CN106200374A - Flood gate inspection automatic controller and flood gate inspection control system - Google Patents
Flood gate inspection automatic controller and flood gate inspection control system Download PDFInfo
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- CN106200374A CN106200374A CN201610547668.7A CN201610547668A CN106200374A CN 106200374 A CN106200374 A CN 106200374A CN 201610547668 A CN201610547668 A CN 201610547668A CN 106200374 A CN106200374 A CN 106200374A
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- flood gate
- main shaft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
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- Automation & Control Theory (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The invention discloses a flood gate inspection automatic controller which comprises a random access memory, a three-phase power supply, an inspection alternating current contactor, a frequency converter, a power supply alternating current contactor, a flood gate motor and an encoder, wherein the random access memory is connected with the power supply alternating current contactor; the random access memory is respectively connected with the inspection alternating current contactor and the frequency converter, and the frequency converter is connected with the encoder; the random access memory sends a request signal and drives the frequency converter according to the acquired execution signal, the frequency converter drives the flood gate motor to move up and down according to a pulse command of the random access memory, and the encoder acquires and feeds back a displacement signal of the flood gate motor to the frequency converter in real time so that the encoder can accurately position the flood gate motor. The invention also discloses a flood gate inspection control system. The frequency converter is applied to the inspection control of the flood gate, the operation is stable, the response is rapid, the positioning precision is high, external buttons and intermediate relays are saved, the production efficiency can be effectively improved, the production cost is reduced, and the superiority of the economical flood gate is fully exerted.
Description
Technical field
The present invention relates to hypogee waterproof field, particularly relate to a kind of Flood gate and patrol and examine automatic controller and a kind of anti-flood
Door patrolling control system.
Background technology
Flood gate equipment is the element of track traffic (subway) treatment technology for tunnel seepage emergency measure, is also last one
Defence line.Although the cost of Flood gate equipment less than whole subway station cost ten thousand/, but its effect and the economic effect created
Benefit, social benefit are but considerably beyond whole subway station cost, and countless experiences and lessons the most profoundly prove: the tunnel protection of subway
Emergent whether improving depends primarily on the whether intact of Flood gate equipment.
The feature of Flood gate equipment is: at ordinary times need not, for a long time need not, once use, Flood gate equipment have to
Intact properly functioning.At present, bridge motor corrosion, dead phenomenon of becoming rusty need not be caused for a long time the most universal because of Flood gate equipment, it is impossible to
Properly functioning, the regional fault rate having is even as high as 70%-80%.Flood gate equipment pole needs its serviceable condition of Daily Round Check, but right
The simple the most manually way of the Flood gate equipment having a large capacity and a wide range cannot detect its integrity, cannot ensure Flood gate equipment the most at all
Reliability service.
Summary of the invention
The technical problem to be solved is, it is provided that a kind of stable, response rapidly, high anti-of positioning precision
Flood door and patrol and examine automatic controller, production efficiency can be improve, reduce production cost.
The technical problem to be solved also resides in, it is provided that a kind of Flood gate patrolling control system, can give full play to
The superiority of economical Flood gate.
In order to solve above-mentioned technical problem, the invention provides a kind of Flood gate and patrol and examine automatic controller, including depositing at random
Reservoir, three phase mains, patrol and examine A.C. contactor, converter, capable AC catalyst, Flood gate motor and encoder；Described three
Phase power supply, patrol and examine A.C. contactor, converter, capable AC catalyst, Flood gate motor, encoder are sequentially connected, described with
Machine memorizer patrols and examines A.C. contactor and converter is respectively connected with described, and described converter is connected with described encoder；Described
Random access memory sends request signal and drives converter according to the execution signal gathered, and described three phase mains is by patrolling and examining exchange
Catalyst and capable AC catalyst drive anti-flooding to inverter supply, described converter according to the pulse command of random access memory
Door motor moves up and down, and described encoder Real-time Collection also feeds back the displacement signal of Flood gate motor to converter so that encoder
Flood gate motor is accurately positioned.
As the improvement of such scheme, described converter uses and does not control Collator Mode from three phase mains power taking.
As the improvement of such scheme, described converter is vowed by space vector modulation, closed loop by three-phase inversion full-bridge
Amount control mode controls Flood gate motor in real time.
