CN103187918B - Traction invertor controlling method and device - Google Patents
Traction invertor controlling method and device Download PDFInfo
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Abstract
The invention provides a traction invertor controlling method and device. The traction invertor controlling method comprises the steps of configuring parameters and entering open loop constant voltage frequency ratio control or vector control according to the parameters, and conducting pulse width modulation control on voltage signals output after control steps are carried out. The traction invertor controlling device comprises a parameter configuration and control module, an open loop constant voltage frequency ratio control module, a vector control module and a pulse width modulation module. The parameter configuration and control module is used for configuring the parameters, and corresponding control modules are called according to the parameters. The open loop constant voltage frequency ratio control module is used for executing the open loop constant voltage frequency ratio control according to received calling instruments and outputting the controlled voltage signals. The vector control module is used for executing the vector control according to the received calling instruments and outputting the controlled voltage signals. The pulse width modulation module is used for conducting pulse width modulation control on the received voltage signals. The traction invertor controlling method and device is high in control performance and good in dynamic response performance.
Description
Technical Field
The invention relates to an inverter control technology, in particular to a traction inverter control method and device.
Background
The high-power electric locomotive mainly refers to a trunk freight or passenger electric locomotive with shaft power of 1200KW or 1600KW, and a traction inverter of the high-power electric locomotive is mainly used for providing power for a traction motor, so that the requirements of locomotive traction characteristics and basic control functions are met.
The traction inverter control algorithm is mainly divided into traction motor characteristic control, adhesion control, basic function control and the like. The traction motor control algorithm mainly comprises slip frequency control, direct torque control, vector control and the like. Slip frequency control is a control algorithm based on a motor steady-state model, and dynamic response is slow. The direct torque control directly controls the electromagnetic torque of the traction motor, current closed-loop control is not adopted, and the temperature of the motor is easily high due to large current harmonic waves. The vector control is based on a direct current motor model to perform decoupling control on the alternating current motor and modulate output pulses, so that the dynamic response is fast, and the current harmonic is small and controllable. At present, the vector control technology is mainly applied to the electric locomotives of the HXD1 model of Siemens company, the HXD2 model of Alston company, the HXD2C model of Toshiba company and the HXD3 model of Toshiba company. The algorithm applied to the traction inverter control by the China south China vehicle of the domestic company is mainly direct torque control.
Existing traction inverter control algorithms based on vector control techniques generally include pulse width modulation algorithms, traction motor control algorithms, and locomotive speed control algorithms. The pulse width modulation algorithm uses a segmented synchronous modulation method, and the full speed range of the traction inverter is divided into asynchronous modulation, synchronous modulation, overmodulation, 3-frequency division, square wave and the like according to the speed of the locomotive. The traction motor control algorithm adopts a vector control algorithm based on torque control, and uses a basic control structure of a single indirect vector control system, wherein the basic control structure comprises a current adjusting ring, a decoupling unit, a flux linkage observation and pulse width modulation unit and the like. The locomotive speed control algorithm adopts a single-shaft control method, the traction inverters of all shafts acquire the given speed of the locomotive and the speed of the corresponding shaft to carry out speed closed-loop control, and the antiskid and anti-idle control algorithm is adopted to correct the given value of the traction force.
The traction inverter control algorithm based on the vector control technology has the following defects:
(1) the pulse width modulation algorithm is complex, the overmodulation algorithm is used after the pulse width modulation algorithm enters a synchronous modulation region, more nonlinear processing is needed, and the algorithm implementation difficulty and the processor load are increased.
(3) The traction motor control algorithm has no rotating speed open-loop control strategy, the stability of an open-loop system cannot be verified independently, the correctness of a pulse width modulation algorithm cannot be verified independently, and the traction motor control algorithm cannot be used as an accompanying device for speed control in the test process to examine related test environments. In addition, the vector control algorithm adopted by the traction motor control algorithm is single in structure, the characteristic change of the traction motor in the full speed range is large, the complete decoupling effect is difficult to achieve only by using current closed-loop control, the output voltage of the traction inverter entering a constant power region is basically constant, and the current regulation is disabled.
