The Application of Delta Inverter of VFD-B series for Spray-painting Synchronizition Transmission Equipment 中達電通上海機電業務處 李 強 Li Jiang 摘 要: 同步傳送在自動噴塗設備工作過程中有其特別的重要性。本文討論了台達VFD-B係列變頻器的速度死循環控製在自動噴塗同步傳送設備上的應用.VFD-B係列變頻器是向量控製全數字交流馬達驅動器，具有典型的死循環控製特性,全數字菜單參數設定.文章通過噴塗生產線電氣控製係統的實現說明了VFD-B係列變頻器的優越性能及快速動態響應特性. 關鍵詞: 變頻器 PG04卡 編碼器 Abstract: The synchronizition transmission has special importance in the equipment working process of automatical spray-painting. This paper discussed the application of speed dead circulation control in Delta inverter of VFD-B series for synchronizition transmission equipment of automatical spray-painting. The Delta inverter of VFD-B series is an AC motor driver that applies vector and whole digital contol mode, and has a typical control characteristic of speed dead circulation, and the setting of menu and parameter uses whole digital mode. The paper explained that it has excellent performance and fast dynamic response characteristic through realization of electric control system in pray-painting Key Words: Inverter PG04 card Encoder [中圖分類號] TP273 [文獻標識碼] B 文章編號 1 引 言 一(yi)般(ban)設(she)備(bei)或(huo)部(bu)件(jian)在(zai)出(chu)廠(chang)前(qian)都(dou)要(yao)經(jing)過(guo)噴(pen)塗(tu)處(chu)理(li)，自(zi)動(dong)噴(pen)塗(tu)設(she)備(bei)工(gong)作(zuo)過(guo)程(cheng)是(shi)通(tong)過(guo)輸(shu)送(song)鏈(lian)條(tiao)將(jiang)待(dai)噴(pen)塗(tu)物(wu)送(song)入(ru)高(gao)溫(wen)烘(hong)箱(xiang)中(zhong)，經(jing)過(guo)一(yi)係(xi)列(lie)烘(hong)烤(kao)過(guo)程(cheng)使(shi)塗(tu)料(liao)附(fu)著(zhe)在(zai)待(dai)噴(pen)塗(tu)物(wu)上(shang)，然(ran)後(hou)由(you)傳(chuan)動(dong)鏈(lian)條(tiao)送(song)出(chu)，經(jing)工(gong)人(ren)從(cong)鏈(lian)條(tiao)上(shang)取(qu)下(xia)檢(jian)查(zha)，其(qi)合(he)格(ge)品(pin)送(song)入(ru)倉(cang)庫(ku)。對(dui)其(qi)電(dian)氣(qi)控(kong)製(zhi)係(xi)統(tong)要(yao)求(qiu)是(shi)能(neng)根(gen)據(ju)不(bu)同(tong)的(de)噴(pen)塗(tu)物(wu)調(tiao)節(jie)輸(shu)送(song)鏈(lian)條(tiao)速(su)度(du)，從(cong)而(er)保(bao)證(zheng)足(zu)夠(gou)的(de)高(gao)溫(wen)加(jia)熱(re)時(shi)間(jian)，顯(xian)然(ran)輸(shu)送(song)鏈(lian)條(tiao)速(su)度(du)慢(man)高(gao)溫(wen)加(jia)熱(re)時(shi)間(jian)長(chang)，速(su)度(du)快(kuai)高(gao)溫(wen)加(jia)熱(re)時(shi)間(jian)短(duan)，從(cong)理(li)論(lun)上(shang)看(kan)實(shi)現(xian)起(qi)來(lai)似(si)乎(hu)應(ying)該(gai)是(shi)非(fei)常(chang)簡(jian)單(dan)的(de)。但(dan)是(shi)由(you)於(yu)輸(shu)送(song)鏈(lian)條(tiao)較(jiao)長(chang)，使(shi)用(yong)單(dan)台(tai)電(dian)機(ji)拖(tuo)動(dong)輸(shu)送(song)鏈(lian)條(tiao)非(fei)常(chang)困(kun)難(nan)，在(zai)設(she)計(ji)中(zhong)一(yi)般(ban)采(cai)用(yong)兩(liang)台(tai)電(dian)機(ji)，其(qi)中(zhong)一(yi)台(tai)確(que)定(ding)為(wei)主(zhu)傳(chuan)動(dong)電(dian)機(ji)，而(er)另(ling)一(yi)台(tai)為(wei)從(cong)傳(chuan)動(dong)電(dian)機(ji)。