angular displacement (or line displacement) electromagnetic device, is a special kind of motor. General motor are continuous
rotation, and stepping motor have positioning and running two basic state, when a pulse input cubits stepping motor step by step
and rotation, each to rotating joints give it a pulse signal, it turned the certain Angle. Stepping motor angular displacement quantity and
input pulse is proportional to the number of strictly, in time and input pulse synchronization, so as long as the control input
pulse number, frequency and motor winding energized phase sequence, can obtain the needed Angle, speed and rotation direction.
In no pulse input, in winding power under the excitation of air gap magnetic field can make the rotor keep original position in
positioning state.
Stepping motor according to the output torque on the size of the points, can be divided into rapid stepping motor and power
stepping motor. Rapid stepping motor continuous high working frequency and output torque is small, usually in N · cm level, can
be used as a control small precision machine tool table (cases of linear cutting machine) can also and hydraulic torque
amplifier composition electrohydraulic pulse motor to drive nc machine tool's table, and power stepping motor output torque is
big is N · m level can be directly to drive the machine moving parts. Stepping motor according to
rotary union the excitation phase, can be
divided into three phase, four phase, five phase, six phase even eight phase. Generally speaking with phase increases, in the
same frequency, each phase guide electricity flow time increased, each phase average current will be higher, so that the motor
speed - torque characteristic will be better, step Angle is also small.
But as the phase increases, the size of the motor will
increase, the structure is complex, the multi-purpose 3 ~ 6 phase stepping motor. Due to the stepping motor speed along with the
input pulse frequency change and change, speed range is very wide, high sensitivity, output Angle can control, and output high
precision, and can realize synchronous control, so widely used in open loop system, also can be used in general universal
machine tool, improve feeding mechanism of automation level. Stepping motor according to its working principle to points,
basically have magnetoelectric and equation two categories, here only introduce common reaction stepping motor work principle,
we use the following step motor simplified diagram to illustrate.
In the motor stator has A and B, C three pairs of pole, pole round A coil, respectively called A phase, B and C phase, and rotor
is A toothed core, this kind of stepping motor called three-phase stepper motor. If the coil zhongtong with direct current, it
will produce A magnetic field, when A and B, C three pole coil in turn in electricity, then A, B, C three pairs of pole is in
turn take turns to produce A magnetic field to attract rotor rotation. First there is A phase coil (set to A phase) electricity,
the rotor 1, 3 two tooth be pole A absorb, rotor will stay in figure 5-5 A position. Then, A phase without electricity, 6
communicate electrical, the pole A magnetic field disappear pole B produced magnetic field, magnetic pole called magnetic fields
to the nearest 2, 4 two tooth attract the past, stop in figure B position, then rotor counterclockwise turned 30 °.
Then the
next phase power B, C communicate electrical. According to the same truth, rotor and counterclockwise turned 30 °, stop in the
diagram c position. If A mutually electricity, C phase off, then the rotor to reverse 30 °, make the pole A magnetic field to
2, 4 two tooth absorb. Stator each phase take turns to power on a rotor turned a tooth. According to such A - B - C - A - B - C
- A -... Order take turns to electricity, stepping motor is step by step according to the anti clockwise. Electricity coil each
conversion once, stepping motor rotate 30 °, we put the stepping motor each step turned Angle called step pitch Angle. If the
stepping motor power on coil conversion order upside down into A - C - B - A - C - B -... Order, the stepping motor will be made
according to
fiber optic rotary joint clockwise, so to change stepping motor rotation direction can be in any of the same electric.
2012年9月28日星期五
In the step (1) from the Angle, three-phase motor is better than two phase motor
(2) three-phase motor two phase excitation maximum keep the moment for 3 quality T1 (T1 for single-phase excitation torque), and two phase motor for quality 2 T1, so the
synthesis of three-phase motor torque.
(3) three-phase motor torque fluctuation ratio two-phase motor to small.
(4) three-phase motor continuous 2 steps for half step torque difference than two phase motor will be small.
[5] three-phase motor winding can star connection, and three terminal drive, excitation circuit transistor six;
And two phase motor is eight. [6] continuous operation, due to rotary joints three-phase stepper motor structure reason, the flux and current three harmonic is eliminated, so the vibration of the three-phase motor torque than two phase motor will be small. The conclusion is obvious. Another conclusion is HB motor is more suitable for low speed high torque purpose; RM type suitable for smooth running and speed is more than 1000 r/min purposes; And PM type low cost, in low speed vibration and high speed large torque, three-phase PM motor than two phase motor performance is better. Therefore, the current most development prospect, when is the hybrid stepping motor, and hybrid motor and to the following four direction: One of the development trends, is to continue along the direction of miniaturization. With the motor itself in the field of application of widening and all kinds of the continuous miniaturization, requirements and the related motor must also be more and more small, in 57, 42 frame size motor application after many years, now the base number to 39, 35, 30, 25 direction downward extension. Swiss ESCAP company also recently developed only 10 mm diameter of stepping motor.
The development trend of another, is change circular motor for square motor. Due to the motor using square model structure, make rotor may design better than large, round, so the moment volume ratio will be greatly improved. The same base number of the motor, square moment than round will be raised by 30% ~ 40%. The third development trend, the motor for integrated design. The rotor position sensor, reduction gear, etc and motor noumenon integrated design together, so make it easy to form a closed loop system, thus has better control performance. The development trend of four to rotary union five and three-phase motor direction. It is used widely in two and four phase motor, its vibration and noise is bigger, and five and three-phase motor has the dominance. And these two kinds of motor is concerned, five phase motor drive circuit than three-phase motor complex, so the three-phase motor system of performance to price than five phase motor better.
China's situation is different, until the 1980 s, has been magnetic resistance type stepping motor is dominant, hybrid stepping motor is 80 s began to fiber optic rotary joint development, is still the two kinds of structure type coexist. Although the new hybrid stepping motor completely may replace reluctance motor, but reluctance motor of the machine won the long-term use, for its technology is also more familiar, especially typical hybrid stepping motor's footsteps Angle (0.9 ° and 1.8 °) and the typical reluctance motor step pitch Angle (0.75 ° and 1.5 °), users change the product structure is not very easy, this makes two models of both the situation is in a relatively short period of change. This kind of present situation of stepping motor is adverse to the development of.
And two phase motor is eight. [6] continuous operation, due to rotary joints three-phase stepper motor structure reason, the flux and current three harmonic is eliminated, so the vibration of the three-phase motor torque than two phase motor will be small. The conclusion is obvious. Another conclusion is HB motor is more suitable for low speed high torque purpose; RM type suitable for smooth running and speed is more than 1000 r/min purposes; And PM type low cost, in low speed vibration and high speed large torque, three-phase PM motor than two phase motor performance is better. Therefore, the current most development prospect, when is the hybrid stepping motor, and hybrid motor and to the following four direction: One of the development trends, is to continue along the direction of miniaturization. With the motor itself in the field of application of widening and all kinds of the continuous miniaturization, requirements and the related motor must also be more and more small, in 57, 42 frame size motor application after many years, now the base number to 39, 35, 30, 25 direction downward extension. Swiss ESCAP company also recently developed only 10 mm diameter of stepping motor.
The development trend of another, is change circular motor for square motor. Due to the motor using square model structure, make rotor may design better than large, round, so the moment volume ratio will be greatly improved. The same base number of the motor, square moment than round will be raised by 30% ~ 40%. The third development trend, the motor for integrated design. The rotor position sensor, reduction gear, etc and motor noumenon integrated design together, so make it easy to form a closed loop system, thus has better control performance. The development trend of four to rotary union five and three-phase motor direction. It is used widely in two and four phase motor, its vibration and noise is bigger, and five and three-phase motor has the dominance. And these two kinds of motor is concerned, five phase motor drive circuit than three-phase motor complex, so the three-phase motor system of performance to price than five phase motor better.
China's situation is different, until the 1980 s, has been magnetic resistance type stepping motor is dominant, hybrid stepping motor is 80 s began to fiber optic rotary joint development, is still the two kinds of structure type coexist. Although the new hybrid stepping motor completely may replace reluctance motor, but reluctance motor of the machine won the long-term use, for its technology is also more familiar, especially typical hybrid stepping motor's footsteps Angle (0.9 ° and 1.8 °) and the typical reluctance motor step pitch Angle (0.75 ° and 1.5 °), users change the product structure is not very easy, this makes two models of both the situation is in a relatively short period of change. This kind of present situation of stepping motor is adverse to the development of.
2012年9月27日星期四
SCM has been in ac speed regulating system had been used widely. For example by Intel company 1983 years development and
SCM has been in ac speed regulating system had been used widely. For example by Intel company 1983 years development and
production of MCS - 96 series is the higher performance of the single chip microcomputer is one of the series, it is suitable
for high speed and high precision industrial control. The high-grade type: 8 x 196 KB, 8 x 196 kc, 8 x 196 MC in general open
loop ac speed regulating system of used more often.
Because ac motor control theory development, control strategy and control algorithm is also increasingly complex. Extended
kalman filtering, FFT, the state observer and adaptive control, artificial neural network and so on are applied to
rotating joints all kinds of
ac motor vector control and direct torque control of.
Therefore, DSP chip in all digital high performance ac speed regulating system find cast a stage. Such as TI company such as MCS320F240 DSP chip, with its high cost performance became full digital ac adjustable speed system preferred. TI company recently launched MCS320F240X series of products will be more price down to the level of the single chip microcomputer. In ac speed regulation of full digital process, various bus also play a very important role. STD bus, industrial PC bus, field bus and CAN bus in ac adjustable speed system automation application field play an important role. 3 PWM technology PWM control is the control of ac adjustable speed system core, any control algorithm and the ultimate realization of almost all kinds of PWM control mode is completed. Has been put forward and get the practical application of PWM control scheme is not more than ten kinds, about PWM control technology based on the many famous electric power international conference, such as PESC, IECON, EPE annual meeting has formed special.
Especially microprocessor application in PWM technology and digital later, pattern is unceasingly, from the pursuit of the voltage waveform sine, to the current waveform of sine, then to rotary union magnetic flux of sine; From the optimal efficiency, torque ripple at least, to eliminate noise and so on, PWM control technology development has experienced a constant innovation and improvement process.
So far, there are new scheme continuously put forward, further proves that this technology is in the ascendant. Among them, the space vector PWM technology to the voltage utilization ratio is high, the control algorithm is simple, current harmonic characteristics such as small in ac speed regulating system got more and more application. 4 high pressure large capacity ac speed regulation system In the small power ac speed regulation, because foreign product scale effect, make domestic manufacturer in price, process and technology are unable to fiber optic rotary joint fight. And in high voltage power, foreign companies and left us catch up space. First of all, foreign power grid voltage level general for 3000 v, and China's power grid voltage class for 6000 v and 10000 v; Secondly, high pressure high power ac speed regulating system can't large-scale batch production, and foreign labor cost, especially have certain professional knowledge labor cost is higher.
Therefore, DSP chip in all digital high performance ac speed regulating system find cast a stage. Such as TI company such as MCS320F240 DSP chip, with its high cost performance became full digital ac adjustable speed system preferred. TI company recently launched MCS320F240X series of products will be more price down to the level of the single chip microcomputer. In ac speed regulation of full digital process, various bus also play a very important role. STD bus, industrial PC bus, field bus and CAN bus in ac adjustable speed system automation application field play an important role. 3 PWM technology PWM control is the control of ac adjustable speed system core, any control algorithm and the ultimate realization of almost all kinds of PWM control mode is completed. Has been put forward and get the practical application of PWM control scheme is not more than ten kinds, about PWM control technology based on the many famous electric power international conference, such as PESC, IECON, EPE annual meeting has formed special.
Especially microprocessor application in PWM technology and digital later, pattern is unceasingly, from the pursuit of the voltage waveform sine, to the current waveform of sine, then to rotary union magnetic flux of sine; From the optimal efficiency, torque ripple at least, to eliminate noise and so on, PWM control technology development has experienced a constant innovation and improvement process.
So far, there are new scheme continuously put forward, further proves that this technology is in the ascendant. Among them, the space vector PWM technology to the voltage utilization ratio is high, the control algorithm is simple, current harmonic characteristics such as small in ac speed regulating system got more and more application. 4 high pressure large capacity ac speed regulation system In the small power ac speed regulation, because foreign product scale effect, make domestic manufacturer in price, process and technology are unable to fiber optic rotary joint fight. And in high voltage power, foreign companies and left us catch up space. First of all, foreign power grid voltage level general for 3000 v, and China's power grid voltage class for 6000 v and 10000 v; Secondly, high pressure high power ac speed regulating system can't large-scale batch production, and foreign labor cost, especially have certain professional knowledge labor cost is higher.
At present, the research more high power inverter circuit are
Multilevel voltage inverter
Transformer coupling of multiple pulse inverter
Hand over frequency converter
Doubly-fed ac frequency conversion speed control system
(1) level voltage inverter
Japan nagaoka university of science and technology, A.N abae in 1980 in IAS annual meeting for the first time put forward three
level inverter, also rotary joints called Neutral clamp type (Neutral Point Clamped) inverter. It is the emergence of high pressure and large
capacity voltage inverter research opens up a new way of thinking.
Multilevel voltage inverter and ordinary double level compared to the inverter has the following advantages:
1. The more suitable for large capacity, high voltage occasions.
2. Can produce M layer trapezoidal output voltage, the staircase to modulation can get very good approximate sine wave, theoretically improve level number can be close to pure sine wave type, harmonic content is small.
3. Electromagnetic interference (EMI) problem is reduced greatly, because the switch element a movement of the dv/dt usually only traditional double level 1 / (M - 1).
4. High efficiency, eliminate the same harmonic, the double level using PWM control switch frequency is high, the loss is big, and multilevel inverter can be used low frequency switch movement, the switching frequency is low, the loss is small, the efficiency improving. (2) transformer coupling of multiple pulse inverter Transformer coupling of multiple pulse inverter three level circuit, to get a more level will only each phase series unit inverter bridge the same number can be increased. Its advantages are:
1. Don't exist voltage balance problems. No clamp diode or capacitance, suitable for speed regulation control;
2. Modular degree good, easy maintenance,
3. To rotary union the same level as the number, the number of devices at least; 4. No clamp diode or capacity restriction, can realize more level, the higher the voltage, achieve more low harmonic,
5. Control method is relatively simple, can to each level respectively for PWM control, then waveform restructuring. This, of course, the shortage of the structure in need a lot of isolated dc power supply, the application of limited to some extent. (3) hand over frequency converter Hand over converter using thyristor as the main power device, in the mill and mine hoist drive has a lot of demand. Thyristor the biggest advantage is to switch the power (up to 5000 v / 5000 a), suitable for large capacity ac motor speed control system. At the same time, the high efficiency crystal thyratron production and technical function technique is quite mature, through with the modern ac motor control theory of digital combination, will have strong competitiveness. But hand over frequency converter, there exist some inherent defect: speed range is small, when the power supply is 50 hz, maximum output frequency not more than 20 hz; On the other hand, the power factor is low, the harmonic pollution is big, therefore need at the same time of the reactive power compensation and harmonic management.
(4) doubly-fed ac frequency conversion speed control system Doubly-fed ac frequency conversion speed control system of the frequency converter power of small, power factor adjustable, system reliability is higher, so fiber optic rotary joint recently received the attention of many researchers. Because of the frequency converter power account for only 25% of the motor capacity, so can greatly reduce the cost of the system. But, doubly-fed ac frequency conversion speed regulating system of motor need special design, can't use common asynchronous motor; And by the converter capacity and speed range restriction, does not have the ability of soft starter.
Multilevel voltage inverter and ordinary double level compared to the inverter has the following advantages:
1. The more suitable for large capacity, high voltage occasions.
2. Can produce M layer trapezoidal output voltage, the staircase to modulation can get very good approximate sine wave, theoretically improve level number can be close to pure sine wave type, harmonic content is small.
3. Electromagnetic interference (EMI) problem is reduced greatly, because the switch element a movement of the dv/dt usually only traditional double level 1 / (M - 1).
4. High efficiency, eliminate the same harmonic, the double level using PWM control switch frequency is high, the loss is big, and multilevel inverter can be used low frequency switch movement, the switching frequency is low, the loss is small, the efficiency improving. (2) transformer coupling of multiple pulse inverter Transformer coupling of multiple pulse inverter three level circuit, to get a more level will only each phase series unit inverter bridge the same number can be increased. Its advantages are:
1. Don't exist voltage balance problems. No clamp diode or capacitance, suitable for speed regulation control;
2. Modular degree good, easy maintenance,
3. To rotary union the same level as the number, the number of devices at least; 4. No clamp diode or capacity restriction, can realize more level, the higher the voltage, achieve more low harmonic,
5. Control method is relatively simple, can to each level respectively for PWM control, then waveform restructuring. This, of course, the shortage of the structure in need a lot of isolated dc power supply, the application of limited to some extent. (3) hand over frequency converter Hand over converter using thyristor as the main power device, in the mill and mine hoist drive has a lot of demand. Thyristor the biggest advantage is to switch the power (up to 5000 v / 5000 a), suitable for large capacity ac motor speed control system. At the same time, the high efficiency crystal thyratron production and technical function technique is quite mature, through with the modern ac motor control theory of digital combination, will have strong competitiveness. But hand over frequency converter, there exist some inherent defect: speed range is small, when the power supply is 50 hz, maximum output frequency not more than 20 hz; On the other hand, the power factor is low, the harmonic pollution is big, therefore need at the same time of the reactive power compensation and harmonic management.