As the improvement of such scheme, described converter includes main shaft rectification unit, main shaft inversion unit, spindle encoder
Signal processing and feedback unit, main shaft PID arithmetic unit, the speed of mainshaft control and current control unit and main shaft drives circuit list
Unit, described main shaft rectification unit, main shaft inversion unit, Flood gate motor, encoder, spindle encoder signal processing and feedback
Unit, the control of main shaft PID arithmetic unit, the speed of mainshaft and current control unit and main shaft drives circuit unit are sequentially connected；Described
Main shaft rectification unit drives Flood gate motor to move up and down by main shaft inversion unit, and described Flood gate motor passes through drive mechanism
By tach signal by encoder feedback to spindle encoder signal processing and feedback unit, spindle encoder signal processing and anti-
Tach signal is scaled angle signal by frequency dividing card by feedback unit, and main shaft PID arithmetic unit is by angle signal and predetermined angle
Carrying out PID arithmetic, calculate the rotary speed instruction of Flood gate motor next time, the speed of mainshaft controls and current control unit is by described turn
Speed instruction sends to main shaft drives circuit unit, and main shaft drives circuit unit drives Flood gate motor by main shaft inversion unit
Move up and down；Described rotary speed instruction includes rotating speed amplitude limit and torque amplitude limit.
As the improvement of such scheme, described Flood gate patrols and examines automatic controller, also includes and described random access memory phase
Man machine interface even, described man machine interface is used for showing fault message.
As the improvement of such scheme, the model of described converter is V360.
As the improvement of such scheme, the acceleration time of described converter is 0.5 second, and deceleration time is 0.3 second, location speed
Degree is 0.5 second, and positioning precision is 1 pulse.
As the improvement of such scheme, the feedback rotating ratio of described converter is 0.75, and the first rotating speed proportional gain is
0.5, the second rotating speed proportional gain is 0.4, and position locking gain is 1, and it is 5 that position arrives error.
Correspondingly, present invention also offers a kind of Flood gate patrolling control system, control including interconnective Flood gate
System and Flood gate patrol and examine automatic controller.
Implement the present invention, have the advantages that
The Flood gate of the present invention is patrolled and examined automatic controller and is included random access memory, three phase mains, patrols and examines A.C. contactor, frequency conversion
Device, capable AC catalyst, Flood gate motor and encoder.During work, described random access memory according to Preset Time to outgoing
Sending request signal, when random access memory receives the execution signal of feedback, random access memory sends pulse command to converter
To drive converter；Described three phase mains is by patrolling and examining A.C. contactor and capable AC catalyst to inverter supply；Described
Converter, in the case of not affecting Flood gate normal operation, exports PWM according to the pulse command of random access memory anti-to drive
Flood door motor, make Flood gate motor small move up and down according to what predeterminable range was repeatedly accurately positioned；Meanwhile, encoder is real
Time gather and feed back the displacement signal of Flood gate motor to converter, so that Flood gate motor is accurately positioned by encoder.
Therefore, application of frequency converter is patrolled and examined control in Flood gate, can effectively realize being accurately positioned, stable, response rapidly, positioning accurate
Degree height, saves outer button and auxiliary reclay, can be effectively increased production efficiency, reduce production cost.
Meanwhile, described converter is controlled by space vector modulation (SVPWM), closed-loop vector by three-phase inversion full-bridge
(Field orientation control) mode controls Flood gate motor in real time.Specifically, converter includes main shaft rectification list
Unit, main shaft inversion unit, spindle encoder signal processing and feedback unit, main shaft PID arithmetic unit, the speed of mainshaft control and electricity
Flow control unit and main shaft drives circuit unit.During work, described main shaft rectification unit drives anti-flooding by main shaft inversion unit
Door motor moves up and down, and tach signal is passed through encoder feedback to spindle encoder by drive mechanism by described Flood gate motor
Tach signal is scaled angle by frequency dividing card by signal processing and feedback unit, spindle encoder signal processing and feedback unit
Signal, angle signal and predetermined angle are carried out PID arithmetic by main shaft PID arithmetic unit, calculate turning of Flood gate motor next time
Speed instruction, the speed of mainshaft controls and described rotary speed instruction is sent to main shaft drives circuit unit by current control unit, and main shaft drives
Dynamic circuit unit moved up and down by main shaft inversion unit driving Flood gate motor, thus realizes the speed of mainshaft, orientation angle
The most accurately control.
