CN-121984385-A - Permanent magnet synchronous motor control method for monorail crane

CN121984385ACN 121984385 ACN121984385 ACN 121984385ACN-121984385-A

Abstract

The invention relates to the technical field of monorail locomotives and discloses a control method of a permanent magnet synchronous motor for monorail cranes, wherein a speed control mode is adopted by a driving motor when the monorail cranes are started, S2, when the actual speed reaches a mode switching point, the driving motor is dynamically switched from the speed control mode to a torque control mode, the torque at the switching point is used as initial torque, S3, the torque output is calculated through a position type PID algorithm to control the speed of the monorail cranes, S4, when the monorail cranes are stopped, the torque control mode is switched to the speed control mode, the driving motor control mode is dynamically switched in the locomotive operation, the speed control mode is adopted in the starting stage, the synchronous is ensured by automatically switching to the torque control mode after the switching point is reached, the problem of forced synchronous rotation speed of a symmetrical motor caused by track bending or uneven abrasion of driving wheels in the pure speed control mode is avoided, so that the locomotive is controlled to stably run, and potential safety hazards of the locomotive with speed uncontrollable speed in the torque control mode are avoided.

Inventors

ZHANG HONGCAI
WANG JIAN
JIA FUQIANG
LI JUNQING
ZHAO HUI
WANG HAO
LIU JIAXIN
LI XULONG

Assignees

冀凯河北机电科技有限公司

Dates

Publication Date: 20260505
Application Date: 20260202

Claims (10)

1. The control method of the permanent magnet synchronous motor for the monorail crane is characterized by comprising the following steps of: s1, a driving motor adopts a speed control mode when a locomotive is started; S2, when the actual speed reaches a mode switching point, the driving motor is dynamically switched from a speed control mode to a torque control mode, and the torque at the switching point is used as initial torque; s3, calculating torque output through a position type PID algorithm to control the speed of the locomotive; s4, switching from a torque control mode to a speed control mode when the locomotive is parked.
2. The control method of a permanent magnet synchronous motor for a monorail crane according to claim 1, wherein in the step S1, the instantaneous torque of 80-120r/min of the last parking motor is recorded as a memory torque through a frequency converter, and when the motor is restarted, the whole vehicle controller reads the memory torque of all driving motors to average as a motor starting torque.
3. The method for controlling a permanent magnet synchronous motor for a monorail crane according to claim 2, wherein in the step S1, after the locomotive has a running direction, the whole vehicle controller sends an initial torque to the driving frequency converter and sets a running speed of 0, the whole vehicle controller receives feedback of completion of establishment of the initial torque of the frequency converter, then opens a mechanical braking band-type brake, and when the braking pressure reaches a preset value, the set speed is changed from 0 to a target speed.
4. The method for controlling a permanent magnet synchronous motor for a monorail crane according to claim 1, wherein in S2, the whole vehicle controller reads all the driving motor speeds to average as the actual speed.
5. The method according to claim 4, wherein in S2, the whole car controller records the instantaneous torque at the switching point in the speed control mode as the initial torque of the torque mode.
6. The method according to claim 1, wherein in S3, the target speed and the actual speed are used as PID control inputs, and the output control torque is synchronously transmitted to all driving motors.
7. The method for controlling a permanent magnet synchronous motor for a monorail crane according to claim 6, wherein in the step S3, a ramp control mode is adopted when the target speed is suddenly changed, the locomotive speed is controlled to be steadily changed, overshoot is restrained, meanwhile, an integral anti-saturation logic is added, and the integral term accumulation maximum value in a PID algorithm is limited.
8. The method for controlling the permanent magnet synchronous motor for the monorail crane according to claim 1, wherein in the step S4, when the locomotive is stopped normally, a slope stopping mode is adopted, the set speed is reduced from the current speed to 100r/min at 1200r/S, then is reduced to 0r/min at 100r/S, and the brake is braked after the set speed is 50r/min or the handle value is zeroed for 5S.
9. The method for controlling a permanent magnet synchronous motor for a monorail crane according to claim 8, wherein in S4, when the locomotive is stopped in an emergency, a free parking mode is adopted, and the brake is directly braked after receiving the signal.
10. The method of claim 1, wherein the speed control mode is to adjust the running speed of the locomotive by controlling the rotation speed of the driving motor, and the torque control mode is to adjust the running speed of the locomotive by controlling the output torque of the driving motor.