(4) doubly-fed ac frequency conversion speed control system Doubly-fed ac frequency conversion speed control system of the frequency converter power of small, power factor adjustable, system reliability is higher, so fiber optic rotary joint recently received the attention of many researchers. Because of the frequency converter power account for only 25% of the motor capacity, so can greatly reduce the cost of the system. But, doubly-fed ac frequency conversion speed regulating system of motor need special design, can't use common asynchronous motor; And by the converter capacity and speed range restriction, does not have the ability of soft starter.
2012年9月26日星期三
Because the elevator is manned tool for drag system is reliable, but also to frequent deceleration and positive and negative
Because the elevator is manned tool for drag system is reliable, but also to frequent deceleration and positive and negative
turn, elevator dynamic characteristics and the improvement of reliability, and increased the elevator ride sense of security,
comfort and efficiency. In the past the elevator control dc is in the majority, in recent years gradually into rotating joints ac motor
frequency control of motor speed, whether Japan, or Germany. Our country a lot of elevator factory have vied with one another in
frequency control of motor speed to equip the elevator. Such as Shanghai mitsubishi, guangzhou Hitachi, Qingdao Fuji, tianjin
Otis adopts ac frequency control of motor speed. A lot of original production of elevator and variable frequency transformation.
Many people sit over shenzhen window of the world of monorail elevated touring car, the car driving frequent starting, parking,
uphill and downhill, and requirements on off smoothly, speed constant.
Because be manned vehicle, operation must be safe and reliable, perennial, that is to say, bad environment. Before the performance of speed for high drive, the adoption of the belt velocity feedback of vector control system, the price is higher. In order to lower the price, and convenient maintenance, we adopted universal converter torque vector control mode, successfully resolved the starting/acceleration, parking/reduction, constant speed/variable speed drive, etc., and prevent the "down", "impact station" phenomenon production, achieve the safe and reliable, the user is satisfied. This transformation is made by our company shenzhen electronics co., LTD.
Finished. Case 4, mixer class load Chemical, pharmaceutical industry mixer is very much, use frequency control of motor speed to replace other speed regulating mode, it has good. Northeast pharmaceutical factory hydrogenated fermentation post consists of eight table 6.5 tons of fermentation tank, motor power for 18.5 KW, belongs to rotary union gear speed control, such as the case of mixing speed change need to remove the triangle belt, was bulky and unsafe. Convert frequency control of motor speed, the annual energy saving 86000 KW, fermentation process improved obviously and improve the product quality, reduce the maintenance, only reduce triangle belt cost will save 30000 yuan, reduce the labor intensity, be beneficial to the factory, be beneficial to workers. And as: shijiazhuang HuaShu pharmaceutical factory with 10 sets of 315 kw converter drive mixer in pharmaceutical process production terramycin. Example 5, the injection molding machine class load The plastic injection machine is the key equipment of plastic molding processing, quantity, great power consumption. The past power saving mode for through the train type conversion Y type (star) to fiber optic rotary joint energy-saving, the effect is general.
The frequency converter speed control does not change the structure of the original injection molding machine, control oil pump several process pressure or flow (such as clamping, closing, shoot glue, the pressure, and demoulding, back mould, etc.), power saving 20% ~ 52%, better replace the past proportional valve throttle control way, greatly reduce the energy consumption and the pearl river delta for many of the injection molding factory has carried on the variable frequency transformation. Transformation injection molding machine, attention should be paid to joint acceleration, otherwise the yield decreased; Pay attention to the input and the output harmonic interference.
Because be manned vehicle, operation must be safe and reliable, perennial, that is to say, bad environment. Before the performance of speed for high drive, the adoption of the belt velocity feedback of vector control system, the price is higher. In order to lower the price, and convenient maintenance, we adopted universal converter torque vector control mode, successfully resolved the starting/acceleration, parking/reduction, constant speed/variable speed drive, etc., and prevent the "down", "impact station" phenomenon production, achieve the safe and reliable, the user is satisfied. This transformation is made by our company shenzhen electronics co., LTD.
Finished. Case 4, mixer class load Chemical, pharmaceutical industry mixer is very much, use frequency control of motor speed to replace other speed regulating mode, it has good. Northeast pharmaceutical factory hydrogenated fermentation post consists of eight table 6.5 tons of fermentation tank, motor power for 18.5 KW, belongs to rotary union gear speed control, such as the case of mixing speed change need to remove the triangle belt, was bulky and unsafe. Convert frequency control of motor speed, the annual energy saving 86000 KW, fermentation process improved obviously and improve the product quality, reduce the maintenance, only reduce triangle belt cost will save 30000 yuan, reduce the labor intensity, be beneficial to the factory, be beneficial to workers. And as: shijiazhuang HuaShu pharmaceutical factory with 10 sets of 315 kw converter drive mixer in pharmaceutical process production terramycin. Example 5, the injection molding machine class load The plastic injection machine is the key equipment of plastic molding processing, quantity, great power consumption. The past power saving mode for through the train type conversion Y type (star) to fiber optic rotary joint energy-saving, the effect is general.
The frequency converter speed control does not change the structure of the original injection molding machine, control oil pump several process pressure or flow (such as clamping, closing, shoot glue, the pressure, and demoulding, back mould, etc.), power saving 20% ~ 52%, better replace the past proportional valve throttle control way, greatly reduce the energy consumption and the pearl river delta for many of the injection molding factory has carried on the variable frequency transformation. Transformation injection molding machine, attention should be paid to joint acceleration, otherwise the yield decreased; Pay attention to the input and the output harmonic interference.
Example 6, sewage disposal and other environmental protection class load
Environmental protection is taken seriously more and more, it is related to human survival environment, even the Olympic bid
also have environmental index. Thus the clean energy, green city all appeared. Frequency control of motor speed available in
three aspects of environmental protection class load. One is the industrial wastewater treatment, 2 it is garbage power plant,
three is industrial smoke and exhaust and dust removal control. Such as guangzhou refinery, convert aeration machine sewage
treatment mixing equipment, USES the cage motor frequency control of motor speed, improve product reliability, save electricy
more than 40%, while improving the activated sludge microbial group of life, improve the sewage treatment effect.
Be like again foshan garbage power plant in the process selection of 52 table converter. Visible frequency control of motor speed has become the main equipment of environmental protection. China petrochemical corporation make a extinguished the torch (mainly refers to rotary joints the big oil refinery to burn gas) plan, that is the combustible gas delivery to use frequency control of motor speed compression machine cabinet recovery. Example 7, music fountain class load Very attract visitors to the music fountain, the water level of the amount and size is by frequency conversion control. Asian spray the highest of heyuan city, guangdong music fountain and scale a lot of shandong jinan quancheng square music fountain all belong to rotary union this, namely, power saving and effect is very good, in construction music fountain, attention should be paid to the harmonic frequency converter to control system of interference.
Example 8, cigarette machine class load Cigarette industry in the past imported cigarette machine, no matter Maureen 8, or Maureen 10, were not stepless speed regulation. Therefore, in the cigarette industry is mainly solve the stepless speed regulation and reliability problems, technology is simple, frequency converter usage simple, convergence greatly. The cigar mill of zhaotong city 19 sets of import grant 4 roll joint packaging integral unit using frequency control of motor speed, increase the cigarette, 200 cases, 200 cases of the cigarette tax quite 19 sets the price of frequency converter, namely one day disinvestment. Therefore, cigarette machine reconstruction rapidly, great benefit. Now most of the domestic machine is equipped with a variable frequency speed regulating function. Case 9, large kiln calcining class load Metallurgy, building materials, caustic soda and other large industrial turn furnace (bof) before most of them adopt dc, commutator machine, slip motor and speed regulating pole string. Because these speed regulating mode or fiber optic rotary joint , or low efficiency, in recent years, a lot of units by ac frequency conversion control, the effect is very good. ZhuZhou smeltery of zinc leaching residue volatilization kiln is the main body of zinc recovery equipment, a total of three table. Kiln outside diameter 2.8 meters, 44 meters long, the original with the positive flow son motor and slip motor drive, fault, often trip, a great quantity of maintenance.
Due to the bad environment, conductive dust, electric spark constantly. Brush, carbon brush change constantly, 90 minor repair 56 times, change only 1670 carbon brush, brush 647 only, serious influence the production. In June 91 the factory finished rotary kiln of frequency control of motor speed transformation. Smooth operation, reliable, simple operation, didn't happen because of motor drive fault and affect production. Annual energy saving 120000 degrees, over production is 1.1782 million yuan. Tangshan factory light grey calcined furnace is the key equipment of soda production, diameter 3.6 meters, furnace body length 30 meters, gross weight 266 tons, with 220 kw converter drive, low frequency start well, rotary stability, high reliability, improve the product quality, so that the calcined furnace production into the advanced ranks.
Be like again foshan garbage power plant in the process selection of 52 table converter. Visible frequency control of motor speed has become the main equipment of environmental protection. China petrochemical corporation make a extinguished the torch (mainly refers to rotary joints the big oil refinery to burn gas) plan, that is the combustible gas delivery to use frequency control of motor speed compression machine cabinet recovery. Example 7, music fountain class load Very attract visitors to the music fountain, the water level of the amount and size is by frequency conversion control. Asian spray the highest of heyuan city, guangdong music fountain and scale a lot of shandong jinan quancheng square music fountain all belong to rotary union this, namely, power saving and effect is very good, in construction music fountain, attention should be paid to the harmonic frequency converter to control system of interference.
Example 8, cigarette machine class load Cigarette industry in the past imported cigarette machine, no matter Maureen 8, or Maureen 10, were not stepless speed regulation. Therefore, in the cigarette industry is mainly solve the stepless speed regulation and reliability problems, technology is simple, frequency converter usage simple, convergence greatly. The cigar mill of zhaotong city 19 sets of import grant 4 roll joint packaging integral unit using frequency control of motor speed, increase the cigarette, 200 cases, 200 cases of the cigarette tax quite 19 sets the price of frequency converter, namely one day disinvestment. Therefore, cigarette machine reconstruction rapidly, great benefit. Now most of the domestic machine is equipped with a variable frequency speed regulating function. Case 9, large kiln calcining class load Metallurgy, building materials, caustic soda and other large industrial turn furnace (bof) before most of them adopt dc, commutator machine, slip motor and speed regulating pole string. Because these speed regulating mode or fiber optic rotary joint , or low efficiency, in recent years, a lot of units by ac frequency conversion control, the effect is very good. ZhuZhou smeltery of zinc leaching residue volatilization kiln is the main body of zinc recovery equipment, a total of three table. Kiln outside diameter 2.8 meters, 44 meters long, the original with the positive flow son motor and slip motor drive, fault, often trip, a great quantity of maintenance.
Due to the bad environment, conductive dust, electric spark constantly. Brush, carbon brush change constantly, 90 minor repair 56 times, change only 1670 carbon brush, brush 647 only, serious influence the production. In June 91 the factory finished rotary kiln of frequency control of motor speed transformation. Smooth operation, reliable, simple operation, didn't happen because of motor drive fault and affect production. Annual energy saving 120000 degrees, over production is 1.1782 million yuan. Tangshan factory light grey calcined furnace is the key equipment of soda production, diameter 3.6 meters, furnace body length 30 meters, gross weight 266 tons, with 220 kw converter drive, low frequency start well, rotary stability, high reliability, improve the product quality, so that the calcined furnace production into the advanced ranks.
2012年9月25日星期二
Second, the characteristics of variable frequency motor
1, the electromagnetic design
The common for asynchronous motor, then design the performance parameters of the main consideration is overload ability, starting performance, efficiency and power factor. And frequency conversion motor, because of the critical slip inverse ratio in power supply frequency, can be in critical slip close to 1 direct start, therefore, overload ability and start performance is not too much to rotating joints consider, and to solve the key problem is how to improve motor to non sine wave power adaptability. The general way is as follows:
1) as the decrease of the stator and rotor resistance. Reduce stator resistance can reduce the fundamental wave copper loss, to make up for the high order harmonic cause copper consumption increase
2) to rotary union control the current of high order harmonic, need to appropriately increase motor inductance. But rotor slot leakage reactance larger the skin effect is big also, high harmonic copper loss and increase. Therefore, motor leakage reactance size mus
3) frequency conversion motor main magnetic circuit general design into unsaturated state, one is considered high order harmonic will deepen the magnetic circuit saturation, 2 it is to consider in low frequency, in order to enhance the output torque and increasing converter output voltage. 2, structure design To structure the design, main is also considering non-sinusoidal power characteristic of frequency conversion motor insulation structure, vibration and noise cooling way of influence, generally pay attention to the following questions:
1) insulation level, general for F or higher level, strengthen on insulation and turn insulation strength, especially to insulation impact resistance voltage ability.
2) the motor of the vibration and noise problem, should fully consider motor components and overall rigidity, trying to improve its natural frequency, to avoid and every force wave produce resonance phenomenon.
3) cooling way: generally USES forced air cooling, namely main motor cooling fan using independent motor drive.
4) prevent shaft current measures, the capacity of more than 160 kw motor should adopt bearing insulation measures. Mainly is easy to produce magnetic circuit asymmetry, also can produce shaft current, when other high frequency component produced by the current together effect, shaft current will increase greatly, leading to bearing damage, so generally take insulation measures.
5) to fiber optic rotary joint constant power variable frequency motor, when the speed more than 3000 / min, should use high temperature resistant special grease, to compensate for bearing temperature. Frequency conversion motor can be at 0. 1 hz - 130 hz range for the long term operation, common motor can be in: 2 pole for 20-65 hz range long-term operation. 4 pole for 25-75 hz range long-term operation. Six pole for 30-85 hz range long-term operation. Eight pole for 35-100 hz range long-term operation.
1) as the decrease of the stator and rotor resistance. Reduce stator resistance can reduce the fundamental wave copper loss, to make up for the high order harmonic cause copper consumption increase
2) to rotary union control the current of high order harmonic, need to appropriately increase motor inductance. But rotor slot leakage reactance larger the skin effect is big also, high harmonic copper loss and increase. Therefore, motor leakage reactance size mus
3) frequency conversion motor main magnetic circuit general design into unsaturated state, one is considered high order harmonic will deepen the magnetic circuit saturation, 2 it is to consider in low frequency, in order to enhance the output torque and increasing converter output voltage. 2, structure design To structure the design, main is also considering non-sinusoidal power characteristic of frequency conversion motor insulation structure, vibration and noise cooling way of influence, generally pay attention to the following questions:
1) insulation level, general for F or higher level, strengthen on insulation and turn insulation strength, especially to insulation impact resistance voltage ability.
2) the motor of the vibration and noise problem, should fully consider motor components and overall rigidity, trying to improve its natural frequency, to avoid and every force wave produce resonance phenomenon.
3) cooling way: generally USES forced air cooling, namely main motor cooling fan using independent motor drive.
4) prevent shaft current measures, the capacity of more than 160 kw motor should adopt bearing insulation measures. Mainly is easy to produce magnetic circuit asymmetry, also can produce shaft current, when other high frequency component produced by the current together effect, shaft current will increase greatly, leading to bearing damage, so generally take insulation measures.
5) to fiber optic rotary joint constant power variable frequency motor, when the speed more than 3000 / min, should use high temperature resistant special grease, to compensate for bearing temperature. Frequency conversion motor can be at 0. 1 hz - 130 hz range for the long term operation, common motor can be in: 2 pole for 20-65 hz range long-term operation. 4 pole for 25-75 hz range long-term operation. Six pole for 30-85 hz range long-term operation. Eight pole for 35-100 hz range long-term operation.
Frequency conversion motor and power frequency motor have what differentiation
Frequency conversion motor and power frequency motor have what differentiation
A, the common asynchronous motor all is according to the constant frequency constant pressure design, can't completely adapt to
the requirements of the variable frequency speed regulation. The following is a frequency converter to rotary joints the influence of the
motor
1, motor efficiency and the problem of temperature rise Regardless of the form of frequency converter, in the operation of all can produce different degree of harmonic voltage and current, make the motor in non-sinusoidal voltage, electric operation flow. Rejected material is introduced, with the current widespread use of sine wave PWM type converter as an example, its low harmonic basic to zero, than the rest of the carrier frequency about twice as large as the high order harmonic component for: 2 u + 1 (u for modulation ratio). High order harmonic can cause motor stator copper loss and rotor copper (aluminum) consumption, iron loss and additional loss increased, most notably rotor copper (aluminum) loss. For asynchronous motor is close to the base wave frequency of the corresponding synchronous speed rotation, therefore, high order harmonic voltage with the larger slip cutting rotor conducting bar, will produce a lot of rotor loss.