(4) The speed control algorithm of the locomotive is based on single-shaft control, and the speed detected by each shaft has certain deviation due to wheel abrasion and the like, so that the phenomena that part of shafts of the locomotive are in a traction working condition and part of shafts of the locomotive are in a braking working condition at the same time can occur, and the basic logic and energy-saving control are unreasonable.
Disclosure of Invention
The invention provides a traction inverter control method and a traction inverter control device, which are used for overcoming the defects and improving the control performance.
One aspect of the present invention provides a traction inverter control method, including:
configuring parameters, and entering open-loop constant-voltage frequency ratio control or vector control according to the parameters; and
performing pulse width modulation control on the voltage signal output after the control step;
wherein, the open-loop constant-voltage frequency ratio control is realized as follows:
inputting a climbing instruction with a given frequency according to a set slope; and
respectively calculating corresponding voltage signals according to an input climbing instruction with given frequency, wherein the voltage signals comprise voltage amplitude information and angle information;
the vector control is realized as follows:
judging whether a constant speed control command is input, if so, acquiring an actual speed signal and a given speed value of the locomotive, and calculating to obtain a given torque value according to the speed signal and the given speed value; otherwise, calculating a given torque value according to the traction characteristic curve;
correcting the given torque value based on an adhesion control algorithm;
and calculating a voltage signal according to the corrected given torque value by a vector control algorithm based on the full speed range, wherein the voltage signal comprises voltage amplitude information and angle information.
Another aspect of the present invention provides a traction inverter control device including:
the parameter configuration and control module is used for configuring parameters and calling the corresponding control module according to the parameters;
the open-loop constant-voltage frequency ratio control module is used for executing open-loop constant-voltage frequency ratio control according to the received calling instruction and outputting a controlled voltage signal;
the vector control module is used for executing vector control according to the received calling instruction and outputting a controlled voltage signal; and
the pulse width modulation module is used for carrying out pulse width modulation control on the voltage signals output by the open-loop constant voltage frequency ratio control module and the vector control module and outputting modulated pulse signals;
wherein the voltage signal comprises: voltage magnitude information and angle information.
The technical effects of the first aspect of the invention are as follows: the control method provided by the invention is suitable for controlling the traction inverter of the high-power electric locomotive. The control method provides two control strategies of open-loop constant-voltage frequency ratio control and vector control, and selection can be performed by configuring corresponding parameters. When the open-loop constant-voltage frequency ratio control is adopted, the method can be used for independently verifying the stability of an open-loop system and the correctness of a pulse width modulation algorithm, and can also be used as an auxiliary test device for speed control in the test process to examine the related test environment. The present invention can effectively improve the control performance of the traction motor when adopting the vector control. In addition, the invention also adopts the locomotive constant speed control, thereby effectively avoiding the phenomenon that part of the axles of the locomotive are in a traction working condition and part of the axles are in a braking working condition at the same time.
The technical effect of another aspect of the invention is as follows: the control device of the invention can effectively solve the defects in the background technology, effectively improve the control performance of the inverter control and reduce the dynamic response time of the control.
Drawings
Fig. 1 is a schematic flow chart of a first embodiment of a traction inverter control method provided by the present invention;
fig. 2 is a schematic flow chart of a second embodiment of a traction inverter control method provided by the present invention;
FIG. 3 is a schematic diagram of a full speed range vector control algorithm in an embodiment provided by the present invention;
fig. 4 is a schematic structural diagram of a first embodiment of the traction inverter control device provided in the present invention;
fig. 5 is a schematic structural diagram of a second embodiment of the traction inverter control device according to the present invention;
fig. 6 is a diagram illustrating an embodiment of a traction characteristic curve.
