Configuration method for variable-frequency permanent magnet motor driving system of portal crane
By configuring a variable frequency permanent magnet motor drive system in the gantry crane, the problem of lack of permanent magnet synchronous motors in the equipment is solved, and efficient motor drive is achieved, achieving a comprehensive power saving effect of 5-20%.
Patent Information
- Application Number
- CN202510071669.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-16
- Publication Date
- 2025-05-30
AI Technical Summary
The lack of installation and use of permanent magnet synchronous motors in gantry cranes has led to high power consumption and low efficiency in traditional AC asynchronous frequency converter motor systems.
A method of driving system for driving the gantry crane frequency conversion permanent magnet motor is adopted. By connecting the rotating permanent magnet motor and the walking permanent magnet motor in parallel, and connecting the rotating inverter and the walking inverter respectively in series, self-learning and debugging are carried out to achieve efficient driving of the motor.
The application of frequency converter permanent magnet motors in gantry cranes has been realized. After use, the comprehensive power saving effect is about 5-20%, which improves the energy efficiency performance of the equipment.
Smart Images
Figure CN120074287A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the technical field of variable frequency permanent magnet motor drive system installation, and specifically discloses a configuration method for a variable frequency permanent magnet motor drive system for a gantry crane. Background Art
[0002] Gantry cranes (hereinafter referred to as gantry cranes) are one of the main models of large-scale basic mechanical equipment in ports. They are widely used in loading and unloading iron ore, grain, coal, bauxite, containers, etc., and have extremely high adaptability and flexibility in loading and unloading goods. As the main logistics equipment, gantry cranes are also facing the urgent need to transform and upgrade traditional high-energy consumption. Among them, the traditional AC asynchronous variable frequency motor system is the core power part of the gantry crane. Its power consumption accounts for a high proportion of the total power consumption of the equipment, and the motor has a large reactive power loss and a prominent low efficiency problem. With the continuous development and maturity of permanent magnet motor technology, a solution for energy saving and consumption reduction of motors has been provided, which has also effectively promoted the innovation and iteration of multiple fields of motor manufacturing and motor control systems, and also brought possibilities for the promotion and application of port machinery application scenarios.
[0003] Permanent magnet synchronous motors have high power factor and efficiency, and variable frequency speed regulation technology can adjust the motor speed according to the actual load, thereby achieving energy saving. The variable frequency permanent magnet motor drive system can achieve comprehensive energy saving of more than 20%. Variable frequency speed regulation technology can achieve a wide range of motor speed adjustment (10%-100%), which can meet the speed requirements of gantry cranes under different working conditions. Permanent magnet motors have large starting torque, and with the soft start function of the inverter, the crane can be started smoothly, reducing the impact on the power grid and mechanical equipment. The variable frequency speed regulation system has high control accuracy and can achieve precise control of crane lifting, operation and other actions.
[0004] However, in the prior art, gantry cranes mostly use AC asynchronous variable frequency motors, but lack the installation and use of permanent magnet synchronous motors. Summary of the invention
[0005] In view of the above-mentioned deficiencies in the prior art, the present invention provides a method for configuring a variable frequency permanent magnet motor drive system for a gantry crane to solve the problem of installation and use of a gantry crane lacking a permanent magnet synchronous motor.
[0006] To achieve the above object, the technical solution of the present invention is: A method for configuring a variable frequency permanent magnet motor drive system for a gantry crane comprises the following steps: S1, connect the rotating permanent magnet motor and the walking permanent magnet motor in parallel; the rotating permanent magnet motor is connected in series with the SINV rotary inverter, and the walking permanent magnet motor is connected in series with the GINV walking inverter; S2, self-learning of SINV rotary inverter and GINV travel inverter; S3. Connect the rotating permanent magnet motor or the traveling permanent magnet motor to the load and commission the SINV rotary frequency converter and the GINV traveling frequency converter.
[0007] Preferably, in step S2, the following steps are included: S21. Select the control mode and set A1-02; S22. Set the basic parameters of the frequency converter; S23. Select the vector control mode: PM with PG vector control; S24. Determine whether the parameters of the rotating permanent magnet motor or the traveling permanent magnet motor are selected; if so, go to S25; if not, go to S26; S25. Set the PM motor parameter T2-01 = 0; then go to S27; S26. Determine whether it can rotate; perform the stop-type self-learning and rotation-type self-learning of PM according to the result; then go to S27; S27. The self-learning is completed.
[0008] Preferably, in step S26, if yes, go to S26-1; if no, go to S26-2; S26-1. PM rotation-type self-learning, set T2-01 = 14; S26-2. PM stop-type self-learning, set T2-01 = 1; when using PG, determine whether it can rotate; if so, perform the rotation-type induced voltage parameter tuning (T2-01 = 11); if not, go to S27.
[0009] Preferably, both the SINV rotary frequency converter and the GINV traveling frequency converter include a braking unit, a braking resistor, and a PG communication card.