In addition, still need to consider for skin effect generated additional copper loss. These losses can make motor extra heating, low efficiency, output power reduction, such as ordinary three-phase asynchronous motor runs on converter output non-sinusoidal power supply conditions, the temperature rise in general to increased by 10% - 20%.
2, motor insulation strength problem At present middle and small converter, many are using PWM control mode. His carrier frequency about several thousand to rotary union tens of KHZ, this makes motor stator winding to withstand high voltage rate of rise, is equal to the motor applied gradient great impulse voltage, make the motor of turn-to-turn insulation bear more ordeal. In addition, the PWM converter produce rectangle chopped wave surge voltage stack in the motor operating voltage, for motor on insulation pose a threat, ground insulation in high pressure of repeated impact will be accelerated aging.
3, harmonic electromagnetic noise and vibration General asynchronous motor using inverter power supply, will make the electromagnetic, machinery, ventilation, etc factors caused by the vibration and noise has become more complicated. Frequency conversion power contain every time harmonic and motor electromagnetic part of the inherent space harmonic mutual interference, the formation of various sorts of electromagnetic vibration force.
When the electrical magnetic wave frequency and motor the body's inherent vibration frequency consistent or close to, will produce resonance phenomenon, so as to increase the noise. Due to the motor frequency range wide, speed range is big, various electric magnetic wave frequency is hard to avoid motor components of natural vibration frequency.
4, motor to fiber optic rotary joint frequent starting and braking ability to adapt Since using inverter power supply, the motor can be in very low frequency and voltage to no impact on the current way to start, and can use the frequency converter for all kinds of brake way fast brake, to realize frequent starting and braking created conditions, thus motor mechanical system and electromagnetic system in circulation alternating under the action of forces, to mechanical structure and insulation structure bring fatigue and accelerated aging problem. 5, low speed of cooling problems First of all, the impedance of the asynchronous motor are ideal, when the power supply frequency a bottom, high order harmonics power caused by the large loss. Secondly, general asynchronous motor to reduce speed, cooling air volume and speed of three times square ratio decreases, and the motor's low speed cooling conditions deteriorate, temperature rise sharply increased, which makes it difficult to realize constant torque output.
1, motor efficiency and the problem of temperature rise Regardless of the form of frequency converter, in the operation of all can produce different degree of harmonic voltage and current, make the motor in non-sinusoidal voltage, electric operation flow. Rejected material is introduced, with the current widespread use of sine wave PWM type converter as an example, its low harmonic basic to zero, than the rest of the carrier frequency about twice as large as the high order harmonic component for: 2 u + 1 (u for modulation ratio). High order harmonic can cause motor stator copper loss and rotor copper (aluminum) consumption, iron loss and additional loss increased, most notably rotor copper (aluminum) loss. For asynchronous motor is close to the base wave frequency of the corresponding synchronous speed rotation, therefore, high order harmonic voltage with the larger slip cutting rotor conducting bar, will produce a lot of rotor loss.
In addition, still need to consider for skin effect generated additional copper loss. These losses can make motor extra heating, low efficiency, output power reduction, such as ordinary three-phase asynchronous motor runs on converter output non-sinusoidal power supply conditions, the temperature rise in general to increased by 10% - 20%.
2, motor insulation strength problem At present middle and small converter, many are using PWM control mode. His carrier frequency about several thousand to rotary union tens of KHZ, this makes motor stator winding to withstand high voltage rate of rise, is equal to the motor applied gradient great impulse voltage, make the motor of turn-to-turn insulation bear more ordeal. In addition, the PWM converter produce rectangle chopped wave surge voltage stack in the motor operating voltage, for motor on insulation pose a threat, ground insulation in high pressure of repeated impact will be accelerated aging.
3, harmonic electromagnetic noise and vibration General asynchronous motor using inverter power supply, will make the electromagnetic, machinery, ventilation, etc factors caused by the vibration and noise has become more complicated. Frequency conversion power contain every time harmonic and motor electromagnetic part of the inherent space harmonic mutual interference, the formation of various sorts of electromagnetic vibration force.
When the electrical magnetic wave frequency and motor the body's inherent vibration frequency consistent or close to, will produce resonance phenomenon, so as to increase the noise. Due to the motor frequency range wide, speed range is big, various electric magnetic wave frequency is hard to avoid motor components of natural vibration frequency.
4, motor to fiber optic rotary joint frequent starting and braking ability to adapt Since using inverter power supply, the motor can be in very low frequency and voltage to no impact on the current way to start, and can use the frequency converter for all kinds of brake way fast brake, to realize frequent starting and braking created conditions, thus motor mechanical system and electromagnetic system in circulation alternating under the action of forces, to mechanical structure and insulation structure bring fatigue and accelerated aging problem. 5, low speed of cooling problems First of all, the impedance of the asynchronous motor are ideal, when the power supply frequency a bottom, high order harmonics power caused by the large loss. Secondly, general asynchronous motor to reduce speed, cooling air volume and speed of three times square ratio decreases, and the motor's low speed cooling conditions deteriorate, temperature rise sharply increased, which makes it difficult to realize constant torque output.
2012年9月24日星期一
Figure 2 two-dimensional fuzzy PI controller structure type
The quantitative factor Ke, Kec will input variable from basic theory field into the corresponding fuzzy set theory field, scale factor Ku the fuzzy control algorithm is given control quantity switch to rotating joints control object can accept basic theory field. After analysis and a large number of simulation experiments, a quantization factor and scaling factor effect the performance of the system are as follows:
(1) Ke effect the performance of the system The greater the Ke, system control inert is smaller, faster rate rise; Ke is too large, system rise rate is too large, produce overshoot is too large, the regulating time lengthen, even produce oscillation and system unstable; Ke is too small, the system rise rate is too small, regulating inert change, at the same time also influence the system steady performance, steady state accuracy reduce.
(2) Kec will effect the performance of the system Kec is bigger, the system state changes of the inhibition ability increase, improves the system's stability; Kec is too large, system rise rate is too small, the system transition time extension; Kec is too small, the system rise rate increase may lead to system to produce big overshoot or oscillation.
(3) Ku effect the performance of the system Ku is equivalent to rotary union the system total magnification. Ku increases, the system response speed; Ku is too big, can cause the system rise rate is too large, which can lead to big overshoot or oscillation or divergent; Ku is too small, system prior to gain is small, the system rise rate is lesser, rapidity variation, steady state accuracy variation. 3, output scale factor self-tuning adaptive fuzzy control In this paper, an online scale factor self-adjusting fuzzy controller, as shown in figure 3 shows, it is in the main fuzzy controller based on, the introduction of a auxiliary fuzzy reasoning, in the control process according to fiber optic rotary joint the error and error change size and relationship, create a control volume to revise scale factor Ku, so as to improve the control performance of the controller. Scale factor Ku adjustment quantity alpha and error E and error change EC relationship can be expressed as: α (K) = f [E (K), EC (K)]
(1) Type of f for E and EC nonlinear function, the value of α totally depends on system transient state, and the controlled object model and has nothing to do. This kind of based on the scale factor of self adjustment method is actually a kind of independent of the model of the nonlinear variable gain controller. (1) the main fuzzy controller input/output a definition of the variable Main fuzzy controller with error E and error change EC as input to control the quantity change value U as output. Error, error change and output language value fuzzy subset for {NB, NM, NS, ZE, PS, PM, PB} seven state, region established.fuzzy for [1, 1].
(2) auxiliary fuzzy controller input/output a definition of the variable Auxiliary fuzzy controller with error E and error change EC as input to Ku correction quantity α as output. Revised scale factor: Ku = α × Ku. Error and error change language value fuzzy subset and main fuzzy controller, α language value fuzzy subset for {ZE, VS, S, SB, MB, B, VB}, its basic theory field range for .
(1) Ke effect the performance of the system The greater the Ke, system control inert is smaller, faster rate rise; Ke is too large, system rise rate is too large, produce overshoot is too large, the regulating time lengthen, even produce oscillation and system unstable; Ke is too small, the system rise rate is too small, regulating inert change, at the same time also influence the system steady performance, steady state accuracy reduce.
(2) Kec will effect the performance of the system Kec is bigger, the system state changes of the inhibition ability increase, improves the system's stability; Kec is too large, system rise rate is too small, the system transition time extension; Kec is too small, the system rise rate increase may lead to system to produce big overshoot or oscillation.
(3) Ku effect the performance of the system Ku is equivalent to rotary union the system total magnification. Ku increases, the system response speed; Ku is too big, can cause the system rise rate is too large, which can lead to big overshoot or oscillation or divergent; Ku is too small, system prior to gain is small, the system rise rate is lesser, rapidity variation, steady state accuracy variation. 3, output scale factor self-tuning adaptive fuzzy control In this paper, an online scale factor self-adjusting fuzzy controller, as shown in figure 3 shows, it is in the main fuzzy controller based on, the introduction of a auxiliary fuzzy reasoning, in the control process according to fiber optic rotary joint the error and error change size and relationship, create a control volume to revise scale factor Ku, so as to improve the control performance of the controller. Scale factor Ku adjustment quantity alpha and error E and error change EC relationship can be expressed as: α (K) = f [E (K), EC (K)]
(1) Type of f for E and EC nonlinear function, the value of α totally depends on system transient state, and the controlled object model and has nothing to do. This kind of based on the scale factor of self adjustment method is actually a kind of independent of the model of the nonlinear variable gain controller. (1) the main fuzzy controller input/output a definition of the variable Main fuzzy controller with error E and error change EC as input to control the quantity change value U as output. Error, error change and output language value fuzzy subset for {NB, NM, NS, ZE, PS, PM, PB} seven state, region established.fuzzy for [1, 1].
(2) auxiliary fuzzy controller input/output a definition of the variable Auxiliary fuzzy controller with error E and error change EC as input to Ku correction quantity α as output. Revised scale factor: Ku = α × Ku. Error and error change language value fuzzy subset and main fuzzy controller, α language value fuzzy subset for {ZE, VS, S, SB, MB, B, VB}, its basic theory field range for .
In the current closed loop control
In the current closed loop control, accurate phase current information often by current transformer, hall effect sensor or magnetic resistance sensor, such as the provision of, but these element was bulky and expensive, and is not suitable for automatic assembly. At low power motor control can use simple shunt resistance, and measuring the resistance at the ends of the pressure drop, but this also need complex and precision of the signal processing circuit will typical voltage range is only (200 mv small pressure drop into digital controller can be used in the form of this circuit is the most difficult part is to rotary joints as high as 600 v to 1200 v common mode offset and the phase output node place high dv/dt cause switch noise environment tolerance ability.
An ingenious solution is to rotary union use HVIC technology integration difference measurement circuit and analog to digital converter, has the common mode noise and dv/dt noise suppression Ji Φ mother eye socket groove cabled order frequency Bian Finn about ammonia Wen Zheng faded catch 刂 broken Mao benzene of flood wall male lotus root fat yu groove Bian return take H bean? An example is shown in IR2175 phase current sensor chip. IR2175 input for a (260 mv linear range of differential voltage, and the common mode offset voltage can be as high as 600 v, dv/dt can be as high as 50 v/ns. IR2175 output for low voltage side PWM signal, the carrier frequency for 130 KHZ, duty ratio and differential voltage level in proportion.
When the input beyond linear scope limitation, can pass an additional pin output flow signal, over current signal delay only 2 milliseconds, thus provides a relatively quick shutoff channel to protect IGBT prevent short circuit conditions. 3: high pressure integrated chip technology make the space saving of the current sensor chip IR2175 IR2175 can and digital control chip direct docking, through the digital control chip direct calculation make IR2175 PWM output into 10 resolution digital quantity. Integrated design platform Comprehensive MCE in digital control, HVIC in analog circuit and the power module IPM's various advantages can with lower cost to realize higher performance of new motor control integrated design platform. Due to the increase in the integration, and components number can be reduced, and help to fiber optic rotary joint simplify the manufacturing process, especially can simplify the power device assembly and heat dissipation problem and so on. Development support including ServoDesigner configuration tools and in a single circuit board on the set all chipset assessment system, and therefore can be by reducing software development task quantity, and play MCE control engine deterministic advantage, and a unified design and test digital, analog and power chip mutual compatibility, advantages, build give a kind of low risk design environment.
More importantly, with special hardware resources to execute operation intensive algorithm can make the solution for extra performance. If again with the aid of an external MCU application layer to execute tasks, the integrated design platform is enough to support a complete set of system control implementation scheme.
An ingenious solution is to rotary union use HVIC technology integration difference measurement circuit and analog to digital converter, has the common mode noise and dv/dt noise suppression Ji Φ mother eye socket groove cabled order frequency Bian Finn about ammonia Wen Zheng faded catch 刂 broken Mao benzene of flood wall male lotus root fat yu groove Bian return take H bean? An example is shown in IR2175 phase current sensor chip. IR2175 input for a (260 mv linear range of differential voltage, and the common mode offset voltage can be as high as 600 v, dv/dt can be as high as 50 v/ns. IR2175 output for low voltage side PWM signal, the carrier frequency for 130 KHZ, duty ratio and differential voltage level in proportion.
When the input beyond linear scope limitation, can pass an additional pin output flow signal, over current signal delay only 2 milliseconds, thus provides a relatively quick shutoff channel to protect IGBT prevent short circuit conditions. 3: high pressure integrated chip technology make the space saving of the current sensor chip IR2175 IR2175 can and digital control chip direct docking, through the digital control chip direct calculation make IR2175 PWM output into 10 resolution digital quantity. Integrated design platform Comprehensive MCE in digital control, HVIC in analog circuit and the power module IPM's various advantages can with lower cost to realize higher performance of new motor control integrated design platform. Due to the increase in the integration, and components number can be reduced, and help to fiber optic rotary joint simplify the manufacturing process, especially can simplify the power device assembly and heat dissipation problem and so on. Development support including ServoDesigner configuration tools and in a single circuit board on the set all chipset assessment system, and therefore can be by reducing software development task quantity, and play MCE control engine deterministic advantage, and a unified design and test digital, analog and power chip mutual compatibility, advantages, build give a kind of low risk design environment.
More importantly, with special hardware resources to execute operation intensive algorithm can make the solution for extra performance. If again with the aid of an external MCU application layer to execute tasks, the integrated design platform is enough to support a complete set of system control implementation scheme.
2012年9月23日星期日
The closed-loop step become motion control scheme of one
You are familiar with the traditional way of stepping motor control. If adopted feedback device or senseless control way, can for safety, reliability and precision higher demand movement control applied to rotary joints provide a more economical choice.
Most based on the step motor sports system are running in the open loop condition. Therefore to provide low cost solutions. In fact, step into the system is the only one not need feedback position control ability has the movement of the technology. But when stepping motor driven by the open loop way of loading, steps and actual step instructions in between the potential lost synchronization.
Closed loop control as traditional stepping motor control of supplement, for a higher safety and reliability of the product quality or the application to provide cost-effective option.
Feedback device or some indirect parameter examination way in this kind of stepping system "closed loop", in order to verify/control out-of-step, testing motor stall, and ensure a more effective torque output. Recently, stepping closed-loop control (CLC) in intelligent motion system structure distributed also play a role. Feasible closed-loop control method and its advantages There are several technologies can be used for step motor position, velocity, and/or torque closed-loop control. According to rotary union the control of increasing degree arrangement, these technologies include: Step back emf project. (emf) detection and all the servo control (see "closed-loop control methods", adding that the). National Instruments (NI) company industrial control product manager Rahul Kulkarni mentioned a few to the closed loop stepping control of reason and apply occasions: "No parameters to adjust;
The system is easy to build, can generally do free maintenance. "In the continuous motion is allowed in the use of breakpoint trigger cameras or data collection equipment. Second-ranking position control overshoot, on some occasions this overshoot is not allowed, for example nano fabrication or semiconductor processing. In the end correct position deviation movement. The last one, although need according to system load and inertia asked to choose appropriate size of stepping motor, but may not need so strict. "In practical work, if your application to the path or track without the strict requirements, you can slightly reduce motor specifications and grades to save costs. This is a closed loop stepping control can play a role in the first place." Unlearn said. NI Company all the motion controller-NI 733 x (can only be used for stepping) and NI 734 x and high performance module NI 735 x (step/servo) -can be configured to step on to closed-loop control.