Detailed Description
As shown in fig. 1, a flowchart of a first embodiment of a traction inverter control method provided by the present invention is schematically illustrated. The embodiment comprises the following steps:
step S1, configuring parameters, and entering open-loop constant-voltage frequency ratio control or vector control according to the parameters;
step S2, performing pulse width modulation control on the voltage signal output after the step S1;
wherein, the open-loop constant-voltage frequency ratio control in step S1 is implemented as follows:
step S101, inputting a climbing instruction with a given frequency according to a set slope;
step S102, respectively calculating corresponding voltage signals according to an input climbing instruction with given frequency, wherein the voltage signals comprise voltage amplitude information and angle information;
the vector control described in step S1 is implemented as follows:
s103, judging whether a constant speed control command is input or not, if so, acquiring an actual speed signal and a given speed value of the locomotive, and calculating a given torque value according to the speed signal and the given speed value; otherwise, calculating a given torque value according to the traction characteristic curve; wherein the traction characteristic curve is an inherent characteristic of each locomotive traction unit and can be obtained through an experimental process, as shown in fig. 6.
Step S104, correcting the given torque value based on the adhesion control algorithm;
step S105, calculating a voltage signal according to the corrected given torque value by a vector control algorithm based on a full speed range; the voltage signal includes voltage amplitude information and angle information.
The embodiment provides two control strategies of open-loop constant-voltage frequency ratio control and vector control, can be selected by configuring corresponding parameters to meet the requirements of tests or operation, and has good applicability; in addition, the control method provided by the embodiment can effectively improve the control performance of the traction motor, and avoids the phenomenon that part of the axles of the locomotive are in a traction working condition and part of the axles are in a braking working condition at the same time through constant speed control. In practical application, the configuration parameter is reset effectively, so that the parameters can be reconfigured after the system is electrified and restarted according to actual requirements, and a corresponding control strategy is selected according to the parameters. In step S103, a given torque value is calculated according to the speed signal and the given speed value, and in actual application, the speed signal and the given speed value may be input to a PI regulator for calculation, so as to obtain the given torque value.
As shown in fig. 2, a flowchart of a second embodiment of the traction inverter control method provided by the present invention is schematically illustrated. Based on the first embodiment, the vector control algorithm for the full-speed range in step S105 in the first embodiment is specifically implemented as follows:
monitoring the rotating speed of the motor in real time, judging whether the rotating speed is less than a first preset rotating speed, and if so, adopting a flux linkage open-loop control algorithm; otherwise, continuing the next step;
judging whether the rotating speed is greater than the first preset rotating speed and less than a second preset rotating speed, if so, adopting a flux linkage closed-loop control algorithm; otherwise, continuing the next step;
judging whether the rotating speed is greater than the second preset rotating speed or not, and adopting a scalar control algorithm; otherwise, the rotating speed is an abnormal value, and the rotating speed of the motor is monitored again.
The second embodiment adopts different vector control modes according to the rotating speed of the motor, overcomes the second defect in the background technology, and effectively improves the control performance of the traction motor.
With reference to the schematic diagram illustrated in fig. 3, the implementation process of the vector control algorithm for the full speed range in each embodiment of the traction inverter control method provided by the present invention is as follows:
step a, inputting a climbing command of a given torque according to a set slope;
b, respectively calculating a given value of a torque current according to an input climbing command of given torque, and carrying out deviation calculation on the given value of the torque current and a detected value of the torque current to calculate an output voltage Q-axis component; the offset calculation in this step may employ a torque current regulator, which may be a proportional integral regulator.
Step c, calculating a flux linkage set value according to the rotating speed of the motor and a flux linkage curve, and calculating the flux linkage set value and a flux linkage observation value observed by adopting a preset flux linkage observation model through a flux linkage regulator to obtain an excitation current set value; performing deviation calculation on the given exciting current value and the detected exciting current value to output a voltage D-axis component; the deviation calculation in this step may employ a field current regulator, which may be a proportional integral regulator.
