CN106655925B - A kind of method for control speed of direct current generator - Google Patents
A kind of method for control speed of direct current generator Download PDFInfo
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- CN106655925B CN106655925B CN201610958751.3A CN201610958751A CN106655925B CN 106655925 B CN106655925 B CN 106655925B CN 201610958751 A CN201610958751 A CN 201610958751A CN 106655925 B CN106655925 B CN 106655925B
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- direct current
- current generator
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
- H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
- H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
- H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
- H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
- H02P7/285—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only
- H02P7/29—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only using pulse modulation
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Direct Current Motors (AREA)
Abstract
The present invention relates to a kind of method for control speed of direct current generator.The method that purpose is to provide can accurately control the revolving speed of direct current generator.Technical solution is: a kind of method for controlling number of revolution of direct current generator, 1) method for controlling number of revolution is the following steps are included: calculate the pwm value of driving voltage and output order to impulse generator；2) impulse generator drives direct current generator rotation according to the driving voltage of instruction output high-frequency impulse after power circuit amplifies；3) high-frequency impulse stops after being kept for a period of time, and direct current generator enters freewheeling state；4) during armature supply is zero, sample circuit acquires the voltage value of induced voltage at least once, and compared with sampled result voltage value corresponding with preset rotation speed, comparison result is output to master controller；5) pwm value of high-frequency impulse, output order to impulse generator are calculated；6) step 2)~5 are repeated), it is completed until direct current generator works.
Description
Technical field
The present invention relates to DC motor technology field more particularly to a kind of method for control speed of direct current generator.
Background technique
In welding equipment, the stability of wire feed system directly affects the stabilization and droplet transfer process of welding current, thus
Appearance of weld and welding quality are influenced, therefore, during actual use can adjust the speed, guarantee to the direct current generator of wire feed system
The stabilization of welding process.
When the direct current generator work of wire feed system, in power supply disengagement phase, direct current generator can generate induced electromotive force,
And the revolving speed of the induced electromotive force and direct current generator is linear, therefore, accurately samples the induced electromotive force of direct current generator,
As the feedback quantity of direct current generator rotation speed, the rotation speed of direct current generator can be adjusted according to this feedback quantity.
Fu Qiang et al. " digital wire feeding system based on induced voltage negative-feedback " (welding journal, in August, 2010,
The 8th phase of volume 31) in mention, as shown in Figure 1, in tdIn~T time section (sampled when taking T moment advanced 5s, precision compared with
It is high), complete the sampling of induced voltage.The system is by the armature induction voltage that sample rate current was zero period and controls induced voltage
It is constant, since induced voltage is directly proportional to speed, to guarantee that speed is invariable, to realize wire feed rate
Stablize.
It mentions in Chinese invention patent " wire feeder method and wire feed speed regulating system " (200610073317.3), such as schemes
Shown in 2, tdEnergy release time is stored for wire feeding motor armature winding, in this period, the voltage at wire feeding motor both ends is close
In zero, theoretically, in sampling, the voltage that sampled value includes time period should be avoided.tePeriod is the induction of wire feeding motor
Electromotive force section, theoretically, feedback sample carry out within the time period.
Due to motor itself and the process there are inductance, closing electric current after PWM in route and have afterflow, the time of general afterflow
About in the time of 50us-150us or so, so the PWM frequency maximum of the PWM control mode of above-mentioned two quasi-tradition is limited in 3K
Left and right.And the high frequency noise that the sense of hearing of people generates the frequency of 1K-3K or so is very sensitive, so traditional control method is usually adopted
With control frequency in 100HZ or so, and under this frequency, although the sound that the noise of motor generation is sharp without high frequency, its
Very dull, in addition underfrequency also reduces control precision.Therefore, it is necessary to improve to existing control method.
Summary of the invention
The technical problem to be solved by the present invention is to overcome the deficiencies of above-mentioned background technique, provide a kind of speed of direct current generator
Control method can accurately control the revolving speed of direct current generator, moreover it is possible to the noise of motor be effectively reduced, protect motor at work
It holds in preferable state.
The technical solution adopted by the present invention is that: a kind of method for controlling number of revolution of direct current generator, which is characterized in that the revolving speed control
Method processed the following steps are included:
1) master controller is according to the preset rotation speed of direct current generator, calculates the pwm value of driving voltage and output order is to arteries and veins
Rush generator；
2) impulse generator drives direct current after power circuit amplifies according to the driving voltage of instruction output high-frequency impulse
Machine rotation；
3) high-frequency impulse stops after being kept for a period of time, and direct current generator enters freewheeling state, at this time the voltage at armature both ends
For driving voltage, voltage value zero；When armature supply is reduced to zero, afterflow terminates, and the voltage at armature both ends is armature at this time
The voltage value of induced voltage, the induced voltage is directly proportional to revolving speed；
4) armature supply is during zero, and sample circuit acquires the voltage value of induced voltage at least once, sampled result and pre-
If the corresponding voltage value of revolving speed compares, comparison result is output to master controller；
5) master controller calculates the pwm value of high-frequency impulse, output order to impulse generator according to comparison result；
6) step 2)~5 are repeated), it is completed until direct current generator works.