It addition, the present invention is in the case of Flood gate control system is constant, installs Flood gate additional and patrol and examine automatic controller, make to prevent
Flooding accelerator control system and Flood gate patrols and examines automatic controller independent operating, mutually without impact, simple in construction, repacking is convenient, can fill
The superiority playing economical Flood gate divided.
Accompanying drawing explanation
Fig. 1 is that the present invention patrols and examines the first embodiment structural representation of automatic controller for Flood gate；
Fig. 2 is the second example structure schematic diagram that Flood gate of the present invention patrols and examines automatic controller；
Fig. 3 is the fundamental diagram of converter in Fig. 1；
Fig. 4 is the wiring diagram of converter in Fig. 1；
Fig. 5 is the structural representation of Flood gate patrolling control system of the present invention.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing, the present invention is made into one
Step ground describes in detail.Only this statement, the present invention occur in the text or i.e. will appear from up, down, left, right, before and after, the side such as inside and outside
Position word, only on the basis of the accompanying drawing of the present invention, it is not the concrete restriction to the present invention.
Seeing Fig. 1, Fig. 1 and show that Flood gate of the present invention patrols and examines the first embodiment of automatic controller 100, it includes at random
Memorizer 1, three phase mains 2, patrol and examine A.C. contactor 3, converter 4, capable AC catalyst 5, Flood gate motor 6 and encoder
7；Described three phase mains 2, patrol and examine A.C. contactor 3, converter 4, capable AC catalyst 5, Flood gate motor 6, encoder 7 depend on
Secondary being connected, described random access memory 1 patrols and examines A.C. contactor 3 and converter 4 is respectively connected with, described converter 4 and institute with described
State encoder 7 to be connected；Described random access memory 1 sends request signal and drives converter 4 according to the execution signal gathered, described
Three phase mains 2 is powered to converter 4 by patrolling and examining A.C. contactor 3 and capable AC catalyst 5, described converter 4 according to
The pulse command of machine memorizer 1 drives Flood gate motor 6 to move up and down, and described encoder 7 Real-time Collection also feeds back Flood gate electricity
The displacement signal of machine 6 is to converter 4 so that Flood gate motor 6 is accurately positioned by encoder 7.Described random access memory 1 is excellent
Elect RAM32 position random access memory 1 as.
Unlike the prior art, the present invention utilizes converter 4 to realize being accurately positioned.During work, described random storage
Device 1 is sent out request signal according to Preset Time, when random access memory 1 receives the execution signal of feedback, stores at random
Device 1 sends pulse command to drive converter 4 to converter 4；Described three phase mains 2 is by patrolling and examining A.C. contactor 3 and power supply
A.C. contactor 5 is powered to converter 4；Described converter 4 is not in the case of affecting Flood gate normal operation, according to depositing at random
The pulse command output PWM of reservoir 1, to drive Flood gate motor 6, makes Flood gate motor 6 carry out according to predeterminable range the most accurate
The small of location moves up and down；Meanwhile, encoder 7 Real-time Collection also feeds back the displacement signal of Flood gate motor 6 to converter 4,
So that Flood gate motor 6 is accurately positioned by encoder 7；After Flood gate motor 6 reaches targeted number, stop converter 4,
Patrol and examine, waited and patrolling and examining next time.
It should be noted that heretofore described three phase mains 2 is by patrolling and examining A.C. contactor 3 and capable AC catalyst
5 power to converter 4, and wherein capable AC catalyst 5 is installed on the rear of converter 4, due to, converter 4 is forbidden from output
End input current, when, after Flood gate motor 6 power-off, also rotating, the faradic current of generation may be reverse from converter 4 outfan
Flow into, damage converter 4.So, capable AC catalyst 5 installed by the outfan of converter 4, and faradic current can be avoided reverse
Flow into.
See Fig. 2, Fig. 2 and show that Flood gate of the present invention patrols and examines the second embodiment of automatic controller 100, shown in Fig. 1
First embodiment unlike, the present embodiment also includes the man machine interface 8 being connected with described random access memory 1, described people
Machine interface 8 is used for showing fault message.
