precision speed regulation of a large-load motor, which not only points out the direction for parameter setting for commissioning personnel, but also can realize high-precision speed regulation and shorten the commissioning cycle.

[0048] The above is only a specific embodiment of the present invention, and the present invention is described in detail. The unexplained part is a conventional technology. However, the protection scope of the present invention is not limited thereto, and any changes or substitutions that can be easily thought of by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A method for high-precision speed regulation of a large flywheel device, characterized in that: include: Step 1: According to the technical requirements of the process test, set the maximum speed and rated torque of the motor through the load simulation software; Step 2: Set the mass and moment of inertia of the large flywheel torque load through the load simulation software, and set the integral parameter I in the PID parameters to a smaller value; Step 3: Set the proportional parameter P and differential parameter D in the PID parameters according to the motor's rotational inertia and speed adjustment accuracy; Step 4. Simulate the motor speed regulation accuracy and adjustment time through the load simulation software. If the speed regulation accuracy does not meet the speed regulation accuracy requirements, reset the PID parameters according to the overshoot of the speed when the actual speed reaches the rated speed. Repeat the test and re-simulate the motor speed regulation accuracy through the load simulation software until the speed regulation accuracy meets the speed regulation accuracy requirements when the actual speed reaches the rated speed without overshoot.

2. The method according to claim 1, characterized in that The smaller value in step 2 is greater than or equal to 0 and less than or equal to 10.

3. The method according to claim 1, characterized in that In step 1, the motor rated power, rated voltage, and rated current are set in combination with the motor nameplate parameters.

4. The method according to claim 1, characterized in that: In step 2, the integral parameter I in the PID parameters is set to 0.

5. The method according to claim 1, characterized in that The mass of the large flywheel torque load is greater than or equal to 20t, and the moment of inertia is greater than or equal to 30000kg*m 2 .

6. A system for high-precision speed regulation of a large flywheel device, characterized in that: The method for high-precision speed regulation of a large flywheel device as described in any one of claims 1 to 5, wherein the system comprises: a programmable controller PLC, an AC frequency converter, a motor and a rotary encoder, wherein the AC frequency converter is connected to the motor via a power supply cable, wherein the PLC is loaded with load simulation software, The PLC remotely sends speed adjustment instructions to the AC inverter. The AC inverter changes the motor speed by adjusting the output. The motor feeds back the speed to the AC inverter in real time to achieve closed-loop control of speed feedback.

7. The system according to claim 6, characterized in that The AC inverter is equipped with an encoder signal input module, and a rotary encoder with speed measurement function is installed on the shaft side of the motor. The rotary encoder sends the encoder signal to the encoder signal input module to achieve closed-loop control of speed feedback.

8. The system according to claim 6, characterized in that The power supply cable between the AC inverter and the motor should be a dedicated cable for the inverter.

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