Control system and method of a VFD-based pump and pump system
A control system and method of a VFD-based pump. The control system controls an electric motor via a VFD, and the electric motor drives the pump. The control system comprises: an anti-ripple injection module for injecting an anti-ripple signal into a control path, the anti-ripple signal causing pressure ripples in the pump output to be at least partially cancelled. Further a pump system, comprising: a VFD, an electric motor, and a pump, wherein the VFD comprises the control system stated above.
1. A control system of a variable frequency drive (VFD) based hydraulic pump, the control system controlling an electric motor via a VFD, the electric motor driving the pump, the control system comprising:
an anti-ripple injection module for injecting an anti-ripple signal into a control path, the anti-ripple signal causing pressure ripples in a pump output to be at least partially cancelled, wherein the anti-ripple signal is a periodic function of a rotation angle of a motor shaft; and
a current controller which receives a combination of a second control signal and a current feedback signal from a current sensor at an input of the electric motor, and provides a first control signal to the electric motor, wherein the second control signal is received from a speed controller which receives a combination of a third control signal and a speed feedback signal from a speed sensor at an output of the electric motor, wherein the third control signal is an output from a pressure controller;
wherein the anti-ripple injection module combines the anti-ripple signal with the second control signal and the current feedback signal at the current controller.
2. The control system according to claim 1 , further comprising the pressure controller which receives a combination of a fourth control signal and a pressure feedback signal from a pressure sensor at the output of the pump, and directly or indirectly provides the second control signal to the current controller.
3. The control system according to claim 1 , wherein parameters of the periodic function are adaptively determined from pressure measurements at the output of the pump and rotation speed measurements at the output of the electric motor.
4. The control system according to claim 3 , wherein the parameters of the periodic function are determined via a look-up table which maps multiple combinations of the pressure measurements and the rotation speed measurements to corresponding parameters of the periodic function.
5. The control system according to claim 3 , wherein the parameters of the periodic function are determined using an online adaptive algorithm in which, for each of the multiple combinations of the pressure measurements and the rotation speed measurements, the parameters of the periodic function are adaptively adjusted until the pressure ripples in the pump output are at least partially cancelled.
6. The control system according to claim 1 , wherein the pump is a piston pump, and the anti-ripple signal is represented as:
f (θ)= A 0 Cos(2 Nθ+θ 0 ),
wherein θ is the rotation angle of the motor shaft, N is the number of pistons, A 0 and θ 0 are parameters obtained from a lookup table.
7. A control method of a variable frequency drive (VFD) based pump, the control method controlling an electric motor via a VFD, the electric motor driving the pump, the control method comprising:
injecting an anti-ripple signal into a control path, the anti-ripple signal causing pressure ripples in a pump output to be at least partially cancelled, wherein the anti-ripple signal is a periodic function of a rotation angle of a motor shaft; and
receiving by a current controller a combination of a second control signal and a current feedback signal from a current sensor at an input of the electric motor, and providing a first control signal to the electric motor, wherein the second control signal is received from a speed controller which receives a combination of a third control signal and a speed feedback signal from a speed sensor at an output of the electric motor, wherein the third control signal is an output from a pressure controller;
wherein an anti-ripple injection module combines the anti-ripple signal with the second control signal and the current feedback signal at the current controller.
8. The control method according to claim 7 , wherein the control path further comprises the pressure controller which receives a combination of a fourth control signal and a pressure feedback signal from a pressure sensor at the output of the pump, and directly or indirectly provides the second control signal to the current controller.
9. The control method according to claim 7 , wherein parameters of the periodic function are adaptively determined from pressure measurements at the output of the pump and rotation speed measurements at the output of the electric motor.
10. The control method according to claim 9 , wherein the parameters of the periodic function are determined via a look-up table which maps multiple combinations of the pressure measurements and the rotation speed measurements to corresponding parameters of the periodic function.
11. The control method according to claim 10 , further comprising: establishing the look-up table in an off-line test method in which, for each of the multiple combinations of the pressure measurements and the rotation speed measurements, the parameters of the periodic function are adaptively adjusted until the pressure ripples in the pump output are at least partially cancelled, thus obtaining the parameters of the periodic function corresponding to each of the multiple combinations of the pressure measurements and the rotation speed measurements.
12. The control method according to claim 9 , wherein the parameters of the periodic function are determined using an online adaptive algorithm in which, for each of the multiple combinations of the pressure measurements and the rotation speed measurements, the parameters of the periodic function are adaptively adjusted until the pressure ripples in the pump output are at least partially cancelled.
13. The control method according to claim 7 , wherein the pump is a piston pump, and the anti-ripple signal is represented as:
f (θ)= A 0 Cos(2 Nθ+θ 0 ),
wherein θ is the rotation angle of the motor shaft, N is the number of pistons, A 0 and θ 0 are parameters obtained from a lookup table.
14. A pump system, comprising:
a variable frequency drive (VFD),
an electric motor,
a pump, and
a control system having:
an anti-ripple injection module for injecting an anti-ripple signal into a control path, the anti-ripple signal causing pressure ripples in a pump output to be at least partially cancelled, the anti-ripple signal is a periodic function of a rotation angle of a motor shaft, and wherein parameters of the periodic function are adaptively determined from pressure measurements at the output of the pump and rotation speed measurements at an output of the electric motor;
a current controller which receives a combination of a second control signal, a current feedback signal from a current sensor at an input of the electric motor, and the anti-ripple signal from the anti-ripple injection module, and outputs a first control signal to the electric motor, wherein the anti-ripple injection module combines the anti-ripple signal with the second control signal and the current feedback signal at the current controller;
a speed controller which receives a combination of a third control signal and a speed feedback signal from a speed sensor at the output of the electric motor, and outputs the second control signal to the current controller;
a pressure controller which receives a combination of a fourth control signal and a pressure feedback signal from a pressure sensor at an outlet of the pump, and provides the third control signal to the speed controller, wherein the fourth control signal is a target pressure value at the outlet of the pump.