[0010] Preferably, in S22, it includes setting heavy load or light load for C6-01; setting the frequency command selection (b1-01) and the operation command selection (b1-02); setting the input / output work using the H1, H2, H3, H4, and H6 parameters; setting the multi-speed command for d1; setting the acceleration / deceleration and the S-curve characteristics; setting L3-04 when using a braking resistor; setting L8-55 = 0 when using a braking option or a regenerative converter.
[0011] Preferably, in step S3, the following steps are included: S31. Determine whether the cable length is more than 50m; if so, perform the stop-type armature resistance self-learning, set T02-01 = 2, and then go to S32; if not, go to S32; S32. Perform no-load operation; S33. Connect the motor to the load; S34. Determine whether there is a load PG; if so, set the ASR gain adjustment, and then proceed to S35; if not, proceed to S35; S35. Perform actual load operation; S36. Verify the function confirmation parameters and save them.
[0012] Preferably, in step S34, setting the ASR gain adjustment includes the following steps: S34-1. Determine whether to automatically adjust the ASR gain; if so, proceed to S34-2, and then proceed to S35; if not, proceed to S34-3, and then proceed to S35; S34-2. Automatically adjust the ASR gain (T2-01 = 9); S34-3. Determine whether to use the following functions: feedforward control; separate KEB mode 2 (L2-29 = 1); multi-functional contact input KEB instruction 2 (H1-## = 7A); if not, proceed to S35; if so, proceed to S34-4; S34-4. Perform inertia tuning (T2-01 = 8), and then proceed to S35.
[0013] Preferably, in S32, simultaneously confirm whether the operation, rotation direction, and multi-functional input / output actions are normal.
[0014] The beneficial effects of the present invention are as follows: The application of the variable-frequency permanent magnet motor on the gantry crane is realized, and the comprehensive power-saving effect after commissioning is about 5-20%. Description of the Drawings
[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.
[0016] Figure 1 It is the self-learning flowchart of the SINV rotary frequency converter and the GINV traveling frequency converter of the present invention; Figure 2 It is the debugging flowchart of the SINV rotary frequency converter and the GINV traveling frequency converter of the present invention; Figure 3 It is the control schematic diagram of the present invention. Detailed Embodiments
[0017] To enable those skilled in the art to better understand the technical solutions in the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.
[0018] As Figures 1-3 shown, a configuration method for a variable-frequency permanent magnet motor drive system of a gantry crane includes the following steps: S1. Connect the rotary permanent magnet motor and the traveling permanent magnet motor in parallel; connect the rotary permanent magnet motor in series with an SINV rotary frequency converter, and connect the traveling permanent magnet motor in series with a GINV traveling frequency converter; both the SINV rotary frequency converter and the GINV traveling frequency converter include a braking unit, a braking resistor, and a PG communication card. The main transformer of the gantry crane provides the driving power required by the mechanism and distributes it to each frequency converter to independently drive a single permanent magnet synchronous motor for movement. When the gantry crane is operating normally, the driver operates the master handle to give the host PLC the running direction and speed instructions of the mechanism. The host PLC controls the mechanism frequency converter to drive to achieve the corresponding actions, and then adjusts through the feedback value calculated by the incremental encoder installed on the motor to realize the torque and speed closed-loop control of the whole process. The redundant energy generated during the braking process is converted into heat and consumed through means such as resistors.
[0019] S2. Perform self-learning on the SINV rotary frequency converter and the GINV walking frequency converter. In step S2, the following steps are included: S21. Select the control mode and set A1-02; S22. Set the basic parameters of the frequency converter. In S22, it includes setting heavy load or light load for C6-01; setting the frequency command selection (b1-01) and the operation command selection (b1-02); setting the input and output operations using the H1, H2, H3, H4, and H6 parameters; setting d1 using the multi-speed command; setting the acceleration, deceleration, and S-curve characteristics; setting L3-04 when using a braking resistor; setting L8-55 = 0 when using a braking option or a regenerative converter. S23. Select the vector control mode: PM with PG vector control; S24. Determine whether the parameters of the rotary permanent magnet motor or the walking permanent magnet motor are selected. If so, go to S25; if not, go to S26; S25. Set the PM motor parameter T2-01 = 0; then go to S27; S26. Determine whether it can rotate; perform the PM stop-form self-learning and the rotation-form self-learning according to the result; then go to S27. In step S26, if yes, go to S26-1; if not, go to S26-2; S26-1. PM rotation-form self-learning, set T2-01 = 14; S26-2. PM stop-form self-learning, set T2-01 = 1. When using a PG, determine whether it can rotate. If so, perform the rotation-form induced voltage parameter tuning (T2-01 = 11); if not, go to S27.
[0020] S3. Connect the rotary permanent magnet motor or the walking permanent magnet motor to the load and debug the SINV rotary frequency converter and the GINV walking frequency converter.
