CN101556307A - Permanent magnet synchronous motor control performance automation test system - Google Patents

Abstract

The invention relates to a permanent magnet synchronous motor control performance automation test system, which comprises a communication subsystem, a host computer subsystem, a permanent magnet synchronous motor control subsystem, and a direct-current machine control subsystem; wherein a control circuit in the permanent magnet synchronous motor control subsystem is connected with a RS232 switching bridge device in the communication subsystem; a Siemens 6 RA 7025 direct current speed governor in the direct-current machine control subsystem is connected with a communication card CBP2 of the direct current speed governor in the communication subsystem; the communication card CBP2 of the direct current speed governor in the communication subsystem and the RS232 switching bridge device are connected with a programmable controller (PLC) in the host computer subsystem; the communication is realized between the permanent magnet synchronous motor control subsystem and the host computer subsystem by the programming. The permanent magnet synchronous motor control performance automation test system has the advantages of increasing the reliability and capacity of resisting disturbance of the system, realizing the networking control of the whole system, increasing the real time of the system, being capable of simulating any load and saving the energy.

Description

A kind of permanent magnet synchronous motor control performance automation test system

Technical field

The invention belongs to the power electronics and power drives technical field, particularly a kind of permanent magnet synchronous motor control performance automation test system.

Background technology

In recent years, along with the high speed development of China's industry, industries such as metallurgy, the energy, chemical industry, manufacturing industry, traffic increase day by day to the demand of permagnetic synchronous motor, therefore it have been proposed more and more higher performance and quality index.Correlated performance (comprising indexs such as rotating speed, torque, power, efficient) to permagnetic synchronous motor and electric drive control system thereof is tested, seek the test that corresponding detection system finishes its machinery and electric property and have crucial meaning, it is imperative therefore to develop a kind of Auto-measuring System of Motor of advanced industrial control technology and infotech that adopts.

At present, the motor automatization test system of some unit developments is made up of the two large divisions usually both at home and abroad: data acquisition and control section, man-machine interface part.The system architecture complexity, and cost an arm and a leg, data communication, processing reliability and extensibility are not high.The loadtype that tested motor (permasyn morot) generally adopts has two kinds: Dyn. one resistor group, magnetic powder brake.This type will cause energy waste, the design unreasonable.In order to satisfy the needs of activity in production, the invention provides a kind of permanent magnet synchronous motor control performance automation test system, make the energy feedback grid, reduce energy dissipation; The speed of transmitting data simultaneously speeds, and guarantees the real-time Transmission of data; Multiple functions such as man-machine interface, logic control, network, data processing are integrated in the PC, make the original complicated network structure sharpening more that becomes, save installing space and cost greatly.

Summary of the invention

Deficiency and defective at existing permanent magnet synchronous motor control performance automation test system exists the invention provides a kind of permanent magnet synchronous motor control performance automation test system.

This system comprises communication subsystem, host computer subsystem, permagnetic synchronous motor control subsystem, DC MOTOR CONTROL subsystem; The hardware of communication subsystem comprises DC speed regulator Communication Card CBP2 and RS232 switching bridge device, the host computer subsystem comprises PC and Programmable Logic Controller (PLC), the permagnetic synchronous motor control subsystem comprises permagnetic synchronous motor and controller hardware circuit thereof, the controller hardware circuit comprises power circuit, control circuit, testing circuit and full bridge driving circuit, and the DC MOTOR CONTROL subsystem comprises direct current generator, isolating switch, fuse, A.C. contactor, three-phase reactor and Siemens 6RA7025 DC speed regulator; Control circuit connects the RS232 switching bridge device in the communication subsystem in the permagnetic synchronous motor control subsystem, Siemens 6RA7025 DC speed regulator in the DC MOTOR CONTROL subsystem connects the DC speed regulator Communication Card CBP2 in the communication subsystem, and the DC speed regulator Communication Card CBP2 in the communication subsystem is connected the Programmable Logic Controller (PLC) in the host computer subsystem with RS232 switching bridge device; Direct current generator main shaft in the DC MOTOR CONTROL subsystem connects the permagnetic synchronous motor main shaft in the permagnetic synchronous motor control subsystem; The host computer subsystem by communication subsystem with the permagnetic synchronous motor rated voltage, rated current, rated frequency, busbar voltage, number of pole-pairs, friction factor, moment of inertia, stator resistance, D axle inductance, Q axle inductance, rotor flux, the speed proportional gain of controller, rate integrating gain, the current ratio gain, the permagnetic synchronous motor control subsystem is passed in current integration gain, and the permagnetic synchronous motor control subsystem is control word, the actual speed of permagnetic synchronous motor, the phase current effective value, the phase voltage effective value passes to the host computer subsystem by communication subsystem; The host computer subsystem is given with DC generator speed by communication subsystem, the given DC MOTOR CONTROL subsystem that passes to of direct current generator torque, the DC MOTOR CONTROL subsystem is with the direct current generator actual speed, and direct current generator actual torque parameter passes to the host computer subsystem by communication subsystem; Power circuit is realized four quadrant operations of permagnetic synchronous motor by the switching of three-phase controlled rectifier circuit or the uncontrollable rectification circuit of three-phase in the permagnetic synchronous motor subsystem; When direct current generator during as the permagnetic synchronous motor load, be the single closed-loop fashion control of torque by changing the two closed-loop controls of DC speed regulator 6RA7025 in the DC MOTOR CONTROL subsystem, energy feeds back to electrical network by DC speed regulator 6RA7025.

