CN101499753A - Brushless servo control system and driving apparatus based on permanent magnet brushless DC motor - Google Patents
Brushless servo control system and driving apparatus based on permanent magnet brushless DC motor Download PDFInfo
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- CN101499753A CN101499753A CNA2009100794128A CN200910079412A CN101499753A CN 101499753 A CN101499753 A CN 101499753A CN A2009100794128 A CNA2009100794128 A CN A2009100794128A CN 200910079412 A CN200910079412 A CN 200910079412A CN 101499753 A CN101499753 A CN 101499753A
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Abstract
The invention provides a driving device of a permanent magnetic brushless direct current (DC) servo motor, comprising a control unit, an interface unit and a driving unit; the control unit is connected with the driving unit by the interface unit; the control unit adopts a field programmable gate array (FPGA) and has high integration, low power dissipation and good operation real-time performance; the key point of the design of the control system is the control to three loops: a current loop, a speed loop and a position loop and the integral matching of the three loops so that three control modes of moment, speed and location can be realized; the control system can be used for simple speed regulation and also can be applied to high-precision positioning control situations; and when the brushless servo control system of the driving device is adopted, the current detection feedback signal and the magnetic pole detection feedback signal are directly obtained from the feedback element of the permanent magnetic brushless DC motor, thus being different from the traditional sampling method of the feedback signal of the servo system, thereby ensuring the signal sampling precision and reducing the cost.
Description
Technical field:
The invention belongs to industrial automation control field, particularly relating to a kind of is key control unit with FPGA, is the brushless servo control system and the drive unit of controlling object with the DC permanent-magnetic brushless servomotor.
Background technology:
Along with the continuous progress and the rapid development of economy of China's science and technology, at industrial control field, the application of servo system is more and more wider.According to the national conditions of China, what need under a large amount of situations to use is small automatic equipment, requires low-costly, but satisfies the high accuracy of control automatically and response fast again.In order to adapt to this national conditions, the inventor is that motor body carries out design improvement to the controlling object of servo system at first, present widely used AC servo motor is owing to use band U, V, the incremental optical-electricity encoder of W signal is as the detecting element of position of magnetic pole, cost is high, therefore the inventor at first improves for the structure of permanent-magnet brushless DC electric machine, just on its stator, go out 60 ° of three mutual deviations or 120 ° of mechanical angles and the very high groove of precision during fabrication by die stamping, be used to install switching Hall components, as the position of magnetic pole feedback element, and avoid using expensive band U, V, the incremental encoder of W signal, the motor manufacturing cost is reduced greatly, and groove forms by die stamping, and precision also can be guaranteed; On motor stator, go out the groove of 60 ° or 120 ° mechanical angles of three mutual deviations simultaneously equally by die stamping, be used to install the current mode Hall element, as the electric current loop sampling element, be used for detecting the phase current of motor, changed traditional current sample method, making permanent-magnet brushless DC electric machine be used for high-precision positioning control occasion simultaneously becomes possibility.
In the past with the electric drive system of permanent-magnet brushless DC electric machine as controlling object, though cost is low, but traditional brshless DC motor, owing to there is not the current sample element, therefore can't carry out phase current sampling, therefore the Electric Traction occasion that mostly only is used for simple speed governing, its driver adopt electric current loop and the two closed-loop controls of speed ring more, are difficult to be applied in high accuracy controlling filed such as positioning control and close.However, because permanent-magnet brushless DC electric machine has simple in structure, reliable, easy to maintenance, not limited by mechanical commutation, the characteristics of good speed adjustment features, and, in recent years along with the development of microelectric technique, MCU, DSP, FPGA has obtained extensive use, particularly the appearance of FPGA, its volume is little, capacity is big, can integrated to greatest extent peripheral logic, can realize the control algolithm of complexity simultaneously, can improve the global reliability and the control precision of system, performance is become better and better, and capacity is increasing, and cost is more and more lower, therefore FPGA is applied in the control of servo system, after permanent magnet brushless DC motor structure improved, in small automatic equipment or low-cost application, have broad application prospects based on the brushless servo control system of permanent-magnet brushless DC electric machine.