According to his explanation, in CLC mode, stepping shaft with orthogonal encoder or analog input to the position and speed feedback. Balder electric company thinks. The step motor is simple, cheap to make it become a location to load control ideal choice. Balder electric motor company product manager John Mazurkiewicz explained, use the step motor reasons include: the operation is simple (usually in the open loop state used); owing to accept digital pulse input and become easy and other equipment interface; low cost, because generally don't need feedback device. However, the open loop running will bring out-of-step risk, and not cause orientation. "People perceive the mistake happened in the production line, often have a lot of defective goods," he said. "In addition, when moving a heavy load and make more step motor in maximum torque work near, and in order to improve productivity and improve the acceleration, have higher out-of-step stall risk." Increasing feedback to avoid the traditional step motor these limits. The closed-loop stepping motor can use low cost encoder, this is relative to those in the servo system for the use of the encoder, and this leads to a further advantage: "Usually, stepping applications that use the oil encoders, and you don't need to electronic commutation feedback signal." Mayacaceae added.
According to fiber optic rotary joint Baldor point of view, CLC step motor light load and very short mobile particularly effective. Typical industrial applications include CNC system, process control and printing and packaging system of the X-Y table and the rotating positioning equipment. Parker Hannifin/Compumotor company zero velocity stability requirement and position calibration of the request occasions recommend using closed loop stepping movement. "Stepping motor can well meet the requirements, and the demand is the current mainstream needs." Project manager John Walewander said. Parker had no sensor technology had a lot of investment, and has developed a patent of digital technology, it does not need additional devices external were needed for the closed-loop task, which replaced the motor of the feedback device.
Feedback device or some indirect parameter examination way in this kind of stepping system "closed loop", in order to verify/control out-of-step, testing motor stall, and ensure a more effective torque output. Recently, stepping closed-loop control (CLC) in intelligent motion system structure distributed also play a role. Feasible closed-loop control method and its advantages There are several technologies can be used for step motor position, velocity, and/or torque closed-loop control. According to rotary union the control of increasing degree arrangement, these technologies include: Step back emf project. (emf) detection and all the servo control (see "closed-loop control methods", adding that the). National Instruments (NI) company industrial control product manager Rahul Kulkarni mentioned a few to the closed loop stepping control of reason and apply occasions: "No parameters to adjust;
The system is easy to build, can generally do free maintenance. "In the continuous motion is allowed in the use of breakpoint trigger cameras or data collection equipment. Second-ranking position control overshoot, on some occasions this overshoot is not allowed, for example nano fabrication or semiconductor processing. In the end correct position deviation movement. The last one, although need according to system load and inertia asked to choose appropriate size of stepping motor, but may not need so strict. "In practical work, if your application to the path or track without the strict requirements, you can slightly reduce motor specifications and grades to save costs. This is a closed loop stepping control can play a role in the first place." Unlearn said. NI Company all the motion controller-NI 733 x (can only be used for stepping) and NI 734 x and high performance module NI 735 x (step/servo) -can be configured to step on to closed-loop control.
According to his explanation, in CLC mode, stepping shaft with orthogonal encoder or analog input to the position and speed feedback. Balder electric company thinks. The step motor is simple, cheap to make it become a location to load control ideal choice. Balder electric motor company product manager John Mazurkiewicz explained, use the step motor reasons include: the operation is simple (usually in the open loop state used); owing to accept digital pulse input and become easy and other equipment interface; low cost, because generally don't need feedback device. However, the open loop running will bring out-of-step risk, and not cause orientation. "People perceive the mistake happened in the production line, often have a lot of defective goods," he said. "In addition, when moving a heavy load and make more step motor in maximum torque work near, and in order to improve productivity and improve the acceleration, have higher out-of-step stall risk." Increasing feedback to avoid the traditional step motor these limits. The closed-loop stepping motor can use low cost encoder, this is relative to those in the servo system for the use of the encoder, and this leads to a further advantage: "Usually, stepping applications that use the oil encoders, and you don't need to electronic commutation feedback signal." Mayacaceae added.
According to fiber optic rotary joint Baldor point of view, CLC step motor light load and very short mobile particularly effective. Typical industrial applications include CNC system, process control and printing and packaging system of the X-Y table and the rotating positioning equipment. Parker Hannifin/Compumotor company zero velocity stability requirement and position calibration of the request occasions recommend using closed loop stepping movement. "Stepping motor can well meet the requirements, and the demand is the current mainstream needs." Project manager John Walewander said. Parker had no sensor technology had a lot of investment, and has developed a patent of digital technology, it does not need additional devices external were needed for the closed-loop task, which replaced the motor of the feedback device.
Intelligent Motion Systems in its MDrive series installing a optional encoder
Intelligent Motion Systems in its MDrive series installing a optional encoder,
Make motion controller and NEMA 14, 17, 23, and then the step motor micro stepping drive become one,
The figure shows the MDrive17.
The techniques--active damping and without encoder stall test-used in Parker company Gemini micro step (subdivision) drive product family.
Salamander hope for these complex algorithm further development to make them more efficient, so small and low cost drive can also rotating joints share these techniques. "After continuous improvement and upgrade, believe that stall detection and fight resonance technology will and today's tiny step technologies like get popular." He concluded. Intelligent Motion Systems Co., LTD application engineering manager Bob Parente said: "The closed-loop stepping motor can be used to need to confirm the position of important occasions." As an example, he cited in the automation laboratory chemical/blood analyzer, the instrument used many moving axis will test sample positioning in the appropriate reagent distribution device, and other stepping motor back, loading accurate number of chemical reagents, and then move forward in the right order number and distribution of reagent-a similar to use multiple syringe process. "Any axis positioning error of many will lead to loss of data or incorrect results." Parents said.
The increased cost of getting value for money An additional component or system development process with extra costs. The step of closed-loop system also is such, although get many benefits, still offers little extra costs. "Even slightly increased the cost of feedback device, and other closed-loop motion control technology than stepping motor is still low cost solutions." Parent explained, "to ensure the accuracy of the results, pay the extra cost is worth it. In important applications, a mistake brought about by rotary union the cost is much higher than the losses will be the cost of the feedback element." Encoder or the role of spin change as a kind of insurance in advance, convinced us that the step motor is working in the correct position.
Balder company, it seems, accuracy and the improvement of the quality of parts from closed loop control, its method is in machine or sports system for actual measurement position and the comparison of the ideal position. "If there are no consistent, motor will campaign to compensate for any out-of-step." Missourian said. Feedback device and closed loop method are reasonable costs and benefits will depend on the specific application. "How much to pay the extra cost of the machine performance depends on the demand, production efficiency, position precision and of the expectations of parts quality."
He added. In addition, was charged with the value of the material in the process will also affect the balance of the cost equation. "Step motor is often used to deal with very expensive materials, from electronic components to fiber optic rotary joint DNA samples." Parker wastewater said. "To prevent a failure occurs and the increasing feedback extra cost is worth it." Parker further mentioned no sensor technology to be able to get as many of the sensors based on feedback technology advantages, and more low increase in the cost of stepping motor control performance. Alexander added: "With a new generation of digital stepping motor control technology progress, will be less and less dependent on external sensor feedback and cost savings for machine manufacturers."
Salamander hope for these complex algorithm further development to make them more efficient, so small and low cost drive can also rotating joints share these techniques. "After continuous improvement and upgrade, believe that stall detection and fight resonance technology will and today's tiny step technologies like get popular." He concluded. Intelligent Motion Systems Co., LTD application engineering manager Bob Parente said: "The closed-loop stepping motor can be used to need to confirm the position of important occasions." As an example, he cited in the automation laboratory chemical/blood analyzer, the instrument used many moving axis will test sample positioning in the appropriate reagent distribution device, and other stepping motor back, loading accurate number of chemical reagents, and then move forward in the right order number and distribution of reagent-a similar to use multiple syringe process. "Any axis positioning error of many will lead to loss of data or incorrect results." Parents said.
The increased cost of getting value for money An additional component or system development process with extra costs. The step of closed-loop system also is such, although get many benefits, still offers little extra costs. "Even slightly increased the cost of feedback device, and other closed-loop motion control technology than stepping motor is still low cost solutions." Parent explained, "to ensure the accuracy of the results, pay the extra cost is worth it. In important applications, a mistake brought about by rotary union the cost is much higher than the losses will be the cost of the feedback element." Encoder or the role of spin change as a kind of insurance in advance, convinced us that the step motor is working in the correct position.
Balder company, it seems, accuracy and the improvement of the quality of parts from closed loop control, its method is in machine or sports system for actual measurement position and the comparison of the ideal position. "If there are no consistent, motor will campaign to compensate for any out-of-step." Missourian said. Feedback device and closed loop method are reasonable costs and benefits will depend on the specific application. "How much to pay the extra cost of the machine performance depends on the demand, production efficiency, position precision and of the expectations of parts quality."
He added. In addition, was charged with the value of the material in the process will also affect the balance of the cost equation. "Step motor is often used to deal with very expensive materials, from electronic components to fiber optic rotary joint DNA samples." Parker wastewater said. "To prevent a failure occurs and the increasing feedback extra cost is worth it." Parker further mentioned no sensor technology to be able to get as many of the sensors based on feedback technology advantages, and more low increase in the cost of stepping motor control performance. Alexander added: "With a new generation of digital stepping motor control technology progress, will be less and less dependent on external sensor feedback and cost savings for machine manufacturers."
2012年9月21日星期五
Three main circuit design
Rectifier transformer design. Through the transformer secondary side voltage U2 calculation, a, secondary phase current I1, I2 calculation and transformer capacity calculation final rectifier transformer model.
Thyristor element choice. After computing thyristor rated voltage and rated current of the brake tube to determine the thyristor model.
The protection of dc speed regulating system. Thyristor have commutation is convenient, the advantages of no noise. Design thyristor circuit in addition to the right choice thyristor rated voltage, rated current parameters outside, still have to take the necessary over-voltage [3], over current protection measures. The right protection is thyristor device can reliably normal operation of the key.
To rotating joints over-voltage protection part to points, good communication turned half around voltage protection, dc turned half around voltage protection and device on both ends of the over-voltage protection three. In the current protection, fast fuse cut-out time short, protection performance is good, is the application of the most common protective measures. Fast fuse can be installed in dc side, ac side and directly with thyristor series. In order to make the dc load get smooth dc current, usually in the rectifier output circuit string into with the gap core reactor. 4 control circuit design 4.1 single-chip microcomputer system For the rapidity and control accuracy requirement is high speed control system, can choose high performance 8-bit microcontroller, the system USES the Inter of MCS - 51 single chip microcomputer 80 c31 microcomputer in [5]. SCM system, 80 c31 microcomputer external 27128 eprom as 16 k program memory, deposit all control software. Use two pieces of 74 ls374 and four in the PNP power triode to dynamic scanning system drive four LED digital to rotary union display speed, setting speed, electric current and so on data, two pieces of 74 ls374 using line selection method and 80 c31 microcomputer interface, address respectively 0 DFFFH and 0 BFFFH. In 80 c31 microcomputer mouth of P3 in external three key, a start/stop button, used to start or stop the motor running; The other two to show option key, a used to control display speed setting value, and the other one for control and display current value, not to the two key, show the actual motor speed.
Another use a piece of 74 ls374 redundant output line, external two LED luminous tube, one for display working properly or not, it every 1 second shining one time. The other one for display is in the running state. 4.2 current measurement and speed given value input Systems use ADC0808A/D converter. Write the address, start A/D converter. A/D transformation completed, produce EOC pulse and interrupt. At this time, MCU can be read in conversion results. Ac current through the current transformer into 0 ~ 5 v voltage signal, the rectifier and filter added to fiber optic rotary joint the ADC0808 on IN0. Speed given using potentiometer input, it added to the IN1. After adjusting speed given value, can press speed given shows that key. At this time, the four general LED display corresponding to the potentiometer input speed given value, can adjust potentiometer to display value for the given value.
To rotating joints over-voltage protection part to points, good communication turned half around voltage protection, dc turned half around voltage protection and device on both ends of the over-voltage protection three. In the current protection, fast fuse cut-out time short, protection performance is good, is the application of the most common protective measures. Fast fuse can be installed in dc side, ac side and directly with thyristor series. In order to make the dc load get smooth dc current, usually in the rectifier output circuit string into with the gap core reactor. 4 control circuit design 4.1 single-chip microcomputer system For the rapidity and control accuracy requirement is high speed control system, can choose high performance 8-bit microcontroller, the system USES the Inter of MCS - 51 single chip microcomputer 80 c31 microcomputer in [5]. SCM system, 80 c31 microcomputer external 27128 eprom as 16 k program memory, deposit all control software. Use two pieces of 74 ls374 and four in the PNP power triode to dynamic scanning system drive four LED digital to rotary union display speed, setting speed, electric current and so on data, two pieces of 74 ls374 using line selection method and 80 c31 microcomputer interface, address respectively 0 DFFFH and 0 BFFFH. In 80 c31 microcomputer mouth of P3 in external three key, a start/stop button, used to start or stop the motor running; The other two to show option key, a used to control display speed setting value, and the other one for control and display current value, not to the two key, show the actual motor speed.
Another use a piece of 74 ls374 redundant output line, external two LED luminous tube, one for display working properly or not, it every 1 second shining one time. The other one for display is in the running state. 4.2 current measurement and speed given value input Systems use ADC0808A/D converter. Write the address, start A/D converter. A/D transformation completed, produce EOC pulse and interrupt. At this time, MCU can be read in conversion results. Ac current through the current transformer into 0 ~ 5 v voltage signal, the rectifier and filter added to fiber optic rotary joint the ADC0808 on IN0. Speed given using potentiometer input, it added to the IN1. After adjusting speed given value, can press speed given shows that key. At this time, the four general LED display corresponding to the potentiometer input speed given value, can adjust potentiometer to display value for the given value.
SCM control dc speed control system
1 introduction
Dc motor has good up, braking performance, like at the wide range smoothing speed regulation, in rolling mill, mine hoist, excavator, high-rise elevator and so on need high performance controllable electric drive field application has a long history. High power dc speed regulation system usually adopts three-phase full control bridge rectifier circuit of motor for power supply, so as to rotating joint control motor speed, the traditional control system adopts the simulation component, although in a certain extent satisfy the production requirements, but because element easy ageing and in use is easy the interference effect, and circuit complexity, poor universality, the control effect is device performance, the influence of such factors as temperature, therefore, the operation of the system reliability and accuracy is not guarantee, appear even accidents.
At present, the dc motor speed control system digital has to practical, its main features are: simple structure, convenient maintenance, dynamic parameter adjustment convenient, system reliability is high, can use digital filter to enhance the system anti-interference performance, can use digital feedback to rotary union improve the precision of the system, has the information storage and data communication function and low cost. 2 general structure design 2.1 the choice of control scheme This design choose V - M system. Because of the requirements of dc voltage ripple is lesser, it adopts three-phase rectifier circuit. Consider making circuit is simple, economic and meet performance requirements, select the thyristor three-phase full control bridge power supply scheme. And thyristor controlled rectifier device no noise, no wear, fast response, small volume, light weight, saving investment.
And the work reliable, small energy consumption, high efficiency. Heald selected thyristor three-phase full control bridge rectifier circuit power supply scheme [1]. 2.2 general structure design The speed the current double closed loop speed regulation system [2], in the system set up two regulator, respectively adjustment speed and current, a cascade connection between them, so that can be achieved in the starting process only current negative feedback, but it is not the same as the negative feedback speed and add to a regulator input end to steady speed, rely on speed negative feedback, not by current negative feedback to play a major role, so that it can get good static and dynamic performance. To fiber optic rotary joint sum up, this system USES a microcontroller and external expansion equipment instead of the original analog system speed regulator, current regulator, trigger, lock zero unit and current adaptive regulator, etc., so that the dc speed control system to realize full digital. Its hardware structure such as 1 shows. 1 single-chip microcomputer control dc speed control system structure
At present, the dc motor speed control system digital has to practical, its main features are: simple structure, convenient maintenance, dynamic parameter adjustment convenient, system reliability is high, can use digital filter to enhance the system anti-interference performance, can use digital feedback to rotary union improve the precision of the system, has the information storage and data communication function and low cost. 2 general structure design 2.1 the choice of control scheme This design choose V - M system. Because of the requirements of dc voltage ripple is lesser, it adopts three-phase rectifier circuit. Consider making circuit is simple, economic and meet performance requirements, select the thyristor three-phase full control bridge power supply scheme. And thyristor controlled rectifier device no noise, no wear, fast response, small volume, light weight, saving investment.