問(wen)題(ti)是(shi)如(ru)何(he)保(bao)證(zheng)這(zhe)兩(liang)台(tai)電(dian)機(ji)同(tong)步(bu)運(yun)行(xing)？如(ru)果(guo)兩(liang)台(tai)電(dian)機(ji)不(bu)同(tong)步(bu)， 將jiang導dao致zhi輸shu送song鏈lian條tiao出chu現xian堆dui積ji或huo斷duan裂lie現xian象xiang，致zhi使shi生sheng產chan無wu法fa進jin行xing，因yin此ci同tong步bu控kong製zhi問wen題ti的de解jie決jue在zai鏈lian條tiao皮pi帶dai傳chuan動dong中zhong是shi一yi個ge關guan鍵jian性xing的de問wen題ti，采cai用yong高gao性xing能neng通tong用yong變bian頻pin器qi的de控kong製zhi策ce略lve就jiu可ke以yi實shi現xian主zhu、從電機運行的同步。 2 高性能通用變頻器的控製策略 由於電機運行是受變頻器驅動的，如果兩台變頻器的輸入/輸出可以調整就有可能實現主、從(cong)電(dian)機(ji)運(yun)行(xing)的(de)同(tong)步(bu)，因(yin)此(ci)有(you)必(bi)要(yao)對(dui)變(bian)頻(pin)器(qi)的(de)性(xing)能(neng)略(lve)作(zuo)討(tao)論(lun)。采(cai)用(yong)一(yi)般(ban)的(de)通(tong)用(yong)變(bian)頻(pin)器(qi)給(gei)異(yi)步(bu)電(dian)動(dong)機(ji)供(gong)電(dian)時(shi)，可(ke)以(yi)實(shi)現(xian)無(wu)級(ji)平(ping)滑(hua)調(tiao)速(su)，起(qi)動(dong)和(he)停(ting)車(che)都(dou)很(hen)方(fang)便(bian)，但(dan)是(shi)，調(tiao)速(su)時(shi)有(you)靜(jing)差(cha)，精(jing)度(du)不(bu)高(gao)，調(tiao)速(su)範(fan)圍(wei)不(bu)過(guo)1:10左(zuo)右(you)，而(er)且(qie)也(ye)不(bu)能(neng)像(xiang)直(zhi)流(liu)調(tiao)速(su)係(xi)統(tong)那(na)樣(yang)提(ti)供(gong)很(hen)高(gao)的(de)動(dong)態(tai)性(xing)能(neng)。要(yao)實(shi)現(xian)高(gao)動(dong)態(tai)性(xing)能(neng)，必(bi)須(xu)研(yan)究(jiu)實(shi)現(xian)高(gao)性(xing)能(neng)的(de)控(kong)製(zhi)策(ce)略(lve)，這(zhe)裏(li)有(you)兩(liang)種(zhong)控(kong)製(zhi)策(ce)略(lve)，即(ji)矢(shi)量(liang)控(kong)製(zhi)和(he)直(zhi)接(jie)轉(zhuan)矩(ju)控(kong)製(zhi)，各(ge)有(you)特(te)色(se)。矢(shi)量(liang)控(kong)製(zhi)係(xi)統(tong)的(de)特(te)點(dian)是(shi):采用由轉子磁鏈決定d-軸方向的dq同tong步bu旋xuan轉zhuan坐zuo標biao係xi，把ba異yi步bu電dian機ji的de定ding子zi電dian流liu分fen解jie為wei其qi勵li磁ci分fen量liang和he轉zhuan矩ju分fen量liang，得de到dao類lei似si於yu直zhi流liu電dian機ji的de轉zhuan矩ju模mo型xing，再zai采cai取qu措cuo施shi把ba非fei線xian性xing係xi統tong變bian換huan成cheng兩liang個ge獨du立li的de轉zhuan速su和he轉zhuan子zi磁ci鏈lian的de子zi係xi統tong，從cong而er模mo仿fang直zhi流liu電dian機ji分fen別bie用yongPI調(tiao)節(jie)器(qi)進(jin)行(xing)控(kong)製(zhi)。直(zhi)接(jie)轉(zhuan)矩(ju)控(kong)製(zhi)係(xi)統(tong)舍(she)去(qu)比(bi)較(jiao)複(fu)雜(za)的(de)旋(xuan)轉(zhuan)坐(zuo)標(biao)變(bian)換(huan)，僅(jin)在(zai)兩(liang)相(xiang)靜(jing)止(zhi)坐(zuo)標(biao)係(xi)上(shang)構(gou)成(cheng)轉(zhuan)矩(ju)和(he)定(ding)子(zi)磁(ci)鏈(lian)的(de)反(fan)饋(kui)信(xin)號(hao)，並(bing)用(yong)雙(shuang)位(wei)式(shi)砰(peng)-砰控製代替線性調節器來控製轉矩和定子磁鏈，根據二者的變化，選擇電壓空間矢量的PWM(SVPWM)開(kai)關(guan)狀(zhuang)態(tai)，以(yi)控(kong)製(zhi)電(dian)機(ji)的(de)轉(zhuan)速(su)。