Summary of the invention:
The present invention is directed to above-mentioned permanent-magnet brushless DC electric machine, providing a kind of is the drive unit and the brushless servo control system that adopts this drive unit of the servo system of controlling object with the permanent-magnet brushless DC electric machine, it is key control unit with FPGA, three closed-loop controls of position ring, speed ring and electric current loop have been realized, can reach the superior function of AC servo, can be applied in the control occasion of high accuracy such as torque, speed, position, high performance requirements, production cost is again well below AC servo simultaneously.
Technical scheme of the present invention is as follows:
A kind of drive unit of DC permanent-magnetic brushless servomotor, comprise control unit, interface unit, driver element, control unit is connected with driver element by interface unit, described control unit adopts on-site programmable gate array FPGA, it is characterized in that described FPGA is current closed-loop, speed closed loop, a position closed loop second-order system all linked with one another from inside to outside;
The module that forms current closed-loop among the described FPGA comprises 2/3 vector modular converter of coupled in series successively, the current closed-loop control module, PWM current control module and gate-drive logic: the current detecting feedback signal is imported the two-way current signal to FPGA after analog-to-digital conversion, generate three road current feedback signals through 2/3 vector modular converter, feedback input end as the current closed-loop control module, the output signal of speed closed loop control module is as the instruction input of current closed-loop control module, compare the input of back as the current closed-loop control module, the output signal that is generated by the computing of current closed-loop control module enters the PWM current control module, after the output signal of PWM current control module enters gate-drive logic, export six tunnel drive signals;
The module that forms speed closed loop among the described FPGA comprises phase change logic processing module, frequency multiplication phase demodulation module, frequency acquisition module, speed closed loop control module: the input input magnetic pole of phase change logic processing module detects feedback signal, output termination speed closed loop control module is as the foundation of speed closed loop vector control conversion; The input input position of frequency multiplication phase demodulation module detects feedback signal, be used to detect the motor direction of rotation, simultaneously for improving the accuracy of detection of frequency acquisition module, after this module is done the quadruple processing to the position probing feedback signal, one output termination frequency acquisition module is by the final feedback input end that produces the digital signal that is directly proportional with motor speed as the speed closed loop control module of frequency acquisition module; The instruction input of speed closed loop control module is the output of position closed loop control module, compare the input of back, be the instruction input of current closed-loop control module by the output signal of speed closed loop control module computing generation as the speed closed loop control module.
The module that forms position closed loop among the described FPGA comprises position feedback counting module, position command counting module and position closed loop control module: another output of the input termination frequency multiplication phase demodulation module of position feedback counting module, this module real time record motor increment angle, the result who is produced is the feedback input end of position closed loop control module; The input of position command input position instruction count module, by the instruction input of position command counting module conversion back as the position closed loop control module, compare the input of back, be the instruction input of speed closed loop control module by the output signal of position closed loop control module computing generation as the position closed loop control module.
The control algolithm that the algorithm of described speed closed loop control module adopts PD control to separate with PID control, on the basis of PID control, read current closed-loop deviate and position closed loop deviate in real time, in control, set two threshold values: current deviation threshold value and position deviation threshold value, this threshold value is drawn by experiment; When the current closed-loop deviate greater than the current deviation threshold value of setting or position closed loop deviate during greater than the position deviation threshold value set, adopt the PD algorithm, when the current closed-loop deviate during smaller or equal to the position deviation threshold value set, adopts pid algorithm smaller or equal to the current deviation threshold value of setting or position closed loop deviate; Described position closed loop deviate is the deviation between position feedback count value and the position command count value, the a certain moment of the current detection signal value that described current closed-loop deviate is any phase and next deviation constantly, a certain moment was determined by system clock with next time interval constantly.
The position command counting module is by the sinusoidal wave ROM output pure sine wave position command of tabling look-up, described position command counting module is simultaneously by the triangular wave ROM output triangular wave position command of tabling look-up, the two is superimposed to be " hybrid sine wave " position command, as the compensation input of speed closed loop control module.
The P control algolithm is adopted in the computing of described position closed loop control module, and pid control algorithm is adopted in the computing of described current closed-loop control module.
Described FPGA comprises parameter setting/mode selection module, and has a communication interface of communicating by letter with host computer, parameter setting/mode selection module is connected with this communication interface, described parameter setting/mode selection module is provided with parameter setting and model selection instruction, is used to select and control the startup and the operational factor of each closed loop.
Described FPGA also comprises the selftest module that resets, fault processing module and Dead Time control module, and the output of three modules links to each other with the input of gate-drive logic respectively.