Preferably, low-pass filter is equipped between sample circuit and direct current generator in the step 4), armature both ends
Sample circuit is transported to after voltage is low-pass filtered.
Preferably, the driving voltage frequency of high-frequency impulse is 10k~50k Hz in the step 2).
Preferably, the master controller is PID controller.
Preferably, sampled result voltage value corresponding with preset rotation speed completes ratio in comparator in the step 4)
Compared with.
Preferably, induced voltage is low-frequency pulse in the step 3), low-frequency pulse frequency is 50~2000Hz.
The beneficial effects of the present invention are: driving voltage of the present invention using the induced voltage overlapped high-frequency pulse of low-frequency pulse
Control method, the frequency of high-frequency impulse is up to 10k~50k Hz, and according to experiment, normal condition common people can not perceive this
Noise can be effectively reduced in frequency.The high-frequency impulse that the present invention uses improves control precision, and armature peak value is effectively reduced
Electric current, as shown in Figure 1, traditional control method, since pulse width is larger, under the conditions of PWM is opened, armature supply always can
Up increase, and the present invention due to using high-frequency impulse control, as shown in figure 4, when electric current rise it is a bit of after, closing PWM,
Electric current can decline a bit of, recycle between increase and decline, to reduce peak point current.
Detailed description of the invention
Fig. 1 is the voltage and current waveform diagram of one of existing control method.
Fig. 2 is two voltage oscillogram of existing control method.
Fig. 3 is control flow chart of the invention.
Fig. 4 is voltage and current waveform diagram of the invention.
Specific embodiment
The invention will be further described below, but the invention is not limited to following embodiments.
As shown in Figure 3, Figure 4, the method for controlling number of revolution of direct current generator provided by the invention, comprising the following steps:
1) master controller 3 (using PID controller) calculates the arteries and veins of driving voltage according to the preset rotation speed 1 of direct current generator
Width values and output order are to impulse generator 4；
2) according to the driving voltage of instruction output high-frequency impulse, (frequency is 10k~50k Hz to impulse generator, recommends 20K
Hz), driving direct current generator 6 rotates after the amplification of power circuit 5；
3) high-frequency impulse stops after being kept for a period of time, and direct current generator enters freewheeling state, at this time the voltage at armature both ends
For driving voltage, voltage value zero；When armature supply is reduced to zero, afterflow terminates, and the voltage at armature both ends is armature at this time
The voltage value of induced voltage, the induced voltage is directly proportional to revolving speed, and induced voltage is low-frequency pulse, and low-frequency pulse frequency is 50~
2000Hz；
4) armature supply is during zero, and sample circuit 8 acquires the voltage value of induced voltage at least once, sampled result and pre-
If the corresponding voltage value of revolving speed is compared in comparator 2, comparison result is output to master controller, sample circuit and direct current
It is equipped with low-pass filter 7 between machine, is transported to sample circuit after the voltage at armature both ends is low-pass filtered；
5) master controller calculates the pwm value of high-frequency impulse, output order to impulse generator according to comparison result；
6) step 2)~5 are repeated), it is completed until direct current generator works.
The working principle of the invention is:
The present invention is fed back using armature of direct current motor counter electromotive force induced voltage, low frequency induction voltage superposition high-frequency PWM arteries and veins
The mode of width modulation (driving voltage) controls the speed of motor.Its control flow such as Fig. 3, the armature voltage of direct current generator pass through low
The curve such as Fig. 4 is formed after bandpass filter, sample circuit at the T1 moment acquires its inductive voltage value, and (the T1 moment is located at armature supply
During being zero, recommend the voltage value under acquisition induced voltage stable state), compared with preset rotation speed is in comparator, compare
As a result enter the pwm value that PID controller calculates high-frequency impulse (driving voltage), then PID controller issues instruction, in T1-
T2 moment impulse generator exports its high-frequency impulse, the output of T2 moment stop pulse (duration between the T1-T2 period by
PID controller is determined according to comparison result), direct current generator enters freewheeling state, and armature voltage is to work as electric current at 0, the T3 moment at this time
When being reduced to 0, afterflow terminates, and armature voltage is directly proportional to speed at this time, and at the T4 moment, sample circuit continues to acquire induced electricity
The voltage value of pressure, then repeats the above process.The T1-T4 period is the low-frequency pulse period of induced voltage, the frequency of low-frequency pulse
Rate is 50Hz to 2000Hz, and pulse frequency and pulse width are fixed.The T1-T2 period is high-frequency impulse stage, high frequency
The frequency of pulse is 10K-50K Hz (recommending to use the frequency of 20K Hz), and pulse frequency is fixed, but its pulse width
It is to be adjusted according to back-emf voltage.