1, host computer subsystem

The host computer subsystem comprises PC and Programmable Logic Controller (PLC), is used to realize process control and the data management and the demonstration of whole test system.PLC links to each other with Profibus bus in the communication subsystem by the DP mouth, and PC passes through the CP5613 integrated circuit board and links to each other with Profibus bus in the communication subsystem.The operating system of the man-machine interface of PC is realized by WinCC.Programmable Logic Controller adopts Siemens S7-300, and it has reliably, is easy to programming, antijamming capability is strong, but characteristics such as network optimization control.It mainly carries out the order of PC, finishes uploading and downloading of data.

2, permagnetic synchronous motor control subsystem

The permagnetic synchronous motor control subsystem comprises permagnetic synchronous motor and controller hardware circuit thereof, and the controller hardware circuit comprises power circuit, control circuit, testing circuit and full bridge driving circuit, can realize four quadrant operations of permagnetic synchronous motor.Power circuit comprises that three-phase controlled rectifier circuit or the uncontrollable rectification circuit of three-phase, soft starting circuit, pump rise circuit and inverter circuit; Testing circuit comprises three-phase current detection circuit, busbar voltage testing circuit and photoelectric encoder signal deteching circuit; Control circuit comprises digital-quantity input interface circuit, digital-quantity output interface circuit, SS (soft start) control circuit, DSP2812 control panel and CPLD (CPLD).Permagnetic synchronous motor control subsystem power circuit connects the first Fuse Type knife-like switch DZ1 for the three-phase supply end of incoming cables, and the first Fuse Type knife-like switch DZ1 connects uncontrollable rectification circuit of three-phase and three-phase controlled rectifier circuit respectively; Uncontrollable rectification circuit of three-phase or controlled rectification circuit connect soft starting circuit, and soft starting circuit connects pump respectively and rises circuit, and pump rises circuit and connects inverter circuit, and inverter circuit connects the permanent-magnetic synchronous motor stator winding.Testing circuit connects inverter circuit for the three-phase current detection circuit input end, output terminal connects control circuit DSP2812 control panel, the input signal of three-phase current detection circuit comes from the permanent-magnetic synchronous motor stator current signal that is positioned in the power circuit after the inverter circuit, outputs signal to DSP2812 control panel in the control circuit; Busbar voltage testing circuit input end connects the output terminal of soft starting circuit, output terminal connects control circuit DSP2812 control panel, the input signal of busbar voltage testing circuit comes from and is positioned at after the soft starting circuit in the power circuit, pump rises the bus voltage signal before the circuit, outputs signal to DSP2812 control panel in the control circuit; The input signal of photoelectric encoder signal deteching circuit come from photoelectric encoder (A, B, Z, U, V, W) six output outputs signal to the DSP2812 control panel in the control circuit, and motor speed and rotor-position signal are passed to control panel.Control circuit is the outer button that the input end of digital-quantity input interface circuit connects the permanent magnet synchronous machine control subsystem, output termination DSP2812 control panel; The input signal of digital-quantity output interface circuit comes from output termination DSP2812 control panel, A.C. contactor KM1, first D.C. contactor KM2 and the SS (soft start) control circuit in the output termination power circuit; The SS (soft start) control circuit input end connects the digital quantity output interface circuit, and output terminal connects soft starting circuit; The input end of fault-signal treatment circuit connects full bridge driving circuit, output termination DSP2812 control panel.The full bridge driving circuit input end connects the DSP2812 control panel, and output terminal connects inverter circuit and pump rises circuit.

(1) power circuit, being characterized in can be by the switching that realizes uncontrollable rectification circuit of three-phase and controlled rectification circuit that switches on and off of A.C. contactor KM1, the second Fuse Type knife-like switch DZ2 and the first D.C. contactor KM2, both can verify the performance test of universal frequency converter controlling schemes, also can realize the high-quality special converter controlling schemes performance test that power factor is 1, DC bus-bar voltage is stablized 600V, reversible operation.

A) three-phase controlled rectification or uncontrollable rectification circuit, the uncontrollable rectification circuit of three-phase is connected and composed successively by A.C. contactor KM1, three-phase inlet wire reactor L and diode (VT1-VT6) bridge rectifier module, and three-phase controlled rectifier circuit is connected and composed successively by the second Fuse Type knife-like switch DZ2,3 groups of IGBT (V1-V6) rectifier bridges and the first D.C. contactor KM2.Main effect is that industrial-frequency alternating current is rectified into galvanic current, and three-phase controlled rectifier circuit also can be realized the energy feedback grid.