The communication interface of described FPGA and host computer is SPI and/or RS232 and/or RS422.
Described interface unit adopts light lotus root buffer circuit; driver element comprises switching power supply and electric-motor drive unit two parts; switching power supply provides power supply for whole system; electric-motor drive unit is by filter circuit; the dynamic braking loop; inversion circuit and protective circuit are formed; filter circuit input termination DC power supply; output dynamic braking in parallel loop; described dynamic braking loop is to be connected in series a power switch pipe again after a current-limiting resistance and a diode parallel connection; dynamic braking loop output is connected in parallel by six power switch pipes and six three-phase bridge type inverse loops that diode is formed again, and described protective circuit is that a current-limiting resistance of serial connection and a diode are gone up in every output mutually of inversion circuit.
Adopt the brushless servo control system of above-mentioned drive unit, it is characterized in that comprising the drive unit of described DC permanent-magnetic brushless servomotor and be installed on feedback element on the DC permanent-magnetic brushless servomotor, described feedback element is to be installed on current mode Hall element on the motor groove and discrete switching Hall components, described FPGA directly obtains the current detecting feedback signal from the current mode Hall element that is installed on the DC permanent-magnetic brushless servomotor, directly obtains magnetic pole detection feedback signal from the discrete switching Hall components that is installed on the DC permanent-magnetic brushless servomotor.
Described feedback element also comprises the incremental encoder of installing with motor coaxle, and described FPGA obtains the position probing feedback signal from incremental encoder.
Technique effect of the present invention:
Drive unit of the present invention and adopt the brushless servo control system of this drive unit under the prerequisite that reduces manufacturing cost, guarantees and has improved the control precision of system simultaneously, is particularly useful for small automatic equipment or low-cost application.Be embodied in:
1. the control unit of drive unit of the present invention adopts present state-of-the-art on-site programmable gate array FPGA, the integrated level height, low in energy consumption, the computing real-time is good, in its design, emphasis can be realized three kinds of control models of moment, speed and position around the realization of three ring controls of current closed-loop, speed closed loop, position closed loop and their overall co-ordination, not only can be used for simple speed governing occasion, and can be applicable to high-precision positioning control occasion; Particularly, FPGA is a current closed-loop, speed closed loop, the second-order system that position closed loop is all linked with one another from inside to outside: the instruction input of position closed loop is control command, described control command is pulse train instruction or data command, the feedback input is the motor angle increment size, after both compare, be input to the instruction input as speed closed loop after computing of position closed loop control module, the feedback input of speed closed loop is the velocity amplitude of the motor anglec of rotation displacement of frequency acquisition module output, the two back input speed closed-loop control module instruction as current closed-loop after computing of comparing is imported, the feedback input of current closed-loop is the electric machine phase current value, the two back input current closed-loop control module of comparing, the output of current closed-loop is compared with triangular carrier behind transform vector, form six road PWM base drive signal of change in duty cycle, finally drive inverter and drive the motor rotation.Further, can also control three closed loops and have three kinds of mode of operations by the parameter setting/mode selection module among the FPGA, when selecting the Torque Control pattern, electric current loop work; When selecting speed control mode, electric current loop and speed ring work; When selecting the positioning control pattern, three closed loops are all worked.
2. the control unit of system directly obtains current detecting feedback signal and magnetic pole detection feedback signal from current mode Hall element and the discrete switching Hall components that is installed on the motor groove, be different from the feedback signal method of sampling of traditional servo system, the current sample of traditional AC servo is by being to realize by the dividing potential drop that detects on the sampling resistor of string in winding, current sample method advantage of the present invention is transducer and motor windings noncontact, has avoided the influence to the motor windings electrical characteristics; Simultaneously traditional servo system adopts the incremental optical-electricity encoder of expensive band U, V, W signal to obtain magnetic pole and detects feedback signal and position probing feedback signal, the present invention adopts discrete switching Hall components directly to obtain magnetic pole and detects feedback signal, and adopt common incremental encoder to obtain the position probing feedback signal, therefore not only guaranteed the signal sampling precision but also reduced cost.