D, adding the component of the Q axis of the voltage and the component of the D axis of the voltage with the corresponding feed-forward voltage respectively, and then obtaining the amplitude and the angle of the output voltage through coordinate transformation;
the motor full speed range is divided into three rotating speed ranges, and the preset flux linkage observation model adopts different flux linkage observation models when the rotating speed of the motor is in different rotating speed ranges. It should be noted that, the Q axis and the D axis in the above steps b, c and D are defined as follows: in the control of the alternating current motor, in order to obtain the control characteristics similar to a direct current motor, a coordinate system is established on a motor rotor, the coordinate system and the rotor rotate synchronously, the direction of a rotor magnetic field is taken as a D axis, and the direction vertical to the rotor magnetic field is taken as a Q axis.
In the second embodiment, the vector control algorithm of the full speed range is to divide the control algorithm transversely, and different controls are adopted corresponding to different rotation speed ranges to improve the control performance. The vector control algorithm of the full speed range shown in fig. 3 is a longitudinal division of the control algorithm, and basically, the algorithm shown in fig. 3 is adopted for different rotation speed ranges, but the difference is that different flux linkage observation models are adopted for preset flux linkage observation models in different rotation speed ranges, and the calculation mode for calculating the given value of the exciting current is different.
As shown in fig. 2, a third embodiment of the traction inverter control method according to the present invention is based on the above embodiments, and before step S1, the method further includes:
s' 101, sampling voltage and current information in a traction circuit, and carrying out digital processing on the sampled information;
s' 102, monitoring a control instruction and state information in real time; wherein the control instructions include: the running direction and/or the handle level, the state information comprises: fault status and/or command status;
s' 103, judging whether the motor meets a starting condition or not according to the sampled voltage and current information and a control instruction or state information monitored in real time, and if not, entering a shutdown processing process; otherwise, the subsequent steps are executed.
The steps S '101 and S' 102 are provided to provide relevant information required in the subsequent steps, and also to provide a basis for determination of the starting condition at the time of starting the motor. The step S' 103 is set to enter the shutdown processing procedure in time when the motor cannot be started normally, so as to avoid misoperation.
Preferably, the pulse width modulation control described in the above embodiments may be implemented by the following steps:
step S201, setting 4 switching speed values which are sequentially increased, wherein the switching speed values are a first speed value, a second speed value, a third speed value and a fourth speed value, and the switching speed values are sequentially increased from the first speed value to the fourth speed value;
step S202, adopting asynchronous modulation for a speed interval before the speed interval is smaller than a first speed point;
step S203, adopting 15 frequency division synchronous modulation for a speed interval between the first speed point and the second speed point;
step S204, adopting 7-frequency division synchronous modulation for a speed interval from the second speed point to the third speed point;
step S205, adopting 3 frequency division synchronous modulation for a speed interval from the third speed point to the fourth speed point;
and S206, adopting square wave modulation for the speed interval after the fourth speed point.
The pulse width modulation control method in the process overcomes the first defect in the background technology, adopts a segmented synchronous modulation mode, and uses asynchronous modulation, 15-frequency division synchronous modulation, 7-frequency division synchronous modulation, 3-frequency division synchronous modulation and square wave modulation methods in the whole frequency range output by the traction inverter. In addition, a smooth transition strategy and hysteresis control are preferably used between modulation schemes. Wherein the smooth transition strategy is based on conditional selection of the switching point to ensure that no current surge occurs during the transition. Hysteresis control is a widely used closed-loop current tracking control method, and is generally known for its fast response speed and simple structure. In various converter control systems, a hysteresis control unit generally has two functions at the same time, one is used as a closed-loop current regulator, and the other is used as a PWM modulator to convert a current reference signal into a corresponding switching command signal. The hysteresis control in the invention can be realized by adopting the hysteresis control theory in the prior art, a hysteresis control band is arranged at each switching speed point, and each switching speed point and hysteresis width are configured by parameters. Further, here, it should be noted that: the speed values can be set according to the speed of the motor and the maximum switching frequency allowed by the power module.
Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
As shown in fig. 4, a schematic structural diagram of a first embodiment of the traction inverter control device according to the present invention is shown. The traction inverter control method provided in each of the above embodiments can be implemented by using the traction inverter control device described in this embodiment. The traction inverter control device according to the present embodiment includes: the device comprises a parameter configuration and control module 1, an open-loop constant-voltage frequency ratio control module 2, a vector control module 3 and a pulse width modulation module 4. The control instruction output end of the parameter configuration and control module 1 is respectively in communication connection with the open-loop constant-voltage frequency ratio control module 2 and the vector control module 3, and the signal output ends of the open-loop constant-voltage frequency ratio control module 2 and the vector control module 3 are in communication connection with the signal input end of the pulse width modulation module 4. The parameter configuration and control module 1 is used for configuring parameters and calling a corresponding control module according to the parameters. And the open-loop constant voltage frequency ratio control module 2 is used for executing open-loop constant voltage frequency ratio control according to the received calling instruction and outputting the controlled voltage signal. The vector control module 3 is used for executing vector control according to the received calling instruction and outputting a controlled voltage signal. The pulse width modulation module 4 is used for performing pulse width modulation control on the voltage signals output by the open-loop constant voltage frequency ratio control module and the vector control module and outputting modulated pulse signals. Wherein the voltage signal comprises: voltage magnitude information and angle information.
The traction inverter control device can select two control strategies, namely open-loop constant-voltage frequency ratio control and vector control, by configuring corresponding parameters, so that the defects in the background art are overcome, the control performance is effectively improved, and the dynamic response time of control is shortened.
As shown in fig. 5, a schematic structural diagram of a second embodiment of the traction inverter control device according to the present invention is provided. Based on the first embodiment, the vector control module in this embodiment includes: a motor speed detection and control submodule 301, a flux open-loop control submodule 302, a flux closed-loop control submodule 303 and a scalar control submodule 304. The control instruction output end of the motor speed detection and control submodule 301 is respectively connected with the control instruction input ends of the flux linkage open-loop control submodule 302, the flux linkage closed-loop control submodule 303 and the scalar control submodule 304. The motor speed detection and control submodule 301 is used for detecting the rotating speed of the motor in real time, calling a flux linkage open-loop control submodule when the rotating speed is smaller than a first preset rotating speed, calling a flux linkage closed-loop control submodule when the rotating speed is larger than the first preset rotating speed is smaller than a second preset rotating speed, and calling a scalar control submodule when the rotating speed is larger than the second preset rotating speed. The flux linkage open-loop control submodule 302 is configured to perform flux linkage open-loop control according to the received call instruction and output a controlled voltage signal. The flux linkage closed-loop control submodule 303 is configured to execute flux linkage closed-loop control according to the received call instruction and output a controlled voltage signal. The scalar control submodule 304 is configured to perform scalar control according to the received call instruction and output a controlled voltage signal. The vector control module of the embodiment can adopt different control submodules according to the rotating speed of the motor, effectively overcomes the second defect in the background technology, and improves the control performance of the traction motor.
Further, based on the above embodiments, the present embodiment provides a third embodiment of the traction inverter control device. In this embodiment, the following modules are added on the basis of the above embodiments, which are respectively: the device comprises a sampling module, a detection module and a judgment module. The sampling information output end of the sampling module is in communication connection with the open-loop constant-voltage frequency ratio control module and/or the vector control module, and is also in communication connection with the judgment module; the monitoring information output end of the detection module is in communication connection with the open-loop constant-voltage frequency ratio control module and/or the vector control module; and the system is also in communication connection with the judging module. The sampling module is used for sampling voltage and current parameters in the traction circuit and carrying out digital processing on the sampled parameters. The detection module is used for monitoring the control instruction and the state information in real time; wherein the control instructions include: the running direction and/or the handle level, the state information comprises: fault status and/or instruction status. The judging module is used for judging whether the motor meets the starting condition or not according to the sampled voltage and current information and the control instruction or the state information monitored in real time, and if not, entering a shutdown processing process.