B) soft starting circuit is made of first resistance R and the second D.C. contactor KM3 parallel connection of 1 Ω/100W, and its left end connects the fuse FR of 80A, and it is by the commutation circuit of D.C. contactor control.When main circuit began to switch on, adding resistance in main circuit was the resistance of 1K (30W), prevented that charging current excessive in the start-up course from damaging electric capacity.After energising a period of time, again this resistance is excised by D.C. contactor.

C) pump rises circuit, and pump rises circuit that circuit is in parallel by an IGBT and second resistance R 3 and diode VT2 and connects and constitute, and it is to be made of an energy consumption resistance and IGBT series connection.When motor braking is in generating state, at this moment that IGBT is open-minded, on energy consumption resistance.

D) inverter circuit, inverter circuit is made of with the inverter bridge of 3 groups of IGBT that controlled by pwm signal is in parallel the circuit of the first capacitor C d1 and second capacitor C d2 series connection, 6 groups of inverter circuits that IGBT constitutes by pwm signal control, mainly direct current is converted into the alternating current of required frequency, and can reduce harmonic component.Compare with common hard switching circuit, the soft switch circuit of employing has reduced switching loss, perceptual shutoff voltage spike, capacitive and has opened current spike and electromagnetic interference (EMI).

(2) testing circuit

A) three-phase current detection circuit, its input signal come from the permagnetic synchronous motor armature current signal that is positioned in the power circuit after the inverter circuit, size-70mA and+70mA between.Signal is converted into the voltage signal of 0-7V behind wave circuit after filtration, be 0V-3V by value behind two voltage offset electric circuits again, imports the I/O pin of DSP2812 chip at last.

B) busbar voltage testing circuit, its input signal come from and are positioned in the power circuit after the soft starting circuit, and pump rises the bus voltage signal before the circuit, and size is between 0-50mA.Signal is converted into the voltage signal of 0-5V after filtration behind the wave circuit, being 0V-3V by the value behind two voltage offset electric circuits, imports the I/O pin of DSP2812 chip at last.

C) photoelectric encoder signal deteching circuit, its input signal come from photoelectric encoder (A, B, Z, U, V, W) six output is (0-3.3V) by level conversion to the voltage swing of the I/O pin of DSP2812 again.

(3) control circuit, it is accepted from the peripheral circuit signal, and after corresponding computational analysis, circuit sends the control corresponding instruction to the periphery again, realizes the control reliable and stable to permagnetic synchronous motor.

A) digital-quantity input interface circuit, digital-quantity output interface circuit, the input end of digital-quantity input interface circuit connects the outer button of permanent magnet synchronous machine control subsystem, output termination DSP2812 control panel; The input signal of digital-quantity output interface circuit comes from output termination DSP2812 control panel, A.C. contactor KM1 and SS (soft start) control circuit in the output termination power circuit are used to realize that the simulating signal of importing gathers, changes and finish the control to some topworkies.

B) fault-signal treatment circuit, input end connects full bridge driving circuit, and output termination DSP2812 control panel is realized the processing of excess temperature signal, drive plate fault-signal.

C) SS (soft start) control circuit, input end connects the digital quantity output interface circuit, and output terminal connects soft starting circuit, realizes the control to the second D.C. contactor KM3 in the soft starting circuit.

(4) full bridge driving circuit, input end connects the DSP2812 control panel, and output terminal connects inverter circuit and pump rises circuit, and it accepts the pwm signal from the DSP2812 chip, behind CPLD and voltage signal amplifying circuit, outputs to drive plate.

In power circuit, the permagnetic synchronous motor control subsystem can realize four quadrant operations of permagnetic synchronous motor.The switching that realizes uncontrollable rectification circuit of three-phase and controlled rectification circuit that switches on and off by A.C. contactor KM1, the second Fuse Type knife-like switch DZ2 and the first D.C. contactor KM2, when the second Fuse Type knife-like switch DZ2 and the first D.C. contactor KM2 open-minded, A.C. contactor KM1 disconnects, and this moment, controlled rectification circuit was devoted oneself to work.When permagnetic synchronous motor drags direct current generator as prime mover, permagnetic synchronous motor runs on one, three quadrants.When direct current generator drags permagnetic synchronous motor, permagnetic synchronous motor is as the direct current generator load, and the electric energy of permagnetic synchronous motor can be realized the energy feedback grid by controlled rectification circuit, and permagnetic synchronous motor runs on two, four-quadrant.Traditional mode is the resistance consumption that rises circuit by pump, and this mode has been saved energy.

3, DC MOTOR CONTROL subsystem

The DC MOTOR CONTROL subsystem comprises direct current generator, isolating switch, fuse, A.C. contactor, three-phase reactor and Siemens 6RA7025 DC speed regulator, the three-phase supply end of incoming cables connects isolating switch, isolating switch connects fuse, the terminal A.C. contactor that connects of fuse, A.C. contactor connects three-phase reactor, the terminal Siemens 6RA7025 DC speed regulator that connects of three-phase reactor is gone into line segment, and Siemens 6RA7025 DC speed regulator leading-out terminal connects the armature winding of direct current generator; Can simulate the permagnetic synchronous motor load on the one hand to control of DC, in test, can realize the energy feedback grid, control direct current generator on the other hand and drive the permagnetic synchronous motor running, realize four quadrant operations of permagnetic synchronous motor as prime mover.Wherein Siemens's DC speed regulator 6RA7025 has adopted the Direct Current Governor System of reversible logic non-circulating.Direct current generator is the single closed-loop fashion control of torque by changing the two closed-loop controls of DC speed regulator 6RA7025 when doing the permagnetic synchronous motor load.When permagnetic synchronous motor dragged direct current generator, direct current generator added off-load to permagnetic synchronous motor, and this moment, direct current generator was in generating state, and energy feeds back to electrical network by DC speed regulator 6RA7025.And traditional off-load that adds is Dyn.-resistor group or magnetic powder brake, can cause the waste of energy like this, and this kind then saved energy.