3. be the control precision of further raising system, assurance system output torque under rated speed is constant, the present invention is at the input of speed closed loop, on the basis of traditional sinusoidal wave PWM control, a triangular wave with cycles such as sine waves has superposeed, make to produce the spike that is higher than its amplitude on sinusoidal wave crest and the trough, this can be referred to as permanent torque control again.Because in actual use, can find, motor is near rated speed the time, moment output meeting step-down, the reason that this situation produces is that motor every phase excitation time when high speed rotating shortens, and the induction reactance in the motor windings has stoped the normal flow mistake of electric current, reduce the magnetic field intensity of excitation, thereby made the motor output torque diminish.At this defective, after the present invention adopted triangular wave compensation sine wave, motor improved the exciting current value automatically when high speed rotating, to remedy the current attenuation that induction reactance is brought, can realize the real permanent torque operation of motor.
4, servo-control system is except that hardware platform, also need control algolithm, control algolithm is one of key technology of decision servo system performance quality, the controlling object of brushless servo system is a brshless DC motor, and the Mathematical Modeling of brshless DC motor is not simple linear model, and have non-linear, the time characteristics such as change, coupling, be difficult to effectively control with traditional control method based on object model.The conventional control algolithm of servo system generally is to be controlled to be the basis with PID, and in PID control, the effect of integral element is to eliminate static receiver error, improves the control precision of system.If but just introduce integral element in the bigger starting stage of systematic error, can cause the integration accumulation of PID, thereby cause the overshoot that system is bigger, cause the instability of system.The present invention is directed to the characteristics of PID control, designed the control method that a kind of PD control separates with PID control, promptly when systematic error is big, adopt PD control, eliminate integral element, avoid because the integration accumulation causes the dynamic error that system is bigger, when system enters less stage of adjusting of error, introduce integral element again,, improve control precision with quick elimination static receiver error.Experiment shows, adopt that this control can avoid effectively that the motor low cruise occurs creep, jitter phenomenon, the shortcoming of shaking appears in high-speed cruising easily, makes brushless servo system dynamic characteristic and static characteristic obtain better performance, has improved the control precision of system.
Description of drawings
Fig. 1 is the theory diagram of driving device controls unit F PGA of the present invention.
Fig. 2 is a driving device structure schematic diagram of the present invention.
Fig. 3 is the sinusoidal wave waveform schematic diagram of triangular wave compensation of the present invention.
Fig. 4 is a brushless servo system configuration schematic diagram of the present invention.
Embodiment
Referring to the operation principle block diagram of Fig. 1 for the FPGA of driving device controls of the present invention unit employing.Described FPGA is current closed-loop, speed closed loop, a position closed loop second-order system all linked with one another from inside to outside, and three closed loops are realized by following module:
The current closed-loop module comprises 2/3 vector modular converter of coupled in series successively, the current closed-loop control module, PWM current control module and gate-drive logic: the current detecting feedback signal is imported two-way current signal FBU-I and FBV-I to FPGA after analog-to-digital conversion, at first enter 2/3 vector modular converter and generate three road current feedback signals, this current feedback signal is as the feedback input end of current closed-loop control module, the instruction input of current closed-loop control module is the output signal of the speed closed loop control module in the speed closed loop module, both compare back input current closed-loop control module, after P control computing, current closed-loop control module output signal and triangular wave (carrier wave, be different from above-mentioned triangular wave position command) enter the PWM current control module after relatively, after the output signal of PWM current control module enters gate-drive logic, export six tunnel drive signals.FPGA has parameter setting/mode selection module, and parameter setting/mode selection module is provided with parameter setting and model selection instruction, is used to select and control the startup and the operational factor of each closed loop.The instruction input of the current closed-loop control module here can also pass through parameter setting/mode selection module input external command signal, when only selecting the Torque Control pattern, can not work by this module controls speed ring and position ring.
The speed closed loop module comprises phase change logic processing module, frequency multiplication phase demodulation module, frequency acquisition module, speed closed loop control module: the input input magnetic pole of phase change logic processing module detects feedback signal FBU/FBV/FBW, output termination speed closed loop control module is as the foundation of speed closed loop vector control conversion; The input input position of frequency multiplication phase demodulation module detects feedback signal ENA/ENB, be used to detect the motor direction of rotation, simultaneously for improve frequency acquisition module accuracy of detection, after this module is done 4 process of frequency multiplication to position detection signal, one of them output termination frequency acquisition module is by the final feedback input end that produces the digital signal that is directly proportional with motor speed as the speed closed loop control module of frequency acquisition module; The instruction input of speed closed loop control module is the output of position closed loop control module, it is 12 position digital signals of reflection motor angle error, both compare the input of back as the speed closed loop control module, are the instruction input of current closed-loop control module by the output signal of speed closed loop control module computing generation.The instruction input of the speed closed loop control module here can also pass through parameter setting/mode selection module input external command signal, when selecting speed control mode, does not work by parameter setting/mode selection module control position ring.