Description

Permanent magnet synchronous motor control method for monorail crane Technical Field The invention relates to the technical field of monorail cranes, in particular to a control method of a permanent magnet synchronous motor for a monorail crane. Background The monorail crane uses a special I-steel suspended above the roadway as a track, and is a system which is formed by connecting suspended vehicles with various functions into a train set, is pulled by a traction device and runs along the track. The traction power can be provided by a steel wire rope, a diesel engine, a storage battery or a pneumatic device. The monorail crane system consists of a special I-shaped steel rail, a hanging vehicle group and traction equipment. The I-steel track is fixed on the roadway roof through a hanging chain, and the I-steel shed is connected with the buckle to realize stable installation in the patent technology. The track connecting piece adopts a pin joint structure and is fixed through a mining chain and an anchor rod. The traction equipment can be a winch, a diesel locomotive or a storage battery locomotive. The control strategy of the existing monorail crane driving motor usually adopts a single control mode, and for a pure rotation speed control mode, when a locomotive turns or the wear degree of symmetrical driving wheels is different, the speed required by the motors with the same track length for running the symmetrical two driving wheels is different, so that potential hazards of sprained tracks exist, and for a pure torque control mode, the integral running speed of the locomotive cannot be ensured, and the torque output needs to be reversed when going up and down a slope, so that potential safety hazards exist. Disclosure of Invention The invention aims to provide a permanent magnet synchronous motor control method for a monorail crane, which aims to solve the problems that in the background technology, a single control mode is usually adopted in the conventional control strategy of a driving motor of the monorail crane, and for a pure rotation speed control mode, when a locomotive runs in a special working condition such as different wear degrees of turning or symmetrical driving wheels, because the speeds required by running motors with the same track length of two symmetrical driving wheels are different, the potential hazard of a sprained track exists, and for a pure torque control mode, the integral running speed of the locomotive cannot be ensured, and the torque output needs to be reversed in ascending and descending slopes, so that the potential safety hazard exists. In order to achieve the purpose, the invention provides the following technical scheme that the control method of the permanent magnet synchronous motor for the monorail crane comprises the following steps: s1, a driving motor adopts a speed control mode when a locomotive is started; S2, when the actual speed reaches a mode switching point, the driving motor is dynamically switched from a speed control mode to a torque control mode, and the torque at the switching point is used as initial torque; s3, calculating torque output through a position type PID algorithm to control the speed of the locomotive; s4, switching from a torque control mode to a speed control mode when the locomotive is parked. Preferably, in the step S1, the frequency converter is used to record the instantaneous torque of the last stopping motor 80-120r/min as the memory torque, and the whole vehicle controller reads all the memory torques of the driving motors to average as the motor starting torque when the motor is restarted. Preferably, in S1, after the locomotive has a running direction, the whole vehicle controller sends an initial torque to the driving frequency converter, and sets a running speed 0, the whole vehicle controller receives feedback of completion of establishment of the initial torque of the frequency converter, then opens the mechanical braking band-type brake, and when the braking pressure reaches a preset value, the set speed is changed from 0 to a target speed. Preferably, in S2, the vehicle controller reads the average value of all the driving motor speeds as the actual speed. Preferably, in S2, the vehicle controller records the switching point instantaneous torque in the speed control mode as the torque mode initial torque. Preferably, in S3, the output control torque is synchronously transmitted to all the driving motors, with the target speed and the actual speed as PID control inputs. Preferably, in S3, a ramp control mode is adopted to control the locomotive speed to change steadily and inhibit overshoot when the target speed suddenly changes, and meanwhile, an integral anti-saturation logic is added to limit the integral term accumulation maximum value in the PID algorithm. Preferably, in S4, when the locomotive is stopped normally, a slope stopping mode is adopted, the set speed is reduced from the current speed to 100r/min at 1200r/S