The sampling module and the detection module can provide relevant information required by executing a control process for other modules, and can also provide a judgment basis of starting conditions when the motor is started. The judgment module can timely enter a shutdown processing process when the motor cannot be normally started, so that misoperation is avoided.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A traction inverter control method, characterized by comprising:
configuring parameters, and entering open-loop constant-voltage frequency ratio control or vector control according to the parameters; and
performing pulse width modulation control on the voltage signal output after the control step;
wherein, the open-loop constant-voltage frequency ratio control is realized as follows:
inputting a climbing instruction with a given frequency according to a set slope; and
respectively calculating corresponding voltage signals according to an input climbing instruction with given frequency, wherein the voltage signals comprise voltage amplitude information and angle information;
the vector control is realized as follows:
judging whether a constant speed control command is input, if so, acquiring an actual speed signal and a given speed value of the locomotive, and calculating to obtain a given torque value according to the speed signal and the given speed value; otherwise, calculating a given torque value according to the traction characteristic curve;
correcting the given torque value based on an adhesion control algorithm;
and calculating a voltage signal according to the corrected given torque value by a vector control algorithm based on the full speed range, wherein the voltage signal comprises voltage amplitude information and angle information.
2. The traction inverter control method according to claim 1, wherein the vector control algorithm for the full speed range comprises the steps of:
monitoring the rotating speed of the motor in real time, judging whether the rotating speed is less than a first preset rotating speed, and if so, adopting a flux linkage open-loop control algorithm; otherwise, continuing the next step;
judging whether the rotating speed is greater than the first preset rotating speed and less than a second preset rotating speed, if so, adopting a flux linkage closed-loop control algorithm; otherwise, continuing the next step;
judging whether the rotating speed is greater than the second preset rotating speed or not, and adopting a scalar control algorithm; otherwise, the rotating speed is an abnormal value, and the rotating speed of the motor is monitored again.
3. The traction inverter control method according to claim 1, wherein the vector control algorithm for the full speed range comprises the steps of:
inputting a climbing command of a given torque according to a set slope;
respectively calculating a given value of a torque current according to an input climbing command of given torque, and carrying out deviation calculation on the given value of the torque current and a detected value of the torque current to calculate an output voltage Q-axis component;
calculating a flux linkage set value according to the rotating speed of the motor, and calculating the flux linkage set value and a flux linkage observation value observed by a preset flux linkage observation model through a regulator to obtain an excitation current set value; performing deviation calculation on the given exciting current value and the detected exciting current value to output a voltage D-axis component;
adding the voltage Q-axis component and the voltage D-axis component with corresponding feed-forward voltages respectively, and then carrying out coordinate transformation to obtain the amplitude and the angle of output voltage;
the motor full speed range is divided into three rotating speed ranges, and the preset flux linkage observation model adopts different flux linkage observation models when the rotating speed of the motor is in different rotating speed ranges.
4. The traction inverter control method according to claim 1, wherein before configuring the parameters, further comprising:
sampling voltage and current information in a traction circuit, and carrying out digital processing on the sampled information;
monitoring control instructions and state information in real time; wherein the control instructions include: the running direction and/or the handle level, the state information comprises: fault status and/or command status;
judging whether the motor meets the starting condition or not according to the sampled voltage and current information and the control instruction or the state information monitored in real time, and entering a shutdown processing process if the motor does not meet the starting condition; otherwise, the subsequent steps are executed.
5. The traction inverter control method according to claim 1, wherein the pulse width modulation control includes:
setting 4 switching speed values which are sequentially increased and are respectively a first speed value, a second speed value, a third speed value and a fourth speed value, wherein the switching speed values are sequentially increased from the first speed value to the fourth speed value;
adopting asynchronous modulation in a speed interval before a first speed point;
the speed interval between the first speed point and the second speed point adopts 15-frequency division synchronous modulation;
the speed interval from the second speed point to the third speed point adopts 7-frequency division synchronous modulation;
the speed interval between the third speed point and the fourth speed point adopts 3 frequency division synchronous modulation;
and the speed interval after the fourth speed point adopts square wave modulation.
6. The traction inverter control method according to claim 5, wherein the pulse width modulation algorithm further comprises: and adopting a smooth transition strategy between the modulation processes.