The position closed loop module comprises position command counting module, position feedback counting module, position closed loop control module: another output of the input termination frequency multiplication phase demodulation module of position feedback counting module, this module real time record motor increment angle, the result who is produced is the feedback input end of position closed loop control module; The input of position command input position instruction count module, by the instruction input of position command counting module conversion back as the position closed loop control module, both compare the input of back as the position closed loop control module, are the instruction input of speed closed loop control module by the output signal of position closed loop control module computing generation; Position probing feedback signal ENA, the ENB of two-way quadrature is through frequency multiplication phase demodulation module in-position feedback count module also, the outgoing position feedback signal, the position command of outside input is through position command counting module outgoing position command signal, position feed back signal and position command signal compare the input of back as the position closed loop control module, are the instruction input of speed closed loop control module by the output signal of position closed loop control module computing generation.When selecting the positioning control pattern of parameter setting/mode selection module, three control rings are all worked.
The control algolithm that on the algorithm of above-mentioned speed closed loop control module, adopts PD control to separate with PID control.Traditional speed ring pid algorithm all has significant limitation at parameter self-tuning and motor operation chance sudden change load, and main cause is that parameter is once adjusted back curing, is difficult to meet the demands in the very fast occasion of time variation.The control algolithm that PD control separates with PID control is on the basis of PID control, reads current closed-loop deviate and position closed loop deviate in real time, sets two threshold values in control: current deviation threshold value and position deviation threshold value, and this threshold value is drawn by experiment; When the current closed-loop deviate greater than the current deviation threshold value of setting or position closed loop deviate during greater than the position deviation threshold value set, adopt the PD algorithm, when the current closed-loop deviate during smaller or equal to the position deviation threshold value set, adopts pid algorithm smaller or equal to the current deviation threshold value of setting or position closed loop deviate; Described position closed loop deviate is the deviation between position feedback count value and the position command count value, the a certain moment of the current detection signal value that described current closed-loop deviate is any phase and next deviation constantly, a certain moment was determined by system clock with next time interval constantly.
The transfer function of separate type PID control can be expressed as
U in the formula (k) is the k output variable of controller constantly; Kp, Ki, Kd are respectively proportionality coefficient, integral coefficient and differential coefficient; E (K) be current time position feedback count value with difference or any current time current detection signal value mutually of position command count value with next clock current detection signal value poor constantly; E (k-1) be sampling instant last time position feedback count value with difference or any sampling instant last time current detection signal value mutually of position command count value with next clock current detection signal value poor constantly
A is the switching coefficient of quadrature components, and condition is:
| e (k) |〉ε; A=0 adopts PD control;
| e (k) |≤ε; A=1 adopts PID control
Current deviation threshold value or the position deviation threshold value of ε for setting drawn by experiment.
The position closed loop control system adopts the P control algolithm, and the current closed-loop control system adopts pid control algorithm.
As shown in Figure 3, for improving the stationarity of the output torque of motor low-speed running and the output torque that runs up, the present invention adopts sinusoidal wave " hybrid sine wave " control method of triangular wave (position command is different from carrier wave) compensation.The position command counting module is by the sinusoidal wave ROM output pure sine wave position command of tabling look-up, this counting module is simultaneously by the triangular wave ROM output triangular wave position command of tabling look-up, the two is superimposed, is " hybrid sine wave " position command, as the compensation input of speed closed loop control module.
Referring to Fig. 2 is driving device structure schematic diagram of the present invention.Comprise control unit, interface unit, driver element, control unit is connected with driver element by interface unit, and control unit is the fpga chip of the drive unit of above-mentioned permanent-magnet brushless DC electric machine, and interface unit is a light lotus root buffer circuit.Driver element comprises switching power supply and electric-motor drive unit two parts; switching power supply provides power supply for whole system; electric-motor drive unit is by filter circuit DC-AC inversion circuit; dynamic braking loop and protective circuit are formed; by C1; C2; the input termination direct current DC+ of the filter circuit that R2 forms; DC-; output dynamic braking in parallel loop; the dynamic braking loop is to be connected in series a power switch pipe again after a current-limiting resistance R1 and a diode parallel connection; two ends, dynamic braking loop are connected in parallel by six power switch pipes and six three-phase bridge type inverse loops that diode is formed, and K switch of serial connection is gone up in every output mutually; a current-limiting resistance R3 and a diode are as protective circuit.