Finally it should be noted that the above enumerated are only specific embodiments of the present invention.It is clear that the invention is not restricted to
Above embodiments can also have many variations.Those skilled in the art can directly lead from present disclosure
Out or all deformations for associating, it is considered as protection scope of the present invention.
Claims (6)
1. a kind of method for controlling number of revolution of direct current generator, which is characterized in that the method for controlling number of revolution the following steps are included:
1) according to the preset rotation speed (1) of direct current generator, the pwm value and output order for calculating driving voltage arrive master controller (3)
Impulse generator (4)；
2) impulse generator drives straight according to the driving voltage of instruction a string of high-frequency impulses of output after power circuit (5) amplification
Galvanic electricity machine (6) rotation；
3) a string of high-frequency impulses keep stop pulse after a period of time to export, and direct current generator enters freewheeling state, at this time armature two
The voltage at end is driving voltage, voltage value zero；When armature supply is reduced to zero, afterflow terminates, at this time the voltage at armature both ends
Voltage value for the induced voltage of armature, the induced voltage is directly proportional to revolving speed；
4) armature supply is during zero, and sample circuit (8) acquires the voltage value of induced voltage at least once, sampled result and default
The corresponding voltage value of revolving speed compares, and comparison result is output to master controller；
5) master controller calculates the pwm value of a string of high-frequency impulses, output order to impulse generator according to comparison result；
Repeat step 2 ~ 5), it is completed until direct current generator works.
2. a kind of method for controlling number of revolution of direct current generator according to claim 1, it is characterised in that: in the step 4),
Low-pass filter (7) are equipped between sample circuit and direct current generator, sampling is transported to after the voltage at armature both ends is low-pass filtered
Circuit.
3. a kind of method for controlling number of revolution of direct current generator according to claim 1 or 2, it is characterised in that: the step 2
In, the driving voltage frequency of high-frequency impulse is 10k ~ 50k Hz.
4. a kind of method for controlling number of revolution of direct current generator according to claim 1 or 2, it is characterised in that: the main control
Device is PID controller.
5. a kind of method for controlling number of revolution of direct current generator according to claim 1 or 2, it is characterised in that: the step 4)
In, compared with sampled result voltage value corresponding with preset rotation speed is completed in comparator (2).
6. a kind of method for controlling number of revolution of direct current generator according to claim 1 or 2, it is characterised in that: the step 3)
In, induced voltage is low-frequency pulse, and low-frequency pulse frequency is 50 ~ 2000 Hz.
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| CN201610958751.3A CN106655925B (en) | 2016-10-28 | 2016-10-28 | A kind of method for control speed of direct current generator |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107579693A (en) * | 2017-07-28 | 2018-01-12 | 黑龙江省电工仪器仪表工程技术研究中心有限公司 | A kind of motor speed control method based on change discount factor exponent-weighted average |
| CN107994817B (en) * | 2017-11-21 | 2020-01-10 | 上海沪工焊接集团股份有限公司 | Motor back electromotive force sampling system and method thereof |
| CN112217425B (en) * | 2019-07-10 | 2022-11-01 | 广东美的生活电器制造有限公司 | Motor control device, control method and control system |
| CN110868109B (en) * | 2019-11-27 | 2021-07-27 | 北京云迹科技有限公司 | Motor control method and device, storage medium and robot thereof |
| CN110928229B (en) * | 2019-12-12 | 2021-03-16 | 上海沪工焊接集团股份有限公司 | Wire feeder control method, controller and storage medium |
| CN114705981A (en) * | 2022-03-01 | 2022-07-05 | 河南嘉晨智能控制股份有限公司 | DC motor rotating speed estimation method and system |
| CN115441802B (en) * | 2022-09-06 | 2023-12-01 | 江苏新安电器股份有限公司 | Software method for detecting and starting motor in forward and reverse directions |
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| CN1349301A (en) * | 2000-09-12 | 2002-05-15 | 皇家菲利浦电子有限公司 | Electric motor control device able to measuring rotary speed of rotator of electric motor |
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