[0021] Among them, in step S3, the following steps are included: S31. Determine whether the cable length is more than 50 m; if so, perform the stop-shaped armature resistance self-learning, set T02-01 = 2, and then enter S32; if not, enter S32; S32. Perform no-load operation; at the same time, confirm whether the operation, rotation direction, and multi-functional input / output actions are normal. S33. Connect the motor to the load; S34. Determine whether there is a load PG; if so, set the ASR gain adjustment, and then enter S35; if not, enter S35; S35. Perform the actual load operation; S36. Check the function confirmation parameters and save them. In step S34, setting the ASR gain adjustment includes the following steps: S34-1. Determine whether to automatically adjust the ASR gain; if so, enter S34-2, and then enter S35; if not, enter S34-3, and then enter S35; S34-2. Automatically adjust the ASR gain (T2-01 = 9); S34-3. Determine whether to use the following functions: feedforward control; separate KEB method 2 (L2-29 = 1); multi-functional contact input KEB instruction 2 (H1-## = 7A); if not, enter S35; if so, enter S34-4; S34-4. Perform inertia tuning (T2-01 = 8), and then enter S35.
[0022] Through the application of the above configuration method, the application of the variable-frequency permanent magnet motor on the gantry crane is realized, and the comprehensive power-saving effect after commissioning is about 5-20%.
[0023] Although the present invention has been described in detail by referring to the drawings and in combination with the preferred embodiments, the present invention is not limited thereto. Without departing from the spirit and essence of the present invention, those of ordinary skill in the art can make various equivalent modifications or substitutions to the embodiments of the present invention, and these modifications or substitutions should all be within the scope of the present invention. / Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.
Claims
1. A configuration method for a variable frequency permanent magnet motor drive system for a gantry crane, characterized in that: The following steps are involved: S1, connect the rotating permanent magnet motor and the walking permanent magnet motor in parallel; the rotating permanent magnet motor is connected in series with the SINV rotary inverter, and the walking permanent magnet motor is connected in series with the GINV walking inverter; S2, self-learning of SINV rotary inverter and GINV travel inverter; S3. Connect the rotating permanent magnet motor or the walking permanent magnet motor to the load, and debug the SINV rotating inverter and the GINV walking inverter.
2. The configuration method of the variable frequency permanent magnet motor drive system for a gantry crane according to claim 1 is characterized in that: Step S2 includes the following steps: S21, select control mode and set A1-02; S22, set the basic parameters of the inverter; S23, select vector control mode: PM with PG vector control; S24, judging whether the parameters of the rotating permanent magnet motor or the walking permanent magnet motor are selected; if so, entering S25; if not, entering S26; S25, set PM motor parameter T2-01=0; then enter S27; S26, determine whether it can rotate; perform PM stop shape self-learning and rotation shape self-learning according to the result; then enter S27; S27, self-learning ends.
3. The configuration method of the variable frequency permanent magnet motor drive system for a gantry crane according to claim 2 is characterized in that: In step S26, if yes, go to S26-1; if no, go to S26-2; S26-1, PM rotation self-learning, set T2-01=14; S26-2, PM stop self-learning, set T2-01=1; when with PG, determine whether it can rotate; if so, tune the rotation induction voltage parameters (T2-01=11); if not, enter S27.
4. The configuration method of the variable frequency permanent magnet motor drive system for a gantry crane according to claim 2, characterized in that: SINV rotary inverter and GINV travel inverter both include brake unit, brake resistor and PG communication card.
5. The configuration method of the variable frequency permanent magnet motor drive system for a gantry crane according to claim 4, characterized in that: S22 includes setting heavy load or light load to C6-01; setting frequency command selection (b1-01) and operation command selection (b1-02); using H1, H2, H3, H4 and H6 parameters to set input and output; using multi-speed command to set d1; setting acceleration and deceleration and S-shaped characteristics; setting L3-04 when using a braking resistor; and setting L8-55 = 0 when using a braking option or a regenerative converter.
6. The configuration method of the variable frequency permanent magnet motor drive system for a gantry crane according to claim 1, characterized in that: Step S3 includes the following steps: S31, determine whether the cable length is more than 50m; if so, perform stop-type armature resistance self-learning, set T02-01=2, and then enter S32; if not, enter S32; S32, performing no-load operation; S33, connecting the motor to the load; S34, determine whether there is a load PG; if so, set the ASR gain adjustment, and then enter S35; if not, enter S35; S35, performing actual load operation; S36, verify the function and save the parameters.
7. The configuration method of the variable frequency permanent magnet motor drive system for a gantry crane according to claim 6, characterized in that: In step S34, setting the ASR gain adjustment includes the following steps: S34-1, determine whether to automatically adjust the ASR gain; if so, enter S34-2, and then enter S35; if not, enter S34-3, and then enter S35; S34-2, ASR gain automatic adjustment (T2-01=9); S34-3. Determine whether to use the following functions: feedforward control; separate KEB method 2 (L2-29 = 1); multi-functional contact input KEB command 2 (H1-## = 7A); if not, go to S35; if so, go to S34-4; S34-4. Conduct inertia tuning (T2-01 = 8), and then go to S35.
8. The configuration method of the variable frequency permanent magnet motor drive system for a gantry crane according to claim 6, characterized in that: In S32, simultaneously confirm whether the operation, rotation direction, and multi-functional input / output actions are normal.