And the work reliable, small energy consumption, high efficiency. Heald selected thyristor three-phase full control bridge rectifier circuit power supply scheme [1]. 2.2 general structure design The speed the current double closed loop speed regulation system [2], in the system set up two regulator, respectively adjustment speed and current, a cascade connection between them, so that can be achieved in the starting process only current negative feedback, but it is not the same as the negative feedback speed and add to a regulator input end to steady speed, rely on speed negative feedback, not by current negative feedback to play a major role, so that it can get good static and dynamic performance. To fiber optic rotary joint sum up, this system USES a microcontroller and external expansion equipment instead of the original analog system speed regulator, current regulator, trigger, lock zero unit and current adaptive regulator, etc., so that the dc speed control system to realize full digital. Its hardware structure such as 1 shows. 1 single-chip microcomputer control dc speed control system structure
2012年9月20日星期四
The traditional motor, direct drive rotary motor selection principle
Closed and open frame type direct drive rotary motor, in a variety of applications have replaced the traditional, belt
mechanical drive servo rotary joints motor system. And now a new, called modular
(cartridge) DDR direct drive rotary (DDR) technology, will open frame type direct drive motor in performance advantages and all
the advantages of easy installation frame motor combination, its price is better than the traditional direct drive technology
much lower.
The traditional motor/drive system Today's most servo application using the traditional belt mechanical drive servo motor system. The traditional system of the initial cost attractive, and performance has been in various applications verified, these applications include: electronic assembly, packaging, aviation and defense. However, people often didn't notice that this kind of system in the design and integration of the additional costs, these additional expenses for pulley, gearbox and belts, and so on need to add the mechanical parts. These parts in the whole machine life continuously wear, it also increased the total cost of life. Positioning error and tuning difficulty is the common problem in the system, they are made of flexible transmission and invalid clearance cause.
Belt and pulley and transmission maintenance and these easy wear parts replacement all need to pay a high price: first of all, the user had to rotary union more parts inventory management; Secondly the additional components caused by system failure will increase system unplanned outage time, make the machine production decline. Direct drive rotary motor Can directly generate a driving role of rotating machine in essence but is a great moment of permanent magnet motor, it directly and load connection. This kind of design eliminates all mechanical transmission parts, such as gear transmission, belt and pulley and coupling.
Direct drive rotary system for designers and users has brought a lot of benefits. Because a mechanical transmission needs regular maintenance and will frequently causes unplanned outage, so, direct drive rotary motor technology fundamentally improve the reliability of the machine, reduce the maintenance time and cost. By eliminating mechanical transmission brings flexible, direct drive design to avoid the motor and load for inertial matching trouble, at the same time, position and velocity accuracy can also fiber optic rotary joint improve 50 times. Direct drive motor have brought another benefit: acoustic noise reduction as high as 20 db.
The traditional motor/drive system Today's most servo application using the traditional belt mechanical drive servo motor system. The traditional system of the initial cost attractive, and performance has been in various applications verified, these applications include: electronic assembly, packaging, aviation and defense. However, people often didn't notice that this kind of system in the design and integration of the additional costs, these additional expenses for pulley, gearbox and belts, and so on need to add the mechanical parts. These parts in the whole machine life continuously wear, it also increased the total cost of life. Positioning error and tuning difficulty is the common problem in the system, they are made of flexible transmission and invalid clearance cause.
Belt and pulley and transmission maintenance and these easy wear parts replacement all need to pay a high price: first of all, the user had to rotary union more parts inventory management; Secondly the additional components caused by system failure will increase system unplanned outage time, make the machine production decline. Direct drive rotary motor Can directly generate a driving role of rotating machine in essence but is a great moment of permanent magnet motor, it directly and load connection. This kind of design eliminates all mechanical transmission parts, such as gear transmission, belt and pulley and coupling.
Direct drive rotary system for designers and users has brought a lot of benefits. Because a mechanical transmission needs regular maintenance and will frequently causes unplanned outage, so, direct drive rotary motor technology fundamentally improve the reliability of the machine, reduce the maintenance time and cost. By eliminating mechanical transmission brings flexible, direct drive design to avoid the motor and load for inertial matching trouble, at the same time, position and velocity accuracy can also fiber optic rotary joint improve 50 times. Direct drive motor have brought another benefit: acoustic noise reduction as high as 20 db.
Marine high temperature superconducting propulsion motor technology and application prospect Abstract
Marine high temperature superconducting propulsion motor technology and application prospect
Abstract: in high temperature superconducting materials discovery and research of nearly 20 years, high temperature
superconducting technology application made remarkable achievements. Especially in the ship electric propulsion field, mv level
or even dozens of mw class HTS synchronous ac motor has been or will be used by the navy. New type of high temperature
superconducting generators is developing in. To
rotating joint look forward to, in the
near future, the high temperature superconducting full electric ships will appear in people's field of vision.
Keywords: ship electric propulsion high temperature superconducting motor high temperature superconducting generators A high temperature superconducting rotating motor development present situation Because must maintain low temperature superconducting materials in ultra-low temperature environment with energy consumption and the complexity of the refrigeration system problems, such as low temperature superconducting technology on its application in the field of ship propulsion, always not optimistic assessment. Improve the superconducting material critical temperature is the only way of superconducting technology is widely applied. At present, a new generation of superconducting material is not only far beyond the 77 k liquid nitrogen the box, and electrical and mechanical properties are greatly upgrade, the use of high temperature superconducting material and to rotary union consider the refrigeration power rating than low temperature superconducting material much lower. Meanwhile, relatively simple, low cost, higher efficiency of the refrigeration system development is also a significant progress. Therefore, these factors make high temperature superconducting wire in motor business development and application, whether in technology, or in the economy are presenting its applicability and feasibility. For a long time, many countries for high temperature superconducting technology research has been given great attention and support.
As early as in 1987, the United States department of energy will entrust Rockwell automation/Reliance electric company is high temperature superconducting technology in industrial electrical field the possibility of application research. The goal locking in the research and development of more than 1000 horsepower superconducting ac synchronous motor system technology, and commercialization. According to the department of energy's evaluation, 1000 horsepower motor power level is the most common industrial application of the power level, this kind of power levels of motor energy consumption accounts for more than 30% of the electricity consumption.
From a technical point of view, the motor of 70% is very suitable for use of high temperature superconducting technology. If the superconducting motor instead of traditional motor, estimates that will save more than 600 million dollars. To fiber optic rotary joint the world, the power level of high temperature superconducting motor market share as much as $300 million every year meter value above. Therefore, 1000 horsepower high temperature superconducting motor became high temperature superconducting motor market application milestone. And from the technical stratification plane to see, obtain 1000 horsepower of high temperature superconducting motor design of technical experience, indicates the master into the high power high temperature superconducting motor design the gold key.
Keywords: ship electric propulsion high temperature superconducting motor high temperature superconducting generators A high temperature superconducting rotating motor development present situation Because must maintain low temperature superconducting materials in ultra-low temperature environment with energy consumption and the complexity of the refrigeration system problems, such as low temperature superconducting technology on its application in the field of ship propulsion, always not optimistic assessment. Improve the superconducting material critical temperature is the only way of superconducting technology is widely applied. At present, a new generation of superconducting material is not only far beyond the 77 k liquid nitrogen the box, and electrical and mechanical properties are greatly upgrade, the use of high temperature superconducting material and to rotary union consider the refrigeration power rating than low temperature superconducting material much lower. Meanwhile, relatively simple, low cost, higher efficiency of the refrigeration system development is also a significant progress. Therefore, these factors make high temperature superconducting wire in motor business development and application, whether in technology, or in the economy are presenting its applicability and feasibility. For a long time, many countries for high temperature superconducting technology research has been given great attention and support.
As early as in 1987, the United States department of energy will entrust Rockwell automation/Reliance electric company is high temperature superconducting technology in industrial electrical field the possibility of application research. The goal locking in the research and development of more than 1000 horsepower superconducting ac synchronous motor system technology, and commercialization. According to the department of energy's evaluation, 1000 horsepower motor power level is the most common industrial application of the power level, this kind of power levels of motor energy consumption accounts for more than 30% of the electricity consumption.
From a technical point of view, the motor of 70% is very suitable for use of high temperature superconducting technology. If the superconducting motor instead of traditional motor, estimates that will save more than 600 million dollars. To fiber optic rotary joint the world, the power level of high temperature superconducting motor market share as much as $300 million every year meter value above. Therefore, 1000 horsepower high temperature superconducting motor became high temperature superconducting motor market application milestone. And from the technical stratification plane to see, obtain 1000 horsepower of high temperature superconducting motor design of technical experience, indicates the master into the high power high temperature superconducting motor design the gold key.
2012年9月19日星期三
Step into the operation of the system accuracy problem
If we talk about sports an accuracy of a system, you will find many factors have influence on the. In view of the system accuracy, the engineer must know how to give into motor, drive or controller coordination to rotary joints get the ideal operation precision.
A common error is an accuracy of a system error all boil down to motor problems. From the point of view of the stepping motor, it need to meet some tolerance standard, including mechanical tolerance and electrical tolerance. Phase winding inductance of disequilibrium is the important factors, some other causes include pole shoe and rotor misalignment, fixed rotor air gap between the heterogeneous, stator tooth relationship, and torque ripple, etc.
To attain and continue to control these parameters is not very difficult. High precision first from the stepping motor design, Lin Enigneering company's high precision 5709 type stepping motor whole at every step pitch Angle is 0.9 degrees, base number is NEMA23 (2.3 inches) matching RMS specially designed for the special smooth motion control design of high precision drive R325, constitute perfect stepping motor system, avoid the current waveform distortion. We know, the motor stator winding inductance is proportional to the square of the number of turns of winding, as long as the appropriate winding process can guarantee the consistency between phase inductance. A lot of stepping motor manufacturers have been used to be automatic winding equipment to rotary union ensure the consistency. Of course, rotor magnetic material also should have good consistency so as to ensure each phase inductance motor consistent. Some other specification index, and mechanical relevant. As long as manufacturers use reliable and high quality parts and excellent process control to guarantee fixed rotor uniform grinding quantity, you can obtain satisfactory accuracy.
As Lin Engineering company Belal Azim said, due to ensure the two phase bipolar stepper motor phase inductance between the error in the plus or minus 5% less than, so 0.9 degrees stepping motor in the use of 64 microstep driving mode, positioning error can reach 1.5 mm arc points, including precision and accuracy. Meet the above conditions, stepper motor can fully meet the index requirements. The rest of the task is to make the drive/controller tell stepping motor should exercise where and how to fiber optic rotary joint exercise, and not due to drive their accuracy is not high and reduce the accuracy of the motor. A subdivision driver motor winding through to provide specific excitation current, tell motor need to run many micro step. Stepping motor operation in the whole step mode, the highest accuracy, because just and motor mechanical design features coincide. The stator tooth just completely aligned, and the winding through the current maximum. With the fine fraction increases, step moment Angle decreases, right now it is increasingly difficult to guarantee the accurate positioning.
To attain and continue to control these parameters is not very difficult. High precision first from the stepping motor design, Lin Enigneering company's high precision 5709 type stepping motor whole at every step pitch Angle is 0.9 degrees, base number is NEMA23 (2.3 inches) matching RMS specially designed for the special smooth motion control design of high precision drive R325, constitute perfect stepping motor system, avoid the current waveform distortion. We know, the motor stator winding inductance is proportional to the square of the number of turns of winding, as long as the appropriate winding process can guarantee the consistency between phase inductance. A lot of stepping motor manufacturers have been used to be automatic winding equipment to rotary union ensure the consistency. Of course, rotor magnetic material also should have good consistency so as to ensure each phase inductance motor consistent. Some other specification index, and mechanical relevant. As long as manufacturers use reliable and high quality parts and excellent process control to guarantee fixed rotor uniform grinding quantity, you can obtain satisfactory accuracy.
As Lin Engineering company Belal Azim said, due to ensure the two phase bipolar stepper motor phase inductance between the error in the plus or minus 5% less than, so 0.9 degrees stepping motor in the use of 64 microstep driving mode, positioning error can reach 1.5 mm arc points, including precision and accuracy. Meet the above conditions, stepper motor can fully meet the index requirements. The rest of the task is to make the drive/controller tell stepping motor should exercise where and how to fiber optic rotary joint exercise, and not due to drive their accuracy is not high and reduce the accuracy of the motor. A subdivision driver motor winding through to provide specific excitation current, tell motor need to run many micro step. Stepping motor operation in the whole step mode, the highest accuracy, because just and motor mechanical design features coincide. The stator tooth just completely aligned, and the winding through the current maximum. With the fine fraction increases, step moment Angle decreases, right now it is increasingly difficult to guarantee the accurate positioning.
Three main circuit design
Rectifier transformer design. Through the transformer secondary side voltage U2 calculation, a, secondary phase current I1, I2
calculation and transformer capacity calculation final rectifier transformer model.
Thyristor element choice. After computing thyristor rated voltage and rated current of the brake tube to determine the thyristor model. The protection of dc speed regulating system. Thyristor have commutation is convenient, the advantages of no noise. Design thyristor circuit in addition to the right choice thyristor rated voltage, rated current parameters outside, still have to take the necessary over-voltage [3], over current protection measures.
The right protection is thyristor device can reliably normal operation of the key. To rotating joints over-voltage protection part to points, good communication turned half around voltage protection, dc turned half around voltage protection and device on both ends of the over-voltage protection three. In the current protection, fast fuse cut-out time short, protection performance is good, is the application of the most common protective measures. Fast fuse can be installed in dc side, ac side and directly with thyristor series. In order to make the dc load get smooth dc current, usually in the rectifier output circuit string into with the gap core reactor. 4 control circuit design 4.1 single-chip microcomputer system For the rapidity and control accuracy requirement is high speed control system, can choose high performance 8-bit microcontroller, the system USES the Inter of MCS - 51 single chip microcomputer 80 c31 microcomputer in [5]. SCM system, 80 c31 microcomputer external 27128 eprom as 16 k program memory, deposit all control software.
Use two pieces of 74 ls374 and four in the PNP power triode to rotary union dynamic scanning system drive four LED digital to display speed, setting speed, electric current and so on data, two pieces of 74 ls374 using line selection method and 80 c31 microcomputer interface, address respectively 0 DFFFH and 0 BFFFH. In 80 c31 microcomputer mouth of P3 in external three key, a start/stop button, used to start or stop the motor running; The other two to show option key, a used to control display speed setting value, and the other one for control and display current value, not to the two key, show the actual motor speed. Another use a piece of 74 ls374 redundant output line, external two LED luminous tube, one for display working properly or not, it every 1 second shining one time.
The other one for display is in the running state. 4.2 current measurement and speed given value input Systems use ADC0808A/D converter. Write the address, start A/D converter. A/D transformation completed, produce EOC pulse and interrupt. At this time, MCU can be read in conversion results. Ac current through the current transformer into 0 ~ 5 v voltage signal, the rectifier and filter added to the ADC0808 on IN0. Speed given using potentiometer input, it added to fiber optic rotary joint the IN1. After adjusting speed given value, can press speed given shows that key. At this time, the four general LED display corresponding to the potentiometer input speed given value, can adjust potentiometer to display value for the given value.
Thyristor element choice. After computing thyristor rated voltage and rated current of the brake tube to determine the thyristor model. The protection of dc speed regulating system. Thyristor have commutation is convenient, the advantages of no noise. Design thyristor circuit in addition to the right choice thyristor rated voltage, rated current parameters outside, still have to take the necessary over-voltage [3], over current protection measures.
The right protection is thyristor device can reliably normal operation of the key. To rotating joints over-voltage protection part to points, good communication turned half around voltage protection, dc turned half around voltage protection and device on both ends of the over-voltage protection three. In the current protection, fast fuse cut-out time short, protection performance is good, is the application of the most common protective measures. Fast fuse can be installed in dc side, ac side and directly with thyristor series. In order to make the dc load get smooth dc current, usually in the rectifier output circuit string into with the gap core reactor. 4 control circuit design 4.1 single-chip microcomputer system For the rapidity and control accuracy requirement is high speed control system, can choose high performance 8-bit microcontroller, the system USES the Inter of MCS - 51 single chip microcomputer 80 c31 microcomputer in [5]. SCM system, 80 c31 microcomputer external 27128 eprom as 16 k program memory, deposit all control software.
Use two pieces of 74 ls374 and four in the PNP power triode to rotary union dynamic scanning system drive four LED digital to display speed, setting speed, electric current and so on data, two pieces of 74 ls374 using line selection method and 80 c31 microcomputer interface, address respectively 0 DFFFH and 0 BFFFH. In 80 c31 microcomputer mouth of P3 in external three key, a start/stop button, used to start or stop the motor running; The other two to show option key, a used to control display speed setting value, and the other one for control and display current value, not to the two key, show the actual motor speed. Another use a piece of 74 ls374 redundant output line, external two LED luminous tube, one for display working properly or not, it every 1 second shining one time.
The other one for display is in the running state. 4.2 current measurement and speed given value input Systems use ADC0808A/D converter. Write the address, start A/D converter. A/D transformation completed, produce EOC pulse and interrupt. At this time, MCU can be read in conversion results. Ac current through the current transformer into 0 ~ 5 v voltage signal, the rectifier and filter added to the ADC0808 on IN0. Speed given using potentiometer input, it added to fiber optic rotary joint the IN1. After adjusting speed given value, can press speed given shows that key. At this time, the four general LED display corresponding to the potentiometer input speed given value, can adjust potentiometer to display value for the given value.