Because DC speed regulator CBP2 communication board is connected on the Profibus bus, so host computer can directly be realized communication by bus with DC speed regulator, thereby that is to say that the operator can directly monitor and revise the fictitious load parameter that the DC speed regulator operational factor changes permagnetic synchronous motor from host computer.

Wherein Siemens's DC speed regulator 6RA7025 has adopted the Direct Current Governor System of reversible logic non-circulating, can realize four quadrant operations of motor.Logic control when acyclic flow control logic and current regulation loop are finished torque reindexing jointly.Just organizing bridge when work when working with anti-group bridge the direction of armature supply be different, the switching by positive and negative group of bridge has also just changed the direct current generator torque direction like this.Wherein the logic non-circulating controlling unit is mainly finished following 3 tasks:

I, whenever only allow one group of rectifier bridge that trigger pulse is arranged.

After having only cutout, rectifier bridge in II, the work could block its pulse, to prevent that the disappearance because of trigger pulse causes inverter failure when inversion is worked.

III, have only rectifier bridge when original work to turn-off fully and delay time after just open another group, in case circulation occurs.

Another group trigger pulse is blocked and is in blocking state when the work of one group of thyristor, so just fundamentally eliminates at the circulation of just organizing between bridge and the counter group of bridge, makes system's failure-free operation.In addition, DC speed regulator also is added with the additional function of parameter of electric machine optimization, torque amplitude limit etc., realizes the stable control of dc motor speed, the two closed-loop controls of torque and the single closed loop of torque.

Behind permagnetic synchronous motor and direct current generator connecting shaft, when direct current motor moves under rotating speed, the two closed-loop controls of torque, the control direct current generator drags the permagnetic synchronous motor operation, and permagnetic synchronous motor is as generator, and electric energy feeds back to electrical network by controlled rectification circuit.

4. communication subsystem

Communication subsystem is realized the function that the total system data transmit, it is made of three parts: first realizes the communication of PC and PLC, second portion is realized the function of host computer and the communication of DC MOTOR CONTROL subsystem, and third part realizes host computer and permagnetic synchronous motor control subsystem communication function.It is a class main website that PLC is set, and PC is two class main websites.

Motor after host computer operating system is revised or controller parameter value are by passing to the control performance that slave computer changes motor operating state or controller under the communication subsystem.Meanwhile, slave computer also can make the host computer that uploads to of the communication subsystem of relevant some parameters of motor operating state by this system operating personnel can monitor the state and the performance of motor operation in each experiment in real time.Here, authenticity and reliability that the property relationship of communication is held motor status to experiment operator are one of this automatization test system piths.Adopt the field bus communication technology, field controller and supervision computing machine are coordinated mutually, both embodied the characteristic of PLC high reliability, guarantee the stable operation of test, give full play to the strong characteristics of supervision computing machine complex calculation processing power again, effectively realized the supervision optimal control.

In the communication of PC and PLC, the CPU314C-2DP of the Siemens PLC C of use comprises two DP mouths in host computer, and one of them is the Profibus bus interface, therefore adopts general-purpose interface to connect and just can be connected to PLC on the bus.On the other hand, by CP5613 address card in the PCI slot that is inserted in PC PC is connected on the Profibus bus.In the operating system WinCC of PC, added WinCC communication driver SIMATIC S7 Protocol Suite, wherein just comprise the Profibus channel unit, as long as the variable that needs communication is set in passage, and the actual address among address of variable and the PLC coupled together, just can realize uploading and passing down of variate-value by PLC.

In host computer and DC MOTOR CONTROL subsystem communication part, employing be the Profibus bus communication.Siemens DC speed regulator 6RA7025 just can be connected on the bus by intrinsic communication interface, represents with bus communication normal when glimmer together in communication board CBP2 red, yellow, green etc.In the PLC of Siemens hardware configuration, to the communication format of DC speed regulator 6RA7250 employing PPO1, it has comprised two control word PZD_1 and PZD_2, and wherein PZD_1 is set to read control word, PZD_2 is set to write control word, and their address definition in the plc data module unit.Communication by these two words can realize the read and write of rotating speed in rotating speed, the two closed loops of torque or realize function to the read and write of torque in the single closed loop of torque.In program realizes, adopt Siemens PLC C communication special module SFC14, SFC15 to finish communication function.DC MOTOR CONTROL subsystem and host computer subsystem communication step are as follows:

Step 1: main circuit contact device action;

Step 2: the DC speed regulator on/off switch enables;

Step 3: the DC speed regulator terminal activates;

Step 4: DC speed regulator speed control word zero clearing;

Step 5: starter motor operation;

Step 6: judge whether to revise torque parameter is set,, turn to step 8 if not if carry out step 7;

Step 7: apply the torque that host computer is provided with to direct current generator;

Step 8: DC speed regulator is uploaded to host computer to the operational factor of direct current generator (actual motor torque and rotating speed);

Step 9: judge whether to shut down,, carry out step 10 if not if turn to step 11;

Step 10: turn back to step 7, circulate;

Step 11: shut down.