During patrolling and examining, fault message can correctly show in man machine interface 8, and when occurring abnormal, Flood gate is patrolled and examined
Automatic controller 100 can continue to patrol and examine, and only shows problem by man machine interface 8 so that various fault messages can correctly show.
See Fig. 3, Fig. 3 and show that Flood gate of the present invention patrols and examines the fundamental diagram of converter 4 in automatic controller 100.
Described converter 4 include main shaft rectification unit 41, main shaft inversion unit 42, spindle encoder signal processing and feedback unit 43,
Main shaft PID arithmetic unit 44, the speed of mainshaft control and current control unit 45 and main shaft drives circuit unit 46, and described main shaft is whole
Stream unit 41, main shaft inversion unit 42, Flood gate motor 6, encoder 7, spindle encoder signal processing and feedback unit 43, master
The control of axle PID arithmetic unit 44, the speed of mainshaft and current control unit 45 and main shaft drives circuit unit 46 are sequentially connected.
It should be noted that described converter 4 uses does not controls Collator Mode from three phase mains 2 power taking.Described converter 4 leads to
Cross three-phase inversion full-bridge and control (Field orientation control) by space vector modulation (SVPWM), closed-loop vector
Mode controls Flood gate motor 6 in real time.
Specifically, described main shaft rectification unit 41 drives Flood gate motor 6 to move up and down by main shaft inversion unit 42, institute
State Flood gate motor 6, by drive mechanism, tach signal is fed back to spindle encoder signal processing and feedback by encoder 7
Tach signal is scaled angle signal, main shaft by frequency dividing card by unit 43, spindle encoder signal processing and feedback unit 43
Angle signal and predetermined angle are carried out PID arithmetic by PID arithmetic unit 44, calculate the rotary speed instruction of Flood gate motor 6 next time
(described rotary speed instruction includes rotating speed amplitude limit and torque amplitude limit), the speed of mainshaft controls and described rotating speed is referred to by current control unit 45
Order sends to main shaft drives circuit unit 46, and main shaft drives circuit unit 46 drives Flood gate electricity by main shaft inversion unit 42
Machine 6 moves up and down, thus realizes the most accurately control of the speed of mainshaft, orientation angle.
Further, the model of described converter 4 is V360.The acceleration time of described converter 4 is 0.5 second, deceleration time
Being 0.3 second, locating speed is 0.5 second, and positioning precision is 1 pulse, and feedback rotating ratio is 0.75, and the first rotating speed proportional gain is
0.5, the second rotating speed proportional gain is 0.4, and position locking gain is 1, and it is 5 that position arrives error.
As shown in Figure 4, further converter 4 is illustrated below in conjunction with concrete parameter.
(1) converter commissioning requirements
Field requirement:
(1) start and stop speed is fast---and Acceleration and deceleration time requires: accelerate 0.5S, deceleration 0.3S；
(2) location response is fast---positioning time: within 1 second；
(3) positioning accuracy request is high---within 2 pulses.
(2) adjustment method
1, parameter reset, parameter of electric machine self study.
(1) F0.0.07=7 parameter initialization
(2) F2.0.00-F2.0.53 identifying motor parameter
2, guarantee that closed-loop vector regulation is normal.
(1) rotating forward operation converter is to certain frequency, checks that D0.1.34 value then exchanges the biphase phase sequence of motor if negative value
Or amendment F8.0.06=1.
(2) F0.0.09=0010 closed-loop vector control mode
(3) F8.0.05=1024 encoder is every turns umber of pulse
(4) F8.0.08=0 selects encoder type
(5) F8.0.07=1 encoder Z pulse is effective
3, SERVO CONTROL positioning function is set
(1) select SERVO CONTROL function terminal (function number 69) if arranging DI1 terminal then F3.0.00=69, only at this terminal
SERVO CONTROL positioning function could be used under the state of Guan Bi.
(2) P-pulse count resets terminal, servo pulse command direction terminal, servo instruction number of pulses is selected to reset
Terminal (function number be respectively 66,68,77) is if selecting DI2, DI3, DI4, then F3.0.01=66, F3.0.02=68,
F3.0.03=77
(3) arrange that PG velocity measuring shaft is every turns advance distance Fb.2.22.
(4) SERVO CONTROL function Fb.2.23=0002 is set.
(4) setting source, SERVO CONTROL position Fb.2.24 is set.
(5) position digital is set and sets high-low position Fb.2.25, Fb.2.26.