值(zhi)得(de)注(zhu)意(yi)的(de)是(shi)，無(wu)論(lun)是(shi)矢(shi)量(liang)控(kong)製(zhi)係(xi)統(tong)，還(hai)是(shi)直(zhi)接(jie)轉(zhuan)矩(ju)控(kong)製(zhi)係(xi)統(tong)，都(dou)需(xu)要(yao)轉(zhuan)速(su)閉(bi)環(huan)控(kong)製(zhi)，所(suo)需(xu)的(de)轉(zhuan)速(su)反(fan)饋(kui)信(xin)號(hao)來(lai)自(zi)於(yu)電(dian)機(ji)同(tong)軸(zhou)的(de)速(su)度(du)傳(chuan)感(gan)器(qi)，對(dui)於(yu)高(gao)性(xing)能(neng)係(xi)統(tong)一(yi)般(ban)都(dou)用(yong)光(guang)電(dian)碼(ma)盤(pan)，其(qi)成(cheng)本(ben)、安裝、可(ke)靠(kao)性(xing)都(dou)有(you)問(wen)題(ti)，如(ru)果(guo)能(neng)取(qu)消(xiao)光(guang)電(dian)碼(ma)盤(pan)而(er)保(bao)持(chi)良(liang)好(hao)的(de)控(kong)製(zhi)性(xing)能(neng)，顯(xian)然(ran)會(hui)大(da)受(shou)歡(huan)迎(ying)，這(zhe)就(jiu)是(shi)無(wu)速(su)度(du)傳(chuan)感(gan)器(qi)的(de)高(gao)性(xing)能(neng)調(tiao)速(su)係(xi)統(tong)。作(zuo)為(wei)高(gao)性(xing)能(neng)的(de)通(tong)用(yong)變(bian)頻(pin)器(qi)都(dou)希(xi)望(wang)采(cai)用(yong)無(wu)速(su)度(du)傳(chuan)感(gan)器(qi)控(kong)製(zhi)。 3 主從變頻器同步控製功能實現 主(zhu)變(bian)頻(pin)器(qi)的(de)給(gei)定(ding)輸(shu)入(ru)是(shi)位(wei)移(yi)傳(chuan)感(gan)器(qi)和(he)從(cong)變(bian)頻(pin)器(qi)的(de)模(mo)擬(ni)輸(shu)出(chu)的(de)迭(die)加(jia)，從(cong)變(bian)頻(pin)器(qi)由(you)外(wai)接(jie)電(dian)位(wei)器(qi)給(gei)定(ding)。係(xi)統(tong)啟(qi)動(dong)時(shi)主(zhu)變(bian)頻(pin)器(qi)的(de)輸(shu)出(chu)頻(pin)率(lv)高(gao)於(yu)從(cong)變(bian)頻(pin)器(qi)的(de)輸(shu)出(chu)頻(pin)率(lv)，也(ye)就(jiu)是(shi)說(shuo)主(zhu)電(dian)機(ji)速(su)度(du)高(gao)於(yu)從(cong)電(dian)機(ji)的(de)速(su)度(du)，因(yin)此(ci)鏈(lian)條(tiao)處(chu)於(yu)拉(la)伸(shen)狀(zhuang)態(tai)，位(wei)移(yi)傳(chuan)感(gan)器(qi)根(gen)據(ju)拉(la)伸(shen)程(cheng)度(du)相(xiang)應(ying)地(di)給(gei)出(chu)的(de)信(xin)號(hao)逐(zhu)漸(jian)減(jian)小(xiao)，主(zhu)變(bian)頻(pin)器(qi)降(jiang)速(su)，直(zhi)至(zhi)最(zui)終(zhong)和(he)從(cong)變(bian)頻(pin)器(qi)處(chu)於(yu)同(tong)速(su)狀(zhuang)態(tai)。但(dan)是(shi)由(you)於(yu)電(dian)機(ji)和(he)鏈(lian)條(tiao)之(zhi)間(jian)是(shi)皮(pi)帶(dai)傳(chuan)動(dong)，所(suo)以(yi)從(cong)電(dian)機(ji)會(hui)有(you)丟(diu)轉(zhuan)現(xian)象(xiang)從(cong)而(er)造(zao)成(cheng)實(shi)際(ji)應(ying)用(yong)的(de)主(zhu)從(cong)不(bu)同(tong)步(bu)，鏈(lian)條(tiao)有(you)被(bei)拉(la)伸(shen)的(de)噪(zao)音(yin)，改(gai)進(jin)的(de)方(fang)法(fa)是(shi)加(jia)上(shang)PG速度閉環精確速度控製轉速死循環後，噪音幾乎消失。本文選用的台達B係列變頻器采用無傳感器向量控製方式，具有自動轉矩補償，轉差補償功能，啟動轉矩在1Hz時可達150%，過載能力150%額定電流持續一分鍾，輸出頻率0.1Hz至400Hz可調，調節範圍寬，同時具有開環向量、死循環向量等各種控製方式。自動噴塗設備采用的是V/F+PG速su度du死si循xun環huan控kong製zhi，其qi目mu的de就jiu是shi解jie決jue其qi輸shu送song待dai噴pen塗tu物wu時shi鏈lian條tiao堆dui積ji或huo斷duan裂lie問wen題ti，經jing用yong戶hu使shi用yong，效xiao果guo非fei常chang好hao，大da大da提ti高gao了le生sheng產chan效xiao率lv，有you效xiao地di解jie決jue了le生sheng產chan過guo程cheng出chu現xian的de鏈lian條tiao堆dui積ji或huo斷duan裂lie問wen題ti。 4 同步控製變頻器調速係統構成 主、從電機同步的變頻器調速係統結構示意圖如1所示。