And in host computer and permagnetic synchronous motor control subsystem communication part, the serial communication modular realization permagnetic synchronous motor and the controller parameter thereof that have adopted the Profibus bus protocol to change serial port communicating protocol RS232 and DSP2812 are uploaded monitoring and are passed the function of revising down.

1) on the hardware, the switching bridge device that has adopted the Profibus bus to change serial port communicating protocol RS232, its interface is flat mouthful of 9 pins of RS232, and the communication interface of slave computer DSP RS232 is round mouth 8 pins.Here, the serial port communication line with special 8 needle interfaces-9 needle interface links to each other two equipment interfaces the communication function on realization host computer and the lower computer hardware.In the realization of communication, the fastest 12M/s that reaches of the data rate of Profibus bus, and be used for realizing that the Profibus bus changes the fastest 200HZ of reaching of switching bridge device transmission/receive frequency of serial port communicating protocol RS232.So just guaranteed the requirement of the real-time transmission of data, can be so that the operator can hold the running status of permagnetic synchronous motor rapidly and accurately.

2) on the software, realize communication by the programming of host computer PLC and the program of DSP2812 control panel.The interrupt mode that adopts DSP2812 control panel software has realized the half-duplex operation with slave computer, in the dsp software program, realized passing the verification of communication data under the host computer, at different situations such as communication failure processing module, communication normal process module, handle respectively, guarantee reliable and secure communication.

Permagnetic synchronous motor control subsystem and host computer subsystem communication step are as follows:

Host computer subsystem and permagnetic synchronous motor control subsystem communication master routine:

Step 1: receive the communicating interrupt signal;

Step 2: keep the scene intact and CPU interrupts associative operation;

Step 3: judge whether communication failure,, carry out step 5 if not if carry out step 4;

Step 4: call the communication failure processing module, carry out step 6 then;

Step 5: call the normal communication processing module;

Step 6: recover on-the-spot;

Step 7: interrupt returning.

Host computer subsystem and permagnetic synchronous motor control subsystem communication failure processing module program:

Step 1: remove the SCI data and accept buffer zone;

Step 2: send the reception error message to host computer;

Step 3: enable SCI and accept;

Step 4: the acceptance error zone bit resets;

Step 5: call end.

Host computer subsystem and permagnetic synchronous motor control subsystem communication normal process modular program:

Step 1: the communication packet classification is judged;

If accept the communication confirmation message, carry out step 2;

If acceptance is parameter of electric machine message 1,2 or control message, carry out step 3;

Step 2: reply the normal confirmation message of communication to host computer, carry out step 4 then;

Step 3: send normal data and reply message;

Step 4: enable SCI once more and accept;

Step 5: call end.

The following several respects advantage of this permasyn morot automatization test system:

1) power circuit of synchronous motor control subsystem both can have been verified the performance test of universal frequency converter controlling schemes, also can realize high-quality special converter controlling schemes performance test that power factor is 1, DC bus-bar voltage is adjustable, reversible operation.

When 2) permagnetic synchronous motor dragged direct current generator, this moment, direct current generator was in generating state, and energy feeds back to electrical network by DC speed regulator 6RA7025.And traditional off-load that adds is Dyn.-resistor group or magnetic powder brake, can cause the waste of energy like this, and this kind then saved energy.

3) in the realization of communication, the fastest 12M/s that reaches of the data rate of Profibus bus, and be used for realizing that the Profibus bus changes the fastest 200HZ of reaching of switching bridge device transmission/receive frequency of serial port communicating protocol RS232.So just guaranteed the requirement of the real-time transmission of data, can be so that the operator can hold the running status of permagnetic synchronous motor rapidly and accurately.

4) because multiple functions such as man-machine interface, logic control, network, data processing have been integrated in the PC, make the original complicated network structure sharpening more that becomes, can save installing space and cost greatly.

When 5) adopting control based on PC, hardware system can keep synchronously with state-of-the-art technology.And when adopting control based on PC, it is a memory source of sharing PC fully, can be described as the internal memory infinity so compare traditional PLC.Have clear superiority at aspects such as CPU, internal memories, when carrying out data processing task, when especially carrying out operation of analog quantity or user's algorithm, PC can reach 10 times of PLC or higher usually in operational performance.

6) in the present control system, universal demand network communication function or connect Ethernet.And PLC can need to add additional hardware when connecting Ethernet usually, thereby causes the rising of system price.By contrast, PC is integrated diverse network interface is as interfaces such as Profibus-DP, Ethernets; So cost is low, easy to connect just having had aspect the network communication of total system, characteristics such as technology, opening up.Native system adopts the Profibus net.