2012年9月18日星期二
Figure 3 stepping motor drive system of the circuit principle diagram
Figure 3 stepping motor drive system of the circuit principle diagram
In 50 Ω external resistor in parallel on a 200 u F capacitance, can improve the injection stepping motor winding current pulse front, improve the stepping motor of high frequency performance.
And fly-wheel diode series 200 Ω resistance can reduce loop discharge time constant, make winding current pulse along the steepening, the current decline time decrescent, also play a role to improve the working performance of the high frequency. 3. Software design The driver according to rotating joint dial the code switch KX, KY different combination of three kinds of ways of working for choice: One way to interrupt mode: P3.5 (INT1) for stepping pulse input, P3.7 for positive &negative pulse input. Epistatic machine (PC machine or SCM) and drive by only two line connected. Two way for serial communication mode: epistatic machine (PC machine or SCM) will control command sent to drive, drive according to the control command to complete the control process.
Three ways for dial the code switch control mode: through the K1 ~ K5 different combination, direct control stepping motor. When power on or press the reset button to KR, AT89C2051 first detection dial the code switch KX, KY state, according to rotary union the different combination of KX, KY, into a different way of working. Given the following way 1 program flow diagram and the source program. In programming, to pay special attention to stepping motor in reversing the processing. In order to make the stepping motor in reversing can smooth transition, and not produce wrong step, should be in every step of setting a sign. Of which 20 h unit of you for stepping motor are turning a sign; 21 h unit you for a reversal mark. In the forward, not only to forward mark a assignment, and at the same time to fiber optic rotary joint reverse zone bit assignment; In the reverse also so. So, when stepping motor commutator, can the last position as a starting point backward movement, to avoid the motor commutator generates wrong step.
Figure 4 mode 1 program block diagram
4. Conclusion The driver by experimental verification can drive 0.5 N.m stepping motor. Will drive part of the resistance, capacitance and fly-wheel diode related parameters to adjust, can drive 1.2 N.m stepping motor. The driver circuit is simple, reliable, the structure is compact, for I/O port line and SCM resource nervous system is particularly applicable.
And fly-wheel diode series 200 Ω resistance can reduce loop discharge time constant, make winding current pulse along the steepening, the current decline time decrescent, also play a role to improve the working performance of the high frequency. 3. Software design The driver according to rotating joint dial the code switch KX, KY different combination of three kinds of ways of working for choice: One way to interrupt mode: P3.5 (INT1) for stepping pulse input, P3.7 for positive &negative pulse input. Epistatic machine (PC machine or SCM) and drive by only two line connected. Two way for serial communication mode: epistatic machine (PC machine or SCM) will control command sent to drive, drive according to the control command to complete the control process.
Three ways for dial the code switch control mode: through the K1 ~ K5 different combination, direct control stepping motor. When power on or press the reset button to KR, AT89C2051 first detection dial the code switch KX, KY state, according to rotary union the different combination of KX, KY, into a different way of working. Given the following way 1 program flow diagram and the source program. In programming, to pay special attention to stepping motor in reversing the processing. In order to make the stepping motor in reversing can smooth transition, and not produce wrong step, should be in every step of setting a sign. Of which 20 h unit of you for stepping motor are turning a sign; 21 h unit you for a reversal mark. In the forward, not only to forward mark a assignment, and at the same time to fiber optic rotary joint reverse zone bit assignment; In the reverse also so. So, when stepping motor commutator, can the last position as a starting point backward movement, to avoid the motor commutator generates wrong step.
Figure 4 mode 1 program block diagram
4. Conclusion The driver by experimental verification can drive 0.5 N.m stepping motor. Will drive part of the resistance, capacitance and fly-wheel diode related parameters to adjust, can drive 1.2 N.m stepping motor. The driver circuit is simple, reliable, the structure is compact, for I/O port line and SCM resource nervous system is particularly applicable.
Stepping motor drive work principle Sometimes from some old equipment to remove the stepping motor
Stepping motor drive work principle
Sometimes from some old equipment to remove the stepping motor (this kind of motor general no damage) to rotary joints rehashing it use, general need to design drive. The following case is from a Japanese old on the printer to remove the stepping motor and the design of drive. First introduces the working principle of stepping motor, and then introduces the software and hardware design of the driver.
1. The working principle of stepping motor The stepping motor for suites phase stepping motor, using single polarity dc power supply. As long as the stepper motor each phase winding in the right sequence power on, can make the stepping motor stepping rotation. Figure 1 is the four phase reaction stepping motor working principle diagram. Figure 1 four phase stepping motor stepping schematic diagram At the beginning, switch SB switch on the power, SA, SC, SD disconnect, B phase pole and rotor 0, 3 tooth alignment, at the same time, the rotor's 1, 4 tooth and C, D phase winding pole produce wrong tooth, 2, 5 tooth and D, A phase winding pole produce wrong tooth. When switch SC switch on the power, SB, SA, SD disconnect, due to rotary union C phase winding magnetic line of force and 1, 4 teeth between magnetic line of force in the role of the rotor rotation, 1, 4 tooth and C phase winding pole alignment. And 0, 3 teeth and A and B phase winding produce wrong tooth, 2, 5 number teeth and A, D phase winding pole produce wrong tooth. And the like, A, B, C, D four phase winding turns power supply, the rotor will be along the A and B, C, D rotation direction. Four phase stepping motor in accordance with the order of energizing is different, can be divided into the single four shoot, double four shoot, eight take three ways of working. Single 4 beats and double four shot the step Angle equal, but single four shot the rotational torque is little. Eight pat working style, step Angle is single 4 beats and double four took half, therefore, eight pat mode not only can keep high rotational moment and can improve control accuracy. Single four shoot, double 4 beats and eight take work mode of power supply power on timing and waveform respectively as shown in figure
2. A, b, c shows: Figure 2. Stepping motor work sequence oscillogram 2. Based on AT89C2051 stepping motor drive system circuit principle AT89C2051 will control pulse from the mouth of P1 P1.4 ~ P1.7 output, the 74 ls14 reversed phase after the 9014, the 9014 after amplification control photoelectric switches, photoelectric isolation, the power tube TIP122 will pulse signal voltage and current amplifier, driver stepping motor of each phase winding. Make stepping motor with different pulse signal, respectively are turning, inversion, acceleration, deceleration and stop such action. Diagram L1 for stepping motor of a phase winding. AT89C2051 choose frequency and the MHZ crystal oscillator, choose high crystal oscillator purpose is in order to fiber optic rotary joint minimize the mode 2 AT89C2051 of superior machine pulse signal cycle influence. In figure 3 RL1 ~ RL4 for winding resistance, 50 Ω resistance is a external resistance, the current limiting function, is also a improve circuit time constant of the element. D1 ~ D4 for fly-wheel diode, make the motor winding produce counter electromotive force through the fly-wheel diode (D1 ~ D4) and attenuation off, so as to protect the power tube TIP122 from being damaged.
1. The working principle of stepping motor The stepping motor for suites phase stepping motor, using single polarity dc power supply. As long as the stepper motor each phase winding in the right sequence power on, can make the stepping motor stepping rotation. Figure 1 is the four phase reaction stepping motor working principle diagram. Figure 1 four phase stepping motor stepping schematic diagram At the beginning, switch SB switch on the power, SA, SC, SD disconnect, B phase pole and rotor 0, 3 tooth alignment, at the same time, the rotor's 1, 4 tooth and C, D phase winding pole produce wrong tooth, 2, 5 tooth and D, A phase winding pole produce wrong tooth. When switch SC switch on the power, SB, SA, SD disconnect, due to rotary union C phase winding magnetic line of force and 1, 4 teeth between magnetic line of force in the role of the rotor rotation, 1, 4 tooth and C phase winding pole alignment. And 0, 3 teeth and A and B phase winding produce wrong tooth, 2, 5 number teeth and A, D phase winding pole produce wrong tooth. And the like, A, B, C, D four phase winding turns power supply, the rotor will be along the A and B, C, D rotation direction. Four phase stepping motor in accordance with the order of energizing is different, can be divided into the single four shoot, double four shoot, eight take three ways of working. Single 4 beats and double four shot the step Angle equal, but single four shot the rotational torque is little. Eight pat working style, step Angle is single 4 beats and double four took half, therefore, eight pat mode not only can keep high rotational moment and can improve control accuracy. Single four shoot, double 4 beats and eight take work mode of power supply power on timing and waveform respectively as shown in figure
2. A, b, c shows: Figure 2. Stepping motor work sequence oscillogram 2. Based on AT89C2051 stepping motor drive system circuit principle AT89C2051 will control pulse from the mouth of P1 P1.4 ~ P1.7 output, the 74 ls14 reversed phase after the 9014, the 9014 after amplification control photoelectric switches, photoelectric isolation, the power tube TIP122 will pulse signal voltage and current amplifier, driver stepping motor of each phase winding. Make stepping motor with different pulse signal, respectively are turning, inversion, acceleration, deceleration and stop such action. Diagram L1 for stepping motor of a phase winding. AT89C2051 choose frequency and the MHZ crystal oscillator, choose high crystal oscillator purpose is in order to fiber optic rotary joint minimize the mode 2 AT89C2051 of superior machine pulse signal cycle influence. In figure 3 RL1 ~ RL4 for winding resistance, 50 Ω resistance is a external resistance, the current limiting function, is also a improve circuit time constant of the element. D1 ~ D4 for fly-wheel diode, make the motor winding produce counter electromotive force through the fly-wheel diode (D1 ~ D4) and attenuation off, so as to protect the power tube TIP122 from being damaged.
2012年9月17日星期一
Example: five phase half step level Angle 0.36 °
(1) the motor running speed is 600 RPM, which is equivalent to pulse speed 10000 PPS.
(2) pulse speed 3000 PPS, that is equivalent to the motor running speed is 180 RPM. Position control: Stepping motor don't need position SENSOR (SENSOR), can be in accordance with the input pulse number decided to remove the quantity, and will load smooth, accurate delivery location point. And the mobile quantity size, is in accordance with the motor resolution with the size of the input pulse number to rotating joints decide. PULSE number (PULSE) and the amount of movement between the relation is as follows: Position quantity (°) = stepping motor resolution (°) x input pulse number Example: two phase full step level 1.8 ° Angle when When the input * 1000 pulse number (namely 1000 pulse), the amount of the move will is 1800 °, just for five ring.
Stepping motor incurable diseases treatment How to effectively improve the step motor temperature rise problem? Can follow the following procedures for do inspection and confirmation:
1. If used for continuous operation of the occasion? (the step motor characteristic is not for a prototype of operation situations, in this occasion when using will have higher temperature rise produce. Please reconfirm agency action demand conditions and to evaluate the use of motor.
2. Please make sure the agency action frequency, cycle? (go stop the action of high frequency will be stopped because of the input pulse time too short and lead to rotary union current will fall has not yet again, therefore activation when the temperature rise will be higher. Suggest you can reduce the temperature action frequency to improve problem.
3. Will RUN down current situation could improve? (in torque enough cases will drive RUN current adjustable teenager can effectively reduce the temperature rise. But if by torsion relationship must use to large current, the advice you can change the motor for the freshman level after motor will be current turn down to improve temperature rise question.
4. Will STOP current adjustable small situation could improve? (keep in force enough cases will drive STOP current adjustable teenager in motor stops effective to reduce temperature rise. But if by STOP keep force relationship must use to larger STOP current, the advice you can change the motor for the freshman level after motor will be current turn down to improve temperature rise question.
5. Drive on the dip switch is on current automatic reduce file? (if not open, motor stops current will not be able to be automatic drop, temperature rise will be so high. Suggest use this function, will avoid stepping motor and drive the rise of temperature of the question.
6. Currently used in the speed of temperature rise is bounded higher (namely current larger) range? (the characteristic curve of the current curve that) (please try to fiber optic rotary joint avoid the temperature rise of high speed range to use, the temperature rise of the lower will have the help.
7. The ambient temperature? Whether too high? (motor temperature = environment temperature + motor temperature rise, the environment temperature is higher, the motor temperature will also therefore higher. The proposal to the installation radiator panels or cooling fan way to help heat dissipation.
8. Please make sure the motor end connection is correct? (phase bust will cause the motor operates not dithering phenomenon, may therefore produces high temperature problem. If nix the above reason, this case motor temperature should be normal, not overheat is, please directly on thermometer measurement machine really temperature. In our drive for, because there are have overheating protection function, so if the temperature is too high, protection function will open, at the same time and the motor power, so that customers can feel at ease to use more.
(2) pulse speed 3000 PPS, that is equivalent to the motor running speed is 180 RPM. Position control: Stepping motor don't need position SENSOR (SENSOR), can be in accordance with the input pulse number decided to remove the quantity, and will load smooth, accurate delivery location point. And the mobile quantity size, is in accordance with the motor resolution with the size of the input pulse number to rotating joints decide. PULSE number (PULSE) and the amount of movement between the relation is as follows: Position quantity (°) = stepping motor resolution (°) x input pulse number Example: two phase full step level 1.8 ° Angle when When the input * 1000 pulse number (namely 1000 pulse), the amount of the move will is 1800 °, just for five ring.
Stepping motor incurable diseases treatment How to effectively improve the step motor temperature rise problem? Can follow the following procedures for do inspection and confirmation:
1. If used for continuous operation of the occasion? (the step motor characteristic is not for a prototype of operation situations, in this occasion when using will have higher temperature rise produce. Please reconfirm agency action demand conditions and to evaluate the use of motor.
2. Please make sure the agency action frequency, cycle? (go stop the action of high frequency will be stopped because of the input pulse time too short and lead to rotary union current will fall has not yet again, therefore activation when the temperature rise will be higher. Suggest you can reduce the temperature action frequency to improve problem.
3. Will RUN down current situation could improve? (in torque enough cases will drive RUN current adjustable teenager can effectively reduce the temperature rise. But if by torsion relationship must use to large current, the advice you can change the motor for the freshman level after motor will be current turn down to improve temperature rise question.
4. Will STOP current adjustable small situation could improve? (keep in force enough cases will drive STOP current adjustable teenager in motor stops effective to reduce temperature rise. But if by STOP keep force relationship must use to larger STOP current, the advice you can change the motor for the freshman level after motor will be current turn down to improve temperature rise question.
5. Drive on the dip switch is on current automatic reduce file? (if not open, motor stops current will not be able to be automatic drop, temperature rise will be so high. Suggest use this function, will avoid stepping motor and drive the rise of temperature of the question.
6. Currently used in the speed of temperature rise is bounded higher (namely current larger) range? (the characteristic curve of the current curve that) (please try to fiber optic rotary joint avoid the temperature rise of high speed range to use, the temperature rise of the lower will have the help.
7. The ambient temperature? Whether too high? (motor temperature = environment temperature + motor temperature rise, the environment temperature is higher, the motor temperature will also therefore higher. The proposal to the installation radiator panels or cooling fan way to help heat dissipation.
8. Please make sure the motor end connection is correct? (phase bust will cause the motor operates not dithering phenomenon, may therefore produces high temperature problem. If nix the above reason, this case motor temperature should be normal, not overheat is, please directly on thermometer measurement machine really temperature. In our drive for, because there are have overheating protection function, so if the temperature is too high, protection function will open, at the same time and the motor power, so that customers can feel at ease to use more.
Stepping motor small volume
Stepping motor small volume, big torque, although in the narrow space inside, still can well do installation, and provide high torque output.
Stepping motor speed - torque characteristic
Speed - torque characteristic depends on the motor and drive, especially with the tie-in drive has a great influence; The use of driver is different, the characteristic differences also will have obvious difference.
Stepping motor speed - torque characteristic curve (FIG. 2) explanation:
(1) excitation maximum static torque: when running pulse velocity is equal to 0 Hz, curve and the Y axis handover point is called excitation maximum static torque. Also means motor in electricity but no input pulse signal, its have holding torque is called excitation maximum static torque.
(2) the emersion torque: also called the maximum torque, for the motor in operation can drive the maximum load.
(3) the maximum response frequency: in no load and load inertia is 0, the motor can response of the fastest speed.
(4) the biggest since the start frequency: motor under no-load condition can be instantaneous starting and do not break step speed is known as the biggest since the start frequency. Two facies of five phase stepping motor differences Stepping motor is mainly in phase to rotary joints do classification, and among them again with two phase, five phase stepping motor on the market at present is that is adopted widely. Two phase stepping motor every turn the most fine divisible for 400 uniform, five phase can be divided into 1000 uniform, so the characteristics of the show by five phase stepping motor better, deceleration time is short, dynamic inertia is low. Two phase/five phase stepping motor diff Five phase stepping motor basic performance compared to collect Money optimal/good/train is a bit poor decomposition can vibration velocity Angle precision response sex torque noise two phase stepping motor train money money train five phase stepping motor money stupid stupid stupid The step motor drive system Stepping motor in only limited to voltage, the motor is not action, must through the pulse wave generator provide position (pulse wave number), the speed pulse wave signal instruction, and drive motor drive current flows through the internal coil, in that order switching exciting phase sequence way can make motor running. So you want the stepping motor action necessary system composition are:
1. Pulse generator: give Angle (position quantity), movement speed and direction of running the pulse signal of motor drive instruction.