(6) electronic gear proportion Fb.2.27, Fb.2.28 are set.Electronic gear proportion is that actual every pulse displacement is true with artificial
Fixed every pulse displacement is mapped.
(3) commissioning test
(1) run with numeral setting position source module；
Need to close a DI2 terminal before running first and carry out P-pulse stored count (D1.2.19, D1.2.18) clearing.Close
Closing DI1 terminal and start servo function, start converter by FWD, motor will run corresponding distance according to position sources setting value.
Travel distance=PG velocity measuring shaft is every turns that advance distance × pulse number/4 × encoder is every turns umber of pulse × electronic gear
Ratio.
(2) with pulse input for position sources mode operation
Need to close a DI2 terminal before running first and carry out P-pulse stored count (D1.2.19, D1.2.18) clearing.Close
Closing DI1 terminal and start servo function, start converter by FWD, motor is by the pulse number arrived according to DI9 terminal reception, pulse
Frequency determines the distance and running frequency that motor runs, and break-make DI3 terminal can change the traffic direction of motor, DI9 terminal
The pulse source received can accumulate preservation, can remove pile-up pulse number by DI4 terminal of Guan Bi.
(4) note
1, position gain 1 (Fb.2.21), can improve response when that gain being big, cross conference and cause overshoot, shake and make an uproar
Sound.
2, need to arrange F8.0.17, Fb.2.46 spindle drive ratio than when being not 1:1 with spindle drive when motor shaft.
3, adjusting speed closed loop proportional gain F8.1.21 can suppress motor to shake.
4, shutdown is needed to restart when rotating speed pattern is switched to SERVO CONTROL.
5, maximum output frequency can carry out amplitude limit to locating speed.
(5) debugging step and parameter set
System relates to PID arithmetic, will be by following former when Set scale gain P value, the I value time of integration, D value derivative time
Then arranging: the rotating speed proportional gain the biggest response of P value is the fastest, but system stability is deteriorated, excessive gain may result in rotating speed concussion；
The least response of integration time constant I value is the fastest, and speed overshoot is the biggest, and stability is the poorest.This parameter is directly proportional to system inertia, used
When measuring bigger, this parameter should arrange bigger numerical.
In main shaft accelerator effectively, numerical value relatively proportional gain 2 is big, is used for improving in parameter group medium speed proportional gain 1
Response speed；Proportional gain 2 adjusts for steady-state process PI, and in order to increase the stability of system, this parameter values is less.Accelerate
During two groups of PI parameters can be automatically switched by stagnant ring or switching mode continuously.
(6) produced problem and solution in debugging
(1) there is vibrations and noise when running in motor
This phenomenon reason: excessive gain scale P value there is a possibility that rotating speed shakes, thus steady speed precision declines, and even makes system
Unstable；Otherwise, accelerator is slow, and system response time reduces.Carrier frequency mainly affect operating audio-frequency noise and
Heat effect: carrier frequency value is less, although improve converter can band ultimate load, but produce noise will can increase equally
Greatly.
Solution: adjust suitable PID gain (F8.1.21 and F8.1.25)；Increase carrier frequency.
(2) positioning precision is the highest, and positioning time is long
This phenomenon reason: too small position loop gain, result in system response time and slows down, under operating mode case of frequent changes
Positioning precision declines.
Solution: increase the gain (Fb.2.21) of position ring PID.
(7) interpretation
After experiment Flood gate uses this frequency conversion targeting scheme process, converter reaches to exchange the performance that main axle servo drives, one
Platform power of motor is to carry out trail run on the calabash of 18.5KW, and experimental result is as follows:
From the foregoing, it will be observed that used by actual production, apply the present invention to Flood gate and patrol and examine control, it is achieved that clamped one time,
Save outer button and auxiliary reclay, and working (machining) efficiency also improves nearly 20%, can be effectively increased production efficiency, reduce
Production cost, fully plays the superiority of economical Flood gate；Through prolonged application, this programme is stable, response is rapid,
Positioning precision is high, is compared with prior art more suitably applied to lifting field.
Seeing Fig. 5, Fig. 5 and show the concrete structure schematic diagram of Flood gate patrolling control system 200 of the present invention, it includes phase
The Flood gate control system 101 connected and Flood gate patrol and examine automatic controller 100, Flood gate control system 101 and Flood gate
Patrol and examine automatic controller 100 independent operating, mutually without impact.