7) system has good expansion mechanism and extended interface.On the one hand in the support of guaranteeing to add safely, fast under the prerequisite of system compatibility to new equipment; Allow the user system to be carried out secondary development, upgrading on the other hand, adapt to new application demand rapidly, constantly improve existing function according to actual conditions.

8) system has the advantage of energy savings.Good hardware and software condition makes energy safe and reliablely to feed back to electrical network, reaches energy-conservation effect.

Description of drawings

Fig. 1 system construction drawing;

Fig. 2 permagnetic synchronous motor control subsystem structural drawing;

Fig. 3 power circuit figure;

Fig. 4 SS (soft start) control circuit figure;

Fig. 5 three-phase current detection circuit figure;

Fig. 6 busbar voltage testing circuit figure;

Fig. 7 photoelectric encoder ABZ signal deteching circuit figure;

Fig. 8 digital-quantity input interface circuit diagram;

Fig. 9 digital-quantity output interface circuit diagram;

Figure 10 fault-signal treatment circuit figure;

Figure 11 full bridge driving circuit figure;

Figure 12 DC MOTOR CONTROL subsystem structure figure;

The single closed-loop control synoptic diagram of Figure 13 torque;

Figure 14 communication system synoptic diagram;

The procedure chart of Figure 15 PLC and DC speed regulator communication;

Figure 16-a host computer subsystem and permagnetic synchronous motor control subsystem communication main program flow chart;

Figure 16-b host computer subsystem and permagnetic synchronous motor control subsystem communication failure processing module process flow diagram;

Figure 16-c host computer subsystem and permagnetic synchronous motor control subsystem communication normal process module process flow diagram.

Among Figure 12: 1 isolating switch, 2 fuses, 3 A.C. contactors.

Embodiment

Permagnetic synchronous motor and direct current generator that the present invention chooses following specification are that example further specifies this system.

The permagnetic synchronous motor basic parameter that adopts: rated power 22KW, rated voltage 340V, rated current 43.8A, rated speed 1500r/min, nominal torque 140Nm, number of pole-pairs 2

The direct current generator basic parameter that adopts: rated power 18.5KW, rated voltage 400V, rated current 52.5A, rated speed 2610r/min, field voltage 180V, exciting current 2.79A, nominal torque: 68Nm

The permasyn morot automatization test system is introduced, as shown in Figure 1

This system comprises communication subsystem, host computer subsystem, permagnetic synchronous motor control subsystem, DC MOTOR CONTROL subsystem; The hardware of communication subsystem comprises DC speed regulator Communication Card CBP2 and RS232 switching bridge device, the host computer subsystem comprises PC and Programmable Logic Controller (PLC), the permagnetic synchronous motor control subsystem comprises permagnetic synchronous motor and controller hardware circuit thereof, the controller hardware circuit comprises power circuit, control circuit, testing circuit and full bridge driving circuit, and the DC MOTOR CONTROL subsystem comprises direct current generator, isolating switch, fuse, A.C. contactor, three-phase reactor and Siemens 6RA7025 DC speed regulator; DSP2812 control panel in the permagnetic synchronous motor control subsystem in the control circuit connects the RS232 switching bridge device in the communication subsystem, Siemens 6RA7025 DC speed regulator in the DC MOTOR CONTROL subsystem connects the DC speed regulator Communication Card CBP2 in the communication subsystem, DC speed regulator Communication Card CBP2 in the communication subsystem is connected the Programmable Logic Controller (PLC) in the host computer subsystem with RS232 switching bridge device, the direct current generator main shaft in the DC MOTOR CONTROL subsystem connects the permagnetic synchronous motor main shaft in the permagnetic synchronous motor control subsystem; The host computer subsystem by communication subsystem with the permagnetic synchronous motor rated voltage, rated current, rated frequency, busbar voltage, number of pole-pairs, friction factor, moment of inertia, stator resistance, D axle inductance, Q axle inductance, rotor flux, the speed proportional gain of controller, rate integrating gain, the current ratio gain, the permagnetic synchronous motor control subsystem is passed in current integration gain, and the permagnetic synchronous motor control subsystem is control word, the actual speed of permagnetic synchronous motor, the phase current effective value, the phase voltage effective value passes to the host computer subsystem by communication subsystem; The host computer subsystem is given with DC generator speed by communication subsystem, the given DC MOTOR CONTROL subsystem that passes to of direct current generator torque, the DC MOTOR CONTROL subsystem is with the direct current generator actual speed, and direct current generator actual torque parameter passes to the host computer subsystem by communication subsystem; Power circuit is realized four quadrant operations of permagnetic synchronous motor by the switching of three-phase controlled rectifier circuit or the uncontrollable rectification circuit of three-phase in the permagnetic synchronous motor subsystem; When direct current generator during as the permagnetic synchronous motor load, be the single closed-loop fashion control of torque by changing the two closed-loop controls of DC speed regulator 6RA7025 in the DC MOTOR CONTROL subsystem, energy feeds back to electrical network by DC speed regulator 6RA7025.Communication subsystem adopts the Profibus bus protocol, among the present invention permagnetic synchronous motor in the permagnetic synchronous motor control subsystem and DC MOTOR CONTROL subsystem direct current generator connecting shaft, load with direct current generator simulation permagnetic synchronous motor, just can reach the effect that changes the permagnetic synchronous motor load by the operational factor of revising the DC speed regulator in the DC MOTOR CONTROL subsystem, also can utilize direct current generator to drive the permagnetic synchronous motor running, realize four quadrant operations of permagnetic synchronous motor as prime mover.