2. Stepping drive: according to rotary union
3. Stepping motor: provide torque power output to drive the load. So the stepping motor system is easy to constitute, and don't need speed SENSOR (ENCODER, speed generator), position SENSOR (SENSOR), that is in accordance with the pulse generator which can input pulse to do speed and position control. Stepping motor speed, position control Speed control: The step motor running speed and the input pulse velocity into proportion relationship, so in pulse the faster, the stepping motor speed also will follow faster, Pulse wave speed is slow, motor speed nature also follow slow.
The motor running speed (RPM) and pulse velocity (PPS, also called Hz) the relation between are as follows: The motor running speed (RPM) = pulse velocity (PPS or Hz) x 60 ÷ stepping motor division number/ring Description: 1 RPM for general motor speed units, namely rev/min, per minute to turn the machine turns; PPS for stepping, servo motor speed units, namely pulse per second, per second sent out by the number of pulses. fiber optic rotary joint 2. Because of RPM and PPS unit different, so in the conversion process must first will be the second PPS multiplied by 60 to minutes. 3. Stepping motor division number/ring, and representative to make motor turns a circle must send out the number of pulses. 4. The above formula after disassembling the unit expressed as to rev/min = pulse/SEC x 60 multiply one/division number
(1) excitation maximum static torque: when running pulse velocity is equal to 0 Hz, curve and the Y axis handover point is called excitation maximum static torque. Also means motor in electricity but no input pulse signal, its have holding torque is called excitation maximum static torque.
(2) the emersion torque: also called the maximum torque, for the motor in operation can drive the maximum load.
(3) the maximum response frequency: in no load and load inertia is 0, the motor can response of the fastest speed.
(4) the biggest since the start frequency: motor under no-load condition can be instantaneous starting and do not break step speed is known as the biggest since the start frequency. Two facies of five phase stepping motor differences Stepping motor is mainly in phase to rotary joints do classification, and among them again with two phase, five phase stepping motor on the market at present is that is adopted widely. Two phase stepping motor every turn the most fine divisible for 400 uniform, five phase can be divided into 1000 uniform, so the characteristics of the show by five phase stepping motor better, deceleration time is short, dynamic inertia is low. Two phase/five phase stepping motor diff Five phase stepping motor basic performance compared to collect Money optimal/good/train is a bit poor decomposition can vibration velocity Angle precision response sex torque noise two phase stepping motor train money money train five phase stepping motor money stupid stupid stupid The step motor drive system Stepping motor in only limited to voltage, the motor is not action, must through the pulse wave generator provide position (pulse wave number), the speed pulse wave signal instruction, and drive motor drive current flows through the internal coil, in that order switching exciting phase sequence way can make motor running. So you want the stepping motor action necessary system composition are:
1. Pulse generator: give Angle (position quantity), movement speed and direction of running the pulse signal of motor drive instruction.
2. Stepping drive: according to rotary union
3. Stepping motor: provide torque power output to drive the load. So the stepping motor system is easy to constitute, and don't need speed SENSOR (ENCODER, speed generator), position SENSOR (SENSOR), that is in accordance with the pulse generator which can input pulse to do speed and position control. Stepping motor speed, position control Speed control: The step motor running speed and the input pulse velocity into proportion relationship, so in pulse the faster, the stepping motor speed also will follow faster, Pulse wave speed is slow, motor speed nature also follow slow.
The motor running speed (RPM) and pulse velocity (PPS, also called Hz) the relation between are as follows: The motor running speed (RPM) = pulse velocity (PPS or Hz) x 60 ÷ stepping motor division number/ring Description: 1 RPM for general motor speed units, namely rev/min, per minute to turn the machine turns; PPS for stepping, servo motor speed units, namely pulse per second, per second sent out by the number of pulses. fiber optic rotary joint 2. Because of RPM and PPS unit different, so in the conversion process must first will be the second PPS multiplied by 60 to minutes. 3. Stepping motor division number/ring, and representative to make motor turns a circle must send out the number of pulses. 4. The above formula after disassembling the unit expressed as to rev/min = pulse/SEC x 60 multiply one/division number
Nc sliding table control factors are three
3.1 stroke control
General hydraulic sliding table and mechanical sliding table of the stroke control is to use position or pressure sensor (travel switch/die block iron) to realize the; And CNC sliding table stroke, the use of the digital control to
rotating joints
By the nc sliding table structure, it is known that the sliding table stroke is proportional to the stepping motor of total Angle, so as long as control stepping motor of total Angle can be. By stepping motor work principle and characteristic that the stepping motor of total Angle is proportional to the input control pulse number; So it can be according to the servo mechanism to determine displacement PLC output pulse number: N = DL/d
(1) Type of DL - servo the displacement (mm), d - servo mechanism of pulse equivalent (mm/pulse) 3.2 feed speed control Servo feed speed depends on the stepping motor speed, and stepping motor speed depends on the input pulse frequency; So it can be according to rotary union the process requirements of the feed speed, determine its PLC output pulse frequency: F = Vf / 60 d (Hz)
(2) Type of Vf - servo feed speed (mm/min) 3.3 direction of feed control Direction of feed control is the step motor steering control. The step motor steering by changing the stepping motor the winding energizing order to change its steering; Such as three-phase stepper motor power on order for A - AB - B - BC - C - CA - A... When stepping motor is turn; When winding according to A - AC - C - CB - B - BA - A... Order is energized the stepping motor reversal. So it can be through the PLC output direction control signal change hardware circuit distributor output sequence to achieve, or the programming change output pulse sequence to change the stepping motor winding energizing order to realize. 4 PLC software control logic By sliding table PLC control method, it is known that should make stepping motor input pulse total number and pulse frequency by corresponding control. So in the control software establishment of a total number of pulse and pulse frequency controllable pulse signal generator; For low frequency control pulse, can use the timer PLC form, as shown in figure 2 shows. Pulse frequency can through the timer timing constant control pulse cycle, pulse total control, can set a pulse counter C10. When the pulse number to set value, counter C10 action to cut off the pulse generator circuit, make its stop working. Servo stepping motor no pulse input will stop running, servo actuator location. When servo actuator displacement speed when the demand is higher, can use the PLC high-speed pulse generator. Different PLC the high-speed pulse frequency can reach 4000 ~ 6000 hz. For the automatic production line of the general servo mechanism, its speed can get fully satisfy. Figure 2 5 servo control, drive and interface 5.1 stepping motor control system composition Stepping motor control system consists of PLC (programmable logic controller), round pulse distributor and stepping motor power drive component, the structure see figure 1. PLC control system used to generate control pulse;
Through the PLC programming output a certain number of square wave pulse, control the stepping motor of the corner and then control servo feed; At the same time through the programming control pulse frequency, both servo feed speed; Circular pulse distributor will be programmable controller output control pulse according to the step motor power on sequence distribution to the corresponding winding. PLC control stepping motor can use software circular distributor, also can use as shown in figure 1 shows hardware circuit distributor.
Adopting soft ring occupancy PLC more resources, especially the stepping motor winding phase M > 4, for large production line should be fully considered. The hardware circuits distributor, although the hardware structure a little trickier, but can save occupancy PLC I/O port points, at present the market has a variety of special chip can be chosen. Stepping motor power drive will PLC output control pulse amplification to fiber optic rotary joint dozens of ~ hundreds of volt, a few Ann ~ 10 Ann's driving ability. General PLC output interface has certain ability for drive, and ordinary transistor dc output interface of the load capacity is only 10 ~ dozens of volts, dozens of ~ hundreds of ma.
But for power stepping motor calls for decades to hundreds of volt, a few Ann ~ 10 Ann's driving ability and should, therefore, the drive to output pulse of amplification.
By the nc sliding table structure, it is known that the sliding table stroke is proportional to the stepping motor of total Angle, so as long as control stepping motor of total Angle can be. By stepping motor work principle and characteristic that the stepping motor of total Angle is proportional to the input control pulse number; So it can be according to the servo mechanism to determine displacement PLC output pulse number: N = DL/d
(1) Type of DL - servo the displacement (mm), d - servo mechanism of pulse equivalent (mm/pulse) 3.2 feed speed control Servo feed speed depends on the stepping motor speed, and stepping motor speed depends on the input pulse frequency; So it can be according to rotary union the process requirements of the feed speed, determine its PLC output pulse frequency: F = Vf / 60 d (Hz)
(2) Type of Vf - servo feed speed (mm/min) 3.3 direction of feed control Direction of feed control is the step motor steering control. The step motor steering by changing the stepping motor the winding energizing order to change its steering; Such as three-phase stepper motor power on order for A - AB - B - BC - C - CA - A... When stepping motor is turn; When winding according to A - AC - C - CB - B - BA - A... Order is energized the stepping motor reversal. So it can be through the PLC output direction control signal change hardware circuit distributor output sequence to achieve, or the programming change output pulse sequence to change the stepping motor winding energizing order to realize. 4 PLC software control logic By sliding table PLC control method, it is known that should make stepping motor input pulse total number and pulse frequency by corresponding control. So in the control software establishment of a total number of pulse and pulse frequency controllable pulse signal generator; For low frequency control pulse, can use the timer PLC form, as shown in figure 2 shows. Pulse frequency can through the timer timing constant control pulse cycle, pulse total control, can set a pulse counter C10. When the pulse number to set value, counter C10 action to cut off the pulse generator circuit, make its stop working. Servo stepping motor no pulse input will stop running, servo actuator location. When servo actuator displacement speed when the demand is higher, can use the PLC high-speed pulse generator. Different PLC the high-speed pulse frequency can reach 4000 ~ 6000 hz. For the automatic production line of the general servo mechanism, its speed can get fully satisfy. Figure 2 5 servo control, drive and interface 5.1 stepping motor control system composition Stepping motor control system consists of PLC (programmable logic controller), round pulse distributor and stepping motor power drive component, the structure see figure 1. PLC control system used to generate control pulse;
Through the PLC programming output a certain number of square wave pulse, control the stepping motor of the corner and then control servo feed; At the same time through the programming control pulse frequency, both servo feed speed; Circular pulse distributor will be programmable controller output control pulse according to the step motor power on sequence distribution to the corresponding winding. PLC control stepping motor can use software circular distributor, also can use as shown in figure 1 shows hardware circuit distributor.
Adopting soft ring occupancy PLC more resources, especially the stepping motor winding phase M > 4, for large production line should be fully considered. The hardware circuits distributor, although the hardware structure a little trickier, but can save occupancy PLC I/O port points, at present the market has a variety of special chip can be chosen. Stepping motor power drive will PLC output control pulse amplification to fiber optic rotary joint dozens of ~ hundreds of volt, a few Ann ~ 10 Ann's driving ability. General PLC output interface has certain ability for drive, and ordinary transistor dc output interface of the load capacity is only 10 ~ dozens of volts, dozens of ~ hundreds of ma.
But for power stepping motor calls for decades to hundreds of volt, a few Ann ~ 10 Ann's driving ability and should, therefore, the drive to output pulse of amplification.
Stepping motor PLC direct control
Stepping motor programmable controller direct control, can make the modular machine tool automatic production line control system cost significantly. This paper introduces the PLC control with stepping motor driven nc sliding table method, servo control, drive and interface and stepping motor PLC control software logic.
1 summarizes In modular machine tool automatic production line, the general according to rotating joint the different machining accuracy requirements set three sliding table
(1) hydraulic sliding table, used for cutting quantity is big, processing accuracy requirement lower rough machining process;
(2) mechanical sliding table, used for cutting output medium, has the certain machining precision requirements of the half finishing process;
(3) nc sliding table, used for cutting quantity is small, the machining accuracy high finishing process. Programmable controller (hereinafter referred to as PLC) with its strong universability, high reliability, instruction system simple, programming is easy to learn, easy to rotary union master, small in volume, less maintenance work, field interface convenient installation and a series of advantages, is widely used in industrial automatic control. Especially in modular machine tool automatic production line control and CNC machine tool S, T, M function control but also shows its excellent performance. PLC control stepping motor open loop servo mechanism applied in modular machine tool automatic production line nc sliding table control, can save this unit the numerical control system makes the unit control system cost reduction 70 ~ 90%, or even only take the transfer machine control unit PLC 3 ~ 5 I/O interface and < 1 KB of memory.
Especially in the large automatic line can make the control system cost significantly. 2 PLC control of CNC sliding table structure General modular machine tool automatic line of the CNC sliding table using stepper motor driven open loop servo mechanism. PLC control of CNC sliding table by programmable controller, circular pulse distributor, stepping motor drive, stepping motor and servo drive mechanism components, see figure 1. Figure 1 Servo drive mechanism of the gear Z1, Z2 should take backlash measures to fiber optic rotary joint fiber optic rotary joint avoid reverse dead zone or make machining accuracy down; And screw drive vice should be according to the unit processing accuracy requirement, and determine whether choose ball screw pair. The ball screw pair, with high transmission efficiency, system which has good stiffness and high driving accuracy, service life long advantages, high cost and cannot be self-locking. Three nc sliding table PLC control method
1 summarizes In modular machine tool automatic production line, the general according to rotating joint the different machining accuracy requirements set three sliding table
(1) hydraulic sliding table, used for cutting quantity is big, processing accuracy requirement lower rough machining process;
(2) mechanical sliding table, used for cutting output medium, has the certain machining precision requirements of the half finishing process;
(3) nc sliding table, used for cutting quantity is small, the machining accuracy high finishing process. Programmable controller (hereinafter referred to as PLC) with its strong universability, high reliability, instruction system simple, programming is easy to learn, easy to rotary union master, small in volume, less maintenance work, field interface convenient installation and a series of advantages, is widely used in industrial automatic control. Especially in modular machine tool automatic production line control and CNC machine tool S, T, M function control but also shows its excellent performance. PLC control stepping motor open loop servo mechanism applied in modular machine tool automatic production line nc sliding table control, can save this unit the numerical control system makes the unit control system cost reduction 70 ~ 90%, or even only take the transfer machine control unit PLC 3 ~ 5 I/O interface and < 1 KB of memory.
Especially in the large automatic line can make the control system cost significantly. 2 PLC control of CNC sliding table structure General modular machine tool automatic line of the CNC sliding table using stepper motor driven open loop servo mechanism. PLC control of CNC sliding table by programmable controller, circular pulse distributor, stepping motor drive, stepping motor and servo drive mechanism components, see figure 1. Figure 1 Servo drive mechanism of the gear Z1, Z2 should take backlash measures to fiber optic rotary joint fiber optic rotary joint avoid reverse dead zone or make machining accuracy down; And screw drive vice should be according to the unit processing accuracy requirement, and determine whether choose ball screw pair. The ball screw pair, with high transmission efficiency, system which has good stiffness and high driving accuracy, service life long advantages, high cost and cannot be self-locking. Three nc sliding table PLC control method
2012年9月14日星期五
Control room operator can be based on in the background
Control room operator can be based on in the background, complete all the protector the various protective setting of data read, modify and setting.
At the same time, the on-line monitoring motor run load and power supply power quality for early detection of overload and ground fault, created conditions. In addition, the background of the microcomputer strong information management function, which can effectively record the motor model and operation mode, and maintenance record history, to
rotating joint ensure the safety production, process system to reduce accident parking, provide a reliable basis.
4 selection principle of
(1) motor protector in the form of the structure to differentiate, typically divided into an integral and split two kinds. The former is independent of the whole, is suitable for the fixed cupboard installation, such as old switchgear or GGD ark transformation, can be directly in the installation fixed protector on the panel, through the feed cable core can wear out. The latter part and display part because the transformer is divided into two bodies, can be within the scope of certain and arbitrarily set. It is very suitable for a new type of drawer switchgear installation. We in the engineering practice due to rotary union general used the new a domino type or GCK low pressure switch cabinet series of the upper, and creative will show the multiplier of embedded in the activities of the drawer switch installed in the panel, such already simplified the wiring, and in which the system at any time convenient adjustment, set parameters and display, monitoring, at the same time, the digital display panel also added to the unity of the map and beautiful sex; Make the equipment operation distribution indoor and fault state be clear at a glance, and great convenience to the patrol system and maintenance.
(2) motor protector according to fiber optic rotary joint the rated voltage and current range to differentiate, can be divided into AC380V, AC220V two; the corresponding range for 6 A, 60 A, grade, when using, according to the motor control loop load voltage and rated current of the choose corresponding range range can. In practical application, because the chemical device large motor is more, for the convenience of exchange and reduce the kinds of spare parts, for 110 KW or more of the motor, we used in the main loop installed (mouth / 5) current transformer way, A current into less than 5 A second current, and access for 6 A range of motor protector, the large equipment is also effectively control and protection.