It should be noted that the present invention is in the case of Flood gate control system 101 is constant, installs Flood gate additional and patrol and examine certainly
Movement controller 100.
Specifically, Flood gate is patrolled and examined automatic controller 100 and is included random access memory 1, three phase mains 2, patrols and examines ac contactor
Device 3, converter 4, capable AC catalyst 5, Flood gate motor 6 and encoder 7；Described three phase mains 2, patrol and examine A.C. contactor
3, converter 4, capable AC catalyst 5, Flood gate motor 6, encoder 7 are sequentially connected, and described random access memory 1 is patrolled with described
Inspection A.C. contactor 3 and converter 4 are respectively connected with, and described converter 4 is connected with described encoder 7.Wherein, described converter 4
Including main shaft rectification unit 41, main shaft inversion unit 42, spindle encoder signal processing and feedback unit 43, main shaft PID arithmetic
Unit 44, the speed of mainshaft control and current control unit 45 and main shaft drives circuit unit 46, described main shaft rectification unit 41, main
Axle inversion unit 42, Flood gate motor 6, encoder 7, spindle encoder signal processing and feedback unit 43, main shaft PID arithmetic list
Unit 44, speed of mainshaft control and current control unit 45 and main shaft drives circuit unit 46 are sequentially connected.
During work, described random access memory 1 is sent out request signal according to Preset Time, when random access memory 1 receives
During to the execution signal fed back, random access memory 1 sends pulse command to drive converter 4 to converter 4；Described three phase mains
2 power to converter 4 by patrolling and examining A.C. contactor 3 and capable AC catalyst 5；Described converter 4 is not affecting Flood gate
In the case of normal operation, export PWM to drive Flood gate motor 6 according to the pulse command of random access memory 1, make Flood gate electric
Machine 6 small moves up and down according to what predeterminable range was repeatedly accurately positioned, and specifically, described main shaft rectification unit 41 is by main
Axle inversion unit 42 drives Flood gate motor 6 to move up and down；Meanwhile, rotating speed is believed by described Flood gate motor 6 by drive mechanism
Number feed back to spindle encoder signal processing and feedback unit 43, spindle encoder signal processing and feedback by encoder 7
Tach signal is scaled angle signal by frequency dividing card by unit 43, and main shaft PID arithmetic unit 44 is by angle signal and predetermined angle
Carrying out PID arithmetic, calculate the rotary speed instruction of Flood gate motor 6 next time, the speed of mainshaft controls and current control unit 45 is by institute
Stating rotary speed instruction to send to main shaft drives circuit unit 46, main shaft drives circuit unit 46 is driven by main shaft inversion unit 42
Flood gate motor 6 moves up and down, thus realizes the most accurately control of the speed of mainshaft, orientation angle.
Further, Flood gate patrols and examines the man machine interface 8 that automatic controller 100 also includes being connected with described random access memory 1,
Described man machine interface 8 is used for showing fault message.During patrolling and examining, fault message can correctly show in man machine interface 8, when
When occurring abnormal, Flood gate is patrolled and examined automatic controller 100 and can be continued to patrol and examine, and only shows problem by man machine interface 8 so that various
Fault message can correctly show.
From the foregoing, it will be observed that converter 4 is applied to Flood gate by the present invention patrols and examines control, it is achieved be accurately positioned, stable, sound
Should rapidly, positioning precision high, save outer button and auxiliary reclay, and working (machining) efficiency also improve nearly 20%, can be effectively improved
Production efficiency, reduces production cost, fully plays the superiority of economical Flood gate.
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, under the premise without departing from the principles of the invention, it is also possible to make some improvements and modifications, these improvements and modifications are also considered as
Protection scope of the present invention.
Claims (9)
1. a Flood gate patrols and examines automatic controller, it is characterised in that includes random access memory, three phase mains, patrol and examine exchange and connect
Tentaculum, converter, capable AC catalyst, Flood gate motor and encoder；
Described three phase mains, patrol and examine A.C. contactor, converter, capable AC catalyst, Flood gate motor, encoder phase successively
Even, described random access memory patrols and examines A.C. contactor and converter is respectively connected with, described converter and described encoder with described
It is connected；
Described random access memory sends request signal and drives converter according to the execution signal gathered, and described three phase mains passes through
Patrolling and examining A.C. contactor and capable AC catalyst to inverter supply, described converter is according to the pulse command of random access memory
Drive Flood gate motor to move up and down, described encoder Real-time Collection and feed back the displacement signal of Flood gate motor to converter with
Make encoder that Flood gate motor to be accurately positioned.