1, host computer subsystem

The host computer subsystem comprises PC and Programmable Logic Controller (PLC), is used to realize process control and the data management and the demonstration of whole test system.PLC links to each other with Profibus bus in the communication subsystem by the DP mouth, and PC passes through the CP5613 integrated circuit board and links to each other with Profibus bus in the communication subsystem.The operating system of the man-machine interface of PC is realized by WinCC.Programmable Logic Controller adopts Siemens S7-300, and it has reliably, is easy to programming, antijamming capability is strong, but characteristics such as network optimization control.It mainly carries out the order of PC, finishes uploading and downloading of data.

Operate in the main interface a total operation user login, permagnetic synchronous motor and controller parameter setting thereof, no-load test, load test, five links of test operation system help at host computer.The link of operation interface is finished by button setting.The operator need land at main interface before the whole test operation, otherwise the operation that can't experimentize at the interface.In WinCC operating system, can carry out the classification setting to user right.And in native system load right by two ranks: operation user and system maintenance personnel.The operation that mainly experimentizes of operation User login, and the system maintenance personnel land mainly the host computer subsystem are carried out attended operation.

Before whole test operation, the operator need be provided with at permagnetic synchronous motor and controller parameter thereof correlation parameter is set in the interface.Comprising permagnetic synchronous motor moment of inertia, viscous friction coefficient, the gain of controller proportional component, integral element gain etc.

Connect in the interface at the load operation tethers, the operator can be by changing the running status of motor at host computer interface modification motor operating parameter (as starting and stopping motor, motor speed etc.).Upload to the motor actual operation parameters (as stator voltage, electric current, motor speed) of host computer by slave computer, through informing the operator with form, trend map graphical form after the processing of the figure operational system in the WinCC operating system on the PC, make the operator be easy to monitor the state of motor actual motion.In addition, by the setting of alarm logging operational system in WinCC, the parameter of electric machine that make to surpass warning value shows to come prompting operation person with the form of red color.Whole like this host computer subsystem has been realized the visualized operation and the control of whole permanent magnet synchronous motor control performance automation test system.

Because PC and PLC are directly connected on the Profibus bus by communication subsystem, therefore can the address among the motor among the WinCC and controller parameter variable and the PLC be connected, make that the data in the slave computer (DSP2812 control panel and DC speed regulator 6RA7025) can upload to host computer by communication module.

2, permagnetic synchronous motor control subsystem, as shown in Figure 2

The permagnetic synchronous motor control subsystem comprises permagnetic synchronous motor and controller hardware circuit thereof, and the controller hardware circuit comprises power circuit, control circuit, testing circuit and full bridge driving circuit, can realize four quadrant operations of permagnetic synchronous motor.Power circuit comprises that three-phase controlled rectifier circuit or the uncontrollable rectification circuit of three-phase, soft starting circuit, pump rise circuit and inverter circuit; Testing circuit comprises three-phase current detection circuit, busbar voltage testing circuit and photoelectric encoder signal deteching circuit; Control circuit comprises digital-quantity input interface circuit, digital-quantity output interface circuit, SS (soft start) control circuit, DSP2812 control panel and CPLD (CPLD).Permagnetic synchronous motor control subsystem power circuit connects the first Fuse Type knife-like switch DZ1 for the three-phase supply end of incoming cables, and the first Fuse Type knife-like switch DZ1 connects uncontrollable rectification circuit of three-phase and three-phase controlled rectifier circuit respectively; Uncontrollable rectification circuit of three-phase or controlled rectification circuit connect soft starting circuit, and soft starting circuit connects pump respectively and rises circuit, and pump rises circuit and connects inverter circuit, and inverter circuit connects the permanent-magnetic synchronous motor stator winding.Testing circuit connects inverter circuit for the three-phase current detection circuit input end, output terminal connects control circuit DSP2812 control panel, the input signal of three-phase current detection circuit comes from the permanent-magnetic synchronous motor stator current signal that is positioned in the power circuit after the inverter circuit, outputs signal to DSP2812 control panel in the control circuit; Busbar voltage testing circuit input end connects the output terminal of soft starting circuit, output terminal connects control circuit DSP2812 control panel, the input signal of busbar voltage testing circuit comes from and is positioned at after the soft starting circuit in the power circuit, pump rises the bus voltage signal before the circuit, outputs signal to DSP2812 control panel in the control circuit; The input signal of photoelectric encoder signal deteching circuit come from photoelectric encoder (A, B, Z, U, V, W) six output outputs signal to the DSP2812 control panel in the control circuit, and motor speed and rotor-position signal are passed to control panel.Control circuit is the outer button that the input end of digital-quantity input interface circuit connects the permanent magnet synchronous machine control subsystem, output termination DSP2812 control panel; The input signal of digital-quantity output interface circuit comes from output termination DSP2812 control panel, A.C. contactor KM1, first D.C. contactor KM2 and the SS (soft start) control circuit in the output termination power circuit; The SS (soft start) control circuit input end connects the digital quantity output interface circuit, and output terminal connects soft starting circuit; The input end of fault-signal treatment circuit connects full bridge driving circuit, output termination DSP2812 control panel.The full bridge driving circuit input end connects the DSP2812 control panel, and output terminal connects inverter circuit and pump rises circuit.