Referring to Fig. 4 is brushless servo control system structural representation of the present invention, the drive unit that comprises above-mentioned DC permanent-magnetic brushless servomotor, M is a permanent-magnet brushless DC electric machine, wherein driver element connects servo permanent-magnet brushless DC electric machine M, has groove on the sidewall of the stator of the permanent-magnet brushless DC electric machine of present embodiment with respect to rotor, two kinds of feedback units of current measuring element and magnetic pole detecting element separate respectively and are installed in the motor groove, and position detecting element and motor coaxle are installed; The present embodiment current measuring element is current mode Hall element HALL1, and the magnetic pole detecting element is discrete switching Hall components HALL2, and position detecting element is incremental encoder PG.FPGA directly obtains the current detecting feedback signal from the current mode HALL1 that is installed on the DC permanent-magnetic brushless servomotor, directly obtain magnetic pole detection feedback signal from the discrete switching mode HALL2 that is installed on the permanent-magnet brushless DC electric machine, obtain the position probing feedback signal from incremental encoder PG with the motor coaxle installation.
Should be pointed out that the above embodiment can make those skilled in the art more fully understand the invention, but do not limit the present invention in any way creation.Therefore, although this specification has been described in detail the invention with reference to drawings and Examples,, it will be appreciated by those skilled in the art that still and can make amendment or be equal to replacement the invention; And all do not break away from the technical scheme and the improvement thereof of the spirit and scope of the invention, and it all is encompassed in the middle of the protection range of the invention patent.
Claims (10)
1. the drive unit of a DC permanent-magnetic brushless servomotor, comprise control unit, interface unit, driver element, control unit is connected with driver element by interface unit, described control unit adopts on-site programmable gate array FPGA, it is characterized in that described FPGA is current closed-loop, speed closed loop, a position closed loop second-order system all linked with one another from inside to outside;
The module that forms current closed-loop among the described FPGA comprises 2/3 vector modular converter of coupled in series successively, the current closed-loop control module, PWM current control module and gate-drive logic: the current detecting feedback signal is imported the two-way current signal to FPGA after analog-to-digital conversion, generate three road current feedback signals through 2/3 vector modular converter, feedback input end as the current closed-loop control module, the output signal of speed closed loop control module is as the instruction input of current closed-loop control module, compare the input of back as the current closed-loop control module, the output signal that is generated by the computing of current closed-loop control module enters the PWM current control module, after the output signal of PWM current control module enters gate-drive logic, export six tunnel drive signals;
The module that forms speed closed loop among the described FPGA comprises phase change logic processing module, frequency multiplication phase demodulation module, frequency acquisition module, speed closed loop control module: the input input magnetic pole of phase change logic processing module detects feedback signal, output termination speed closed loop control module is as the foundation of speed closed loop vector control conversion; The input input position of frequency multiplication phase demodulation module detects feedback signal, be used to detect the motor direction of rotation, simultaneously for improving the accuracy of detection of frequency acquisition module, after this module is done the quadruple processing to the position probing feedback signal, one output termination frequency acquisition module is by the final feedback input end that produces the digital signal that is directly proportional with motor speed as the speed closed loop control module of frequency acquisition module; The instruction input of speed closed loop control module is the output of position closed loop control module, compare the input of back, be the instruction input of current closed-loop control module by the output signal of speed closed loop control module computing generation as the speed closed loop control module.
The module that forms position closed loop among the described FPGA comprises position feedback counting module, position command counting module and position closed loop control module: another output of the input termination frequency multiplication phase demodulation module of position feedback counting module, this module real time record motor increment angle, the result who is produced is the feedback input end of position closed loop control module; The input of position command input position instruction count module, by the instruction input of position command counting module conversion back as the position closed loop control module, compare the input of back, be the instruction input of speed closed loop control module by the output signal of position closed loop control module computing generation as the position closed loop control module.