2. Flood gate as claimed in claim 1 patrols and examines automatic controller, it is characterised in that described converter uses and do not controls arrangement
Mode is from three phase mains power taking.
3. Flood gate as claimed in claim 1 patrols and examines automatic controller, it is characterised in that described converter passes through three-phase inversion
Full-bridge controls Flood gate motor in real time by space vector modulation, closed-loop vector control mode.
4. Flood gate as claimed in claim 3 patrols and examines automatic controller, it is characterised in that described converter includes main shaft rectification
Unit, main shaft inversion unit, spindle encoder signal processing and feedback unit, main shaft PID arithmetic unit, the speed of mainshaft control and
Current control unit and main shaft drives circuit unit, described main shaft rectification unit, main shaft inversion unit, Flood gate motor, coding
Device, spindle encoder signal processing and feedback unit, main shaft PID arithmetic unit, the speed of mainshaft control and current control unit and
Main shaft drives circuit unit is sequentially connected；
Described main shaft rectification unit drives Flood gate motor to move up and down by main shaft inversion unit, and described Flood gate motor passes through
Tach signal is passed through encoder feedback to spindle encoder signal processing and feedback unit, spindle encoder signal by drive mechanism
Process and feedback unit by tach signal by frequency dividing card be scaled angle signal, main shaft PID arithmetic unit by angle signal with
Predetermined angle carries out PID arithmetic, calculates the rotary speed instruction of Flood gate motor next time, and the speed of mainshaft controls and current control unit
Being sent by described rotary speed instruction to main shaft drives circuit unit, main shaft drives circuit unit drives anti-by main shaft inversion unit
Flood door motor to move up and down；
Described rotary speed instruction includes rotating speed amplitude limit and torque amplitude limit.
5. Flood gate as claimed in claim 1 patrols and examines automatic controller, it is characterised in that also include and described random access memory
The man machine interface being connected, described man machine interface is used for showing fault message.
6. Flood gate as claimed in claim 1 patrols and examines automatic controller, it is characterised in that the model of described converter is
V360。
7. Flood gate as claimed in claim 6 patrols and examines automatic controller, it is characterised in that the acceleration time of described converter is
0.5 second, deceleration time was 0.3 second, and locating speed is 0.5 second, and positioning precision is 1 pulse.
8. Flood gate as claimed in claim 7 patrols and examines automatic controller, it is characterised in that the feedback rotating ratio of described converter
Being 0.75, the first rotating speed proportional gain is 0.5, and the second rotating speed proportional gain is 0.4, and position locking gain is 1, and position arrives by mistake
Difference is 5.
9. the Flood gate using the Flood gate as described in claim 1 ~ 8 Arbitrary Term to patrol and examine automatic controller patrols and examines control system
System, it is characterised in that include that interconnective Flood gate control system and Flood gate patrol and examine automatic controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610547668.7A CN106200374A (en) | 2016-07-13 | 2016-07-13 | Flood gate inspection automatic controller and flood gate inspection control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610547668.7A CN106200374A (en) | 2016-07-13 | 2016-07-13 | Flood gate inspection automatic controller and flood gate inspection control system |
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| CN106200374A true CN106200374A (en) | 2016-12-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610547668.7A Pending CN106200374A (en) | 2016-07-13 | 2016-07-13 | Flood gate inspection automatic controller and flood gate inspection control system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107678274A (en) * | 2017-08-10 | 2018-02-09 | 深圳市海浦蒙特科技有限公司 | Frequency converter and its dosing control method for belt conveyer scale |
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| CN113934136A (en) * | 2021-09-30 | 2022-01-14 | 日立电梯（中国）有限公司 | Elevator inverter current loop PI parameter self-learning method, medium and inverter |
| CN113934136B (en) * | 2021-09-30 | 2025-01-21 | 日立电梯（中国）有限公司 | Elevator inverter current loop PI parameter self-learning method, medium and inverter |
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