(1) motor protector in the form of the structure to differentiate, typically divided into an integral and split two kinds. The former is independent of the whole, is suitable for the fixed cupboard installation, such as old switchgear or GGD ark transformation, can be directly in the installation fixed protector on the panel, through the feed cable core can wear out. The latter part and display part because the transformer is divided into two bodies, can be within the scope of certain and arbitrarily set. It is very suitable for a new type of drawer switchgear installation. We in the engineering practice due to rotary union general used the new a domino type or GCK low pressure switch cabinet series of the upper, and creative will show the multiplier of embedded in the activities of the drawer switch installed in the panel, such already simplified the wiring, and in which the system at any time convenient adjustment, set parameters and display, monitoring, at the same time, the digital display panel also added to the unity of the map and beautiful sex; Make the equipment operation distribution indoor and fault state be clear at a glance, and great convenience to the patrol system and maintenance.
(2) motor protector according to fiber optic rotary joint the rated voltage and current range to differentiate, can be divided into AC380V, AC220V two; the corresponding range for 6 A, 60 A, grade, when using, according to the motor control loop load voltage and rated current of the choose corresponding range range can. In practical application, because the chemical device large motor is more, for the convenience of exchange and reduce the kinds of spare parts, for 110 KW or more of the motor, we used in the main loop installed (mouth / 5) current transformer way, A current into less than 5 A second current, and access for 6 A range of motor protector, the large equipment is also effectively control and protection.
TDB intelligent motor protector the application
1 introduction
In the modern industry, motor as a drag mechanical, become the foundation of all power machinery, with the improvement of science and technology and the continuous improvement of the process control, especially automation production requirement, the urgent need to rotary joints develop and perfect the motor control and protection of equipment, so as to achieve production process and large mechanical remote control, the remote measure, remote communication, fault diagnosis and centralized control etc.
Function. Meanwhile, oil chemical industry characteristics itself is large flux, full load of continuous operation and so on motor equipment reliability and stability requirement is extremely high, once the accident, must be immediately found the cause of the problem and promptly eliminate, in order to ensure timely production resumed. Joshua chemical group in the past has been using thermal relay as motor overload protection and control component, but because components of quality and technology restriction, yet cannot satisfy the process automation development requirements. For this reason, we after many years to try to repeat practice, finally choosing a new type of intelligent protector motor (hereafter referred as motor protector).
As the motor protection components, and have achieved some useful experience. Especially in our new 80000 tons of jinni ionic membrane caustic soda reconstruction project, 120000 tons of ionic membrane caustic soda engineering, 80000 tons of PVC engineering, 80000 tons of epoxy propane and 50000 tons of grain of alkali etc national key project construction process, through the use of low voltage distribution system more than 1600 motor protector, not only effectively the safe operation of motor, replaced by the thermal relay, and the use of advanced communications technology, to rotary union achieve some of the motor control automation, and has obtained the remarkable economic benefit, therefore, below motor protector the engineering application in the simple introduction. 2 basic working principle: Motor protector is the last ten years to develop a new type of electronic up multi-functional comprehensive motor protection device. It sets (light) load protection, phase lock, (own) pressure, stall, leakage, grounding and unbalanced three-phase protective low voltage protection in a suit, with high precision and power saving set, action quick, reliable working etc, and is an ideal replacement of traditional thermal relay products. It is usually composed of a current sensor, compare circuit, SCM, or export relays for several parts.
The basic principle and process as shown in figure 1 shows: Sensors will motor current changes to reflect the protector the line to the sampling port, rectification, filtering and other links, convert and electromotor current proportional to the dc voltage signal, sent to the corresponding section and given protection parameters comparison processing, to SCM loop processing, promote the power loop, make the relay action. When the motor drive in part because overload current increases, the obtained from current sensor voltage signal will be increased, the voltage values greater than the protector the setting value, overload loop, RC circuit after a certain time delay (adjustable) time delay, drive export relay action, make contact device to fiber optic rotary joint cut off the main circuit. Owe pressure and phase lack protection function part, basically the same principle. 3 system function (1) protection functions.
Motor protector of motor can realize the comprehensive protection, its specific functions have grounding protection, broken phase protection, short circuit protection, (light) load protection, not balanced load protection, stall protection, low voltage and overvoltage protection. When the motor normally work, the protector of through panel LCD screen, real-time display motor work current and voltage. Has communication function of motor protector in microprocessor when leisure time will acquisition of the signal through the CAN bus spread to the background microcomputer. When a fault occurs, the protector action quickly, the same fault type, time, and motor operating parameters, then through the CANBUS network to daemon machine report. (2) the on-line monitoring functions.
Function. Meanwhile, oil chemical industry characteristics itself is large flux, full load of continuous operation and so on motor equipment reliability and stability requirement is extremely high, once the accident, must be immediately found the cause of the problem and promptly eliminate, in order to ensure timely production resumed. Joshua chemical group in the past has been using thermal relay as motor overload protection and control component, but because components of quality and technology restriction, yet cannot satisfy the process automation development requirements. For this reason, we after many years to try to repeat practice, finally choosing a new type of intelligent protector motor (hereafter referred as motor protector).
As the motor protection components, and have achieved some useful experience. Especially in our new 80000 tons of jinni ionic membrane caustic soda reconstruction project, 120000 tons of ionic membrane caustic soda engineering, 80000 tons of PVC engineering, 80000 tons of epoxy propane and 50000 tons of grain of alkali etc national key project construction process, through the use of low voltage distribution system more than 1600 motor protector, not only effectively the safe operation of motor, replaced by the thermal relay, and the use of advanced communications technology, to rotary union achieve some of the motor control automation, and has obtained the remarkable economic benefit, therefore, below motor protector the engineering application in the simple introduction. 2 basic working principle: Motor protector is the last ten years to develop a new type of electronic up multi-functional comprehensive motor protection device. It sets (light) load protection, phase lock, (own) pressure, stall, leakage, grounding and unbalanced three-phase protective low voltage protection in a suit, with high precision and power saving set, action quick, reliable working etc, and is an ideal replacement of traditional thermal relay products. It is usually composed of a current sensor, compare circuit, SCM, or export relays for several parts.
The basic principle and process as shown in figure 1 shows: Sensors will motor current changes to reflect the protector the line to the sampling port, rectification, filtering and other links, convert and electromotor current proportional to the dc voltage signal, sent to the corresponding section and given protection parameters comparison processing, to SCM loop processing, promote the power loop, make the relay action. When the motor drive in part because overload current increases, the obtained from current sensor voltage signal will be increased, the voltage values greater than the protector the setting value, overload loop, RC circuit after a certain time delay (adjustable) time delay, drive export relay action, make contact device to fiber optic rotary joint cut off the main circuit. Owe pressure and phase lack protection function part, basically the same principle. 3 system function (1) protection functions.
Motor protector of motor can realize the comprehensive protection, its specific functions have grounding protection, broken phase protection, short circuit protection, (light) load protection, not balanced load protection, stall protection, low voltage and overvoltage protection. When the motor normally work, the protector of through panel LCD screen, real-time display motor work current and voltage. Has communication function of motor protector in microprocessor when leisure time will acquisition of the signal through the CAN bus spread to the background microcomputer. When a fault occurs, the protector action quickly, the same fault type, time, and motor operating parameters, then through the CANBUS network to daemon machine report. (2) the on-line monitoring functions.
2012年9月12日星期三
Use the equation for table type
P = T × N / 975
P-the power of the motor
T-motor torque
N-the motor speed
To constant torque, system design should note:
(1) motor elected inverter special motor
(2) the frequency conversion ark should be special cooling fan
(3) increase motor capacity, reduce the load characteristics
(4) increase the capacity of the frequency converter
(5) of the frequency converter capacity and the capacity of the motor should be based on the relationship between the brand, generally in
1.1 ~ 1.5 the capacity of the motor.
2. Square torque load. If the fan, of pump Use the equation table type for T = K1 × N2, P = K2 × N3 P-motor power T-motor torque N-the motor speed Generally, the fan, water pump, variable frequency energy-saving, theoretical and actual proof for 40 ~ 50% of energy savings, such application of frequency converter application 30 to 40%. To square torque load, system design should note:
(1) motor usually chooses synchronized motors. According to rotating joints the environment needs, choose motor protection grade and the way.
(2) be more than 7.5 KW frequencies arks should add ventilation cooling facilities
(3) motor, frequency converter capacity relationship. 3. Constant power load. Such as hoists, spindle. Formula: P = T N / 975 = CONT. General of specific speed section, the constant torque, more than specific speed, the constant power operation. Constant power Mechanical properties are more complex. For each frequency conversion control cabinet design is that the entire system key, can manifest the product quality a key link. For frequency conversion control cabinet, electrical design engineers should design in the following aspects.
1. The frequency conversion controls system of the principal diagrams design
2. Running circuit design.
3. Circuit controls road design. Includes regular control circuit, PLC control interface circuit, frequency converter networking, etc.
4. Frequency conversion controls cabinet process design. Include electrical technology design, cabinet put oneself in another's position sheet metal process design. Principle diagram design According to the above principle rules, with reference to the principle of variable frequency control cabinet figure, according to actual needs, draw the principle diagram. Running circuit design. According to the following sequence of main loop electric parts of choice.
(1) determining the mechanical load characteristics, power, torque and speed
(2) sure motor characteristics, rated voltage, power rating, rated current,
(3) according to rotary union the above conditions, and actual customer need, to the following the electrical components a choice TR-transformer is optional, according to standard voltage level, matching. FU-fusing silk, typically, the choice of 2.5-4 times rated current frequency converter. Pay attention to fuse choice of melting speed wire. QA-empty open, typically, the choice of 1.2 times the rated current frequency converter KM-contactor, must want to, the choice for rated current frequency converter LY-lightning protection surge implements, had better be, especially a thunderstorm pilosity area, and the ac power spikes surge multiple occasions, protect frequency conversion system from accidental damage. General to 40 KVA surge devices. DK-reactor The role of the reactor is inhibiting the input output current heavy high harmonic the ill effects of ingredients, and the role of the filter is inhibited brought by the frequency converter radio waves interference, namely waves noise. Some inverter built-in reactor, some occasions also can pack reactor. In general, the more high-power inverter with much reactor, frequency converter manufacturers to provide parameters. Choose the parameters of the reactor, the formula below L = 2% ~ 5% V / 6.18 by F × I V-the rated voltage V I-A rated F-the biggest frequency HZ LBI/LBO input/output filter, generally should be based on frequent configuration R-braking resistance calculation is more complex. Frequency converter should be under the guidance of the art manufacturer configuration. Circuit controls circuit design, press electrical engineer knowledge and frequency converter design requirements. But they should pay attention to
(1) input/output weak electric signal, and PLC, instrument, sensing transmitter, must take signal isolating, otherwise, the control system signal chaos, the system doesn't normal.
(2) and PLC, conventional control system interface, must add surge absorber.
(3) control of the power supply should use the isolated transformer, electrical isolation. Frequency conversion controls cabinet process design.
(1) electric process design Electrical engineer frequency circuit design out, the next step is to electrical technology design, including:
1. Much high-power inverter, match what type cable, how big the line diameter, match for. General can check form or calculation.
2. Grounding the wiring.
3. Anti-interference wiring. Is very important. General in high voltage cables uses tape screened cable, cable and shielding layer metallic card with fixed base plate, and some of the shielding metal ring, anti-jamming.
4. The outlet pipe connector cable configuration. Cabinet put oneself in another's position sheet metal process design According to fiber optic rotary joint the following principles should be designed
1. A frequency converter on the environment Temperature: Inverter environment temperature-10 degrees-50 degrees, must consider to ventilation cooling. Humidity: Vibrations: Gas: whether blast, corrosive gas
2. Load weight cabinet put oneself in another's position.
3. Transportation convenience. The lifting hook, handling safety.
4. The nameplate Cabinet put oneself in another's position of manufacturer, CI logo. A high quality of frequency conversion control cabinet, from design, process, production manufacture, transportation, packaging, and is the actual demand higher product, the requirements of quality guarantee each link, to make higher quality and level of control cabinets.
(1) motor elected inverter special motor
(2) the frequency conversion ark should be special cooling fan
(3) increase motor capacity, reduce the load characteristics
(4) increase the capacity of the frequency converter
(5) of the frequency converter capacity and the capacity of the motor should be based on the relationship between the brand, generally in
1.1 ~ 1.5 the capacity of the motor.
2. Square torque load. If the fan, of pump Use the equation table type for T = K1 × N2, P = K2 × N3 P-motor power T-motor torque N-the motor speed Generally, the fan, water pump, variable frequency energy-saving, theoretical and actual proof for 40 ~ 50% of energy savings, such application of frequency converter application 30 to 40%. To square torque load, system design should note:
(1) motor usually chooses synchronized motors. According to rotating joints the environment needs, choose motor protection grade and the way.
(2) be more than 7.5 KW frequencies arks should add ventilation cooling facilities
(3) motor, frequency converter capacity relationship. 3. Constant power load. Such as hoists, spindle. Formula: P = T N / 975 = CONT. General of specific speed section, the constant torque, more than specific speed, the constant power operation. Constant power Mechanical properties are more complex. For each frequency conversion control cabinet design is that the entire system key, can manifest the product quality a key link. For frequency conversion control cabinet, electrical design engineers should design in the following aspects.
1. The frequency conversion controls system of the principal diagrams design
2. Running circuit design.
3. Circuit controls road design. Includes regular control circuit, PLC control interface circuit, frequency converter networking, etc.
4. Frequency conversion controls cabinet process design. Include electrical technology design, cabinet put oneself in another's position sheet metal process design. Principle diagram design According to the above principle rules, with reference to the principle of variable frequency control cabinet figure, according to actual needs, draw the principle diagram. Running circuit design. According to the following sequence of main loop electric parts of choice.
(1) determining the mechanical load characteristics, power, torque and speed
(2) sure motor characteristics, rated voltage, power rating, rated current,
(3) according to rotary union the above conditions, and actual customer need, to the following the electrical components a choice TR-transformer is optional, according to standard voltage level, matching. FU-fusing silk, typically, the choice of 2.5-4 times rated current frequency converter. Pay attention to fuse choice of melting speed wire. QA-empty open, typically, the choice of 1.2 times the rated current frequency converter KM-contactor, must want to, the choice for rated current frequency converter LY-lightning protection surge implements, had better be, especially a thunderstorm pilosity area, and the ac power spikes surge multiple occasions, protect frequency conversion system from accidental damage. General to 40 KVA surge devices. DK-reactor The role of the reactor is inhibiting the input output current heavy high harmonic the ill effects of ingredients, and the role of the filter is inhibited brought by the frequency converter radio waves interference, namely waves noise. Some inverter built-in reactor, some occasions also can pack reactor. In general, the more high-power inverter with much reactor, frequency converter manufacturers to provide parameters. Choose the parameters of the reactor, the formula below L = 2% ~ 5% V / 6.18 by F × I V-the rated voltage V I-A rated F-the biggest frequency HZ LBI/LBO input/output filter, generally should be based on frequent configuration R-braking resistance calculation is more complex. Frequency converter should be under the guidance of the art manufacturer configuration. Circuit controls circuit design, press electrical engineer knowledge and frequency converter design requirements. But they should pay attention to
(1) input/output weak electric signal, and PLC, instrument, sensing transmitter, must take signal isolating, otherwise, the control system signal chaos, the system doesn't normal.
(2) and PLC, conventional control system interface, must add surge absorber.
(3) control of the power supply should use the isolated transformer, electrical isolation. Frequency conversion controls cabinet process design.
(1) electric process design Electrical engineer frequency circuit design out, the next step is to electrical technology design, including:
1. Much high-power inverter, match what type cable, how big the line diameter, match for. General can check form or calculation.
2. Grounding the wiring.
3. Anti-interference wiring. Is very important. General in high voltage cables uses tape screened cable, cable and shielding layer metallic card with fixed base plate, and some of the shielding metal ring, anti-jamming.
4. The outlet pipe connector cable configuration. Cabinet put oneself in another's position sheet metal process design According to fiber optic rotary joint the following principles should be designed
1. A frequency converter on the environment Temperature: Inverter environment temperature-10 degrees-50 degrees, must consider to ventilation cooling. Humidity: Vibrations: Gas: whether blast, corrosive gas
2. Load weight cabinet put oneself in another's position.
3. Transportation convenience. The lifting hook, handling safety.
4. The nameplate Cabinet put oneself in another's position of manufacturer, CI logo. A high quality of frequency conversion control cabinet, from design, process, production manufacture, transportation, packaging, and is the actual demand higher product, the requirements of quality guarantee each link, to make higher quality and level of control cabinets.
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