2. the drive unit of DC permanent-magnetic brushless servomotor according to claim 1, the algorithm that it is characterized in that described speed closed loop control module adopts PD control to control the control algolithm of separating with PID, on the basis of PID control, read current closed-loop deviate and position closed loop deviate in real time, in control, set two threshold values: current deviation threshold value and position deviation threshold value, this threshold value is drawn by experiment; When the current closed-loop deviate greater than the current deviation threshold value of setting or position closed loop deviate during greater than the position deviation threshold value set, adopt the PD algorithm, when the current closed-loop deviate during smaller or equal to the position deviation threshold value set, adopts pid algorithm smaller or equal to the current deviation threshold value of setting or position closed loop deviate; Described position closed loop deviate is the deviation between position feedback count value and the position command count value, the a certain moment of the current detection signal value that described current closed-loop deviate is any phase and next deviation constantly, a certain moment was determined by system clock with next time interval constantly.
3. the drive unit of DC permanent-magnetic brushless servomotor according to claim 1 and 2, it is characterized in that the position command counting module is by the sinusoidal wave ROM output pure sine wave position command of tabling look-up, described position command counting module is simultaneously by the triangular wave ROM output triangular wave position command of tabling look-up, the two is superimposed to be " hybrid sine wave " position command, as the compensation input of speed closed loop control module.
4. the drive unit of DC permanent-magnetic brushless servomotor according to claim 2 is characterized in that the P control algolithm is adopted in the computing of described position closed loop control module, and pid control algorithm is adopted in the computing of described current closed-loop control module.
5. the drive unit of DC permanent-magnetic brushless servomotor according to claim 4, it is characterized in that described FPGA comprises parameter setting/mode selection module, and has a communication interface of communicating by letter with host computer, parameter setting/mode selection module is connected with this communication interface, described parameter setting/mode selection module is provided with parameter setting and model selection instruction, is used to select and control the startup and the operational factor of each closed loop.
6. the drive unit of DC permanent-magnetic brushless servomotor according to claim 5, it is characterized in that described FPGA also comprises the selftest module that resets, fault processing module and Dead Time control module, the output of three modules links to each other with the input of gate-drive logic respectively.
7. the drive unit of DC permanent-magnetic brushless servomotor according to claim 6, the communication interface that it is characterized in that described FPGA and host computer are SPI and/or RS232 and/or RS422.
8. the drive unit of DC permanent-magnetic brushless servomotor according to claim 7; it is characterized in that described interface unit adopts light lotus root buffer circuit; driver element comprises switching power supply and electric-motor drive unit two parts; switching power supply provides power supply for whole system; electric-motor drive unit is by filter circuit; the dynamic braking loop; inversion circuit and protective circuit are formed; filter circuit input termination DC power supply; output dynamic braking in parallel loop; described dynamic braking loop is to be connected in series a power switch pipe again after a current-limiting resistance and a diode parallel connection; dynamic braking loop output is connected in parallel by six power switch pipes and six three-phase bridge type inverse loops that diode is formed again, and described protective circuit is that a current-limiting resistance of serial connection and a diode are gone up in every output mutually of inversion circuit.
9. adopt the brushless servo control system of one of claim 1-8 described drive unit, it is characterized in that comprising the drive unit of described DC permanent-magnetic brushless servomotor and be installed on feedback element on the DC permanent-magnetic brushless servomotor, described feedback element is to be installed on current mode Hall element on the motor groove and discrete switching Hall components, described FPGA directly obtains the current detecting feedback signal from the current mode Hall element that is installed on the DC permanent-magnetic brushless servomotor, directly obtains magnetic pole detection feedback signal from the discrete switching Hall components that is installed on the DC permanent-magnetic brushless servomotor.
10. brushless servo control system according to claim 9 is characterized in that described feedback element also comprises the incremental encoder of installing with motor coaxle, and described FPGA obtains the position probing feedback signal from incremental encoder.
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| CN2009100794128A Expired - Fee Related CN101499753B (en) | 2009-03-10 | 2009-03-10 | Brushless servo control system and driving apparatus based on permanent magnet brushless DC motor |
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Effective date of registration: 20151009 Address after: 213000, Jiangsu Wujin District, Changzhou province observation Town, Qin San village industrial concentration area Patentee after: Changzhou Hetai electrical Limited by Share Ltd Address before: 213011, Jiangsu Wujin District, Changzhou Province remote town, Qin new industrial concentration area Patentee before: Changzhou Hetai Motor Co., Ltd. |
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