7. The traction inverter control method according to claim 5, wherein the pulse width modulation algorithm further comprises: and a hysteresis control band is arranged at each switching speed point, and each switching speed point and the hysteresis width are configured through parameters.
8. A traction inverter control device characterized by comprising:
the parameter configuration and control module is used for configuring parameters and calling the corresponding control module according to the parameters;
the open-loop constant-voltage frequency ratio control module is used for executing open-loop constant-voltage frequency ratio control according to the received calling instruction and outputting a controlled voltage signal;
the vector control module is used for executing vector control according to the received calling instruction and outputting a controlled voltage signal; and
the pulse width modulation module is used for carrying out pulse width modulation control on the voltage signals output by the open-loop constant voltage frequency ratio control module and the vector control module and outputting modulated pulse signals;
the open-loop constant-voltage frequency ratio control module is specifically configured to execute the open-loop constant-voltage frequency ratio control in the following manner: inputting a climbing instruction with a given frequency according to a set slope; respectively calculating corresponding voltage signals according to the input climbing instruction with the given frequency;
the vector control module is specifically configured to perform the vector control by: judging whether a constant speed control command is input, if so, acquiring an actual speed signal and a given speed value of the locomotive, and calculating to obtain a given torque value according to the speed signal and the given speed value; otherwise, calculating a given torque value according to the traction characteristic curve; correcting the given torque value based on an adhesion control algorithm; calculating a voltage signal according to the corrected given torque value by a vector control algorithm based on a full speed range;
wherein the voltage signal comprises: voltage magnitude information and angle information.
9. The traction inverter control apparatus according to claim 8, wherein the vector control module includes: the motor speed detection and control submodule, the flux linkage open-loop control submodule, the flux linkage closed-loop control submodule and the scalar control submodule; wherein,
the motor speed detection and control submodule is used for detecting the rotating speed of a motor in real time, calling the flux linkage open-loop control submodule when the rotating speed is less than a first preset rotating speed, calling the flux linkage closed-loop control submodule when the rotating speed is greater than the first preset rotating speed and less than a second preset rotating speed, and calling the scalar control submodule when the rotating speed is greater than the second preset rotating speed;
the flux linkage open-loop control submodule is used for executing flux linkage open-loop control according to the received calling instruction and outputting a controlled voltage signal;
the flux linkage closed-loop control submodule is used for executing flux linkage closed-loop control according to the received calling instruction and outputting a controlled voltage signal;
and the scalar control submodule is used for executing scalar control according to the received calling instruction and outputting the controlled voltage signal.
10. The traction inverter control device according to claim 8, characterized by further comprising:
the sampling module is used for sampling voltage and current parameters in the traction circuit and carrying out digital processing on the sampled parameters;
the detection module is used for monitoring the control instruction and the state information in real time; wherein the control instructions include: the running direction and/or the handle level, the state information comprises: fault status and/or command status;
and the judging module is used for judging whether the motor meets the starting condition or not according to the sampled voltage and current information and the control instruction or the state information monitored in real time, and entering a shutdown processing process if the motor does not meet the starting condition.
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| CN201110451528.7A CN103187918B (en) | 2011-12-29 | 2011-12-29 | Traction invertor controlling method and device |
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| CN201110451528.7A CN103187918B (en) | 2011-12-29 | 2011-12-29 | Traction invertor controlling method and device |
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| CN103187918B true CN103187918B (en) | 2015-06-03 |
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| CN105711444B (en) * | 2016-03-30 | 2018-05-11 | 中车青岛四方机车车辆股份有限公司 | A kind of snakelike unsteady repression system and method for rail vehicle |
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| CN110875709B (en) * | 2018-08-30 | 2021-10-22 | 比亚迪股份有限公司 | Inverter protection method and system and vehicle |
| CN110816560B (en) * | 2019-11-20 | 2021-03-05 | 株洲中车时代软件技术有限公司 | Control method and device for traction inverter of rail transit vehicle |
| CN111756305B (en) * | 2020-06-21 | 2022-06-14 | 中车永济电机有限公司 | Locomotive auxiliary converter topological structure |
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