(1) power circuit, as shown in Figure 3, being characterized in can be by the switching that realizes uncontrollable rectification circuit of three-phase and controlled rectification circuit that switches on and off of A.C. contactor KM1, the second Fuse Type knife-like switch DZ2 and the first D.C. contactor KM2, both can verify the performance test of universal frequency converter controlling schemes, also can realize the high-quality special converter controlling schemes performance test that power factor is 1, DC bus-bar voltage is stablized 600V, reversible operation.

A) three-phase controlled rectification or uncontrollable rectification circuit, the uncontrollable rectification circuit of three-phase is connected and composed successively by A.C. contactor KM1, three-phase inlet wire reactor L among Fig. 3 and diode (VT1-VT6) bridge rectifier module, and three-phase controlled rectifier circuit is connected and composed successively by the second Fuse Type knife-like switch DZ2 among Fig. 3,3 groups of IGBT (V1-V6) rectifier bridges and the first D.C. contactor KM2.Main effect is that industrial-frequency alternating current is rectified into galvanic current, and three-phase controlled rectifier circuit also can be realized the energy feedback grid.

B) soft starting circuit is made of first resistance R and the second D.C. contactor KM3 parallel connection of 1 Ω among Fig. 3/100W, and its left end connects the fuse FR of 80A, and it is by the commutation circuit of D.C. contactor control.When main circuit began to switch on, adding resistance in main circuit was the resistance of 1K (30W), prevented that charging current excessive in the start-up course from damaging electric capacity.After energising a period of time, again this resistance is excised by D.C. contactor.

C) pump rises circuit, the circuit that is in parallel by an IGBT (V7) among Fig. 3 and second resistance R 3 and the diode VT2 formation of connecting, and it is to be made of an energy consumption resistance and IGBT series connection.When motor braking is in generating state, at this moment that IGBT is open-minded, on energy consumption resistance.

D) inverter circuit, circuit by first capacitor C d1 among Fig. 3 and second capacitor C d2 series connection constitutes with the inverter bridge of 3 groups of IGBT that controlled by pwm signal is in parallel, 6 groups of inverter circuits that IGBT constitutes by pwm signal control, mainly direct current is converted into the alternating current of required frequency, and can reduce harmonic component.Compare with common hard switching circuit, the soft switch circuit of employing has reduced switching loss, perceptual shutoff voltage spike, capacitive and has opened current spike and electromagnetic interference (EMI).

(2) testing circuit

A) three-phase current detection circuit, as shown in Figure 5, its input signal comes from the permagnetic synchronous motor armature current signal that is positioned in the power circuit after the inverter circuit, size-70mA and+70mA between.Signal is converted into the voltage signal of 0-7V behind wave circuit after filtration, be 0V-3V by value behind two voltage offset electric circuits again, imports the I/O pin of DSP2812 chip at last.

B) busbar voltage testing circuit, as shown in Figure 6, its input signal comes from and is positioned in the power circuit after the soft starting circuit, and pump rises the bus voltage signal before the circuit, and size is between 0-50mA.Signal is converted into the voltage signal of 0-5V after filtration behind the wave circuit, being 0V-3V by the value behind two voltage offset electric circuits, imports the I/O pin of DSP2812 chip at last.

C) photoelectric encoder signal deteching circuit, as shown in Figure 7, its input signal come from photoelectric encoder (A, B, Z, U, V, W) six output is (0-3.3V) by level conversion to the voltage swing of the I/O pin of DSP2812 again.

(3) control circuit, it is accepted from the peripheral circuit signal, and after corresponding computational analysis, circuit sends the control corresponding instruction to the periphery again, realizes the control reliable and stable to permagnetic synchronous motor.

A) digital-quantity input interface circuit, digital-quantity output interface circuit, shown in Fig. 8,9, the input end of digital-quantity input interface circuit connects the outer button of permanent magnet synchronous machine control subsystem, output termination DSP2812 control panel; The input signal of digital-quantity output interface circuit comes from output termination DSP2812 control panel, A.C. contactor KM1 and SS (soft start) control circuit in the output termination power circuit are used to realize that the simulating signal of importing gathers, changes and finish the control to some topworkies.

B) fault-signal treatment circuit, as shown in figure 10, input end connects full bridge driving circuit, and output termination DSP2812 control panel is realized the processing of excess temperature signal, drive plate fault-signal.

C) SS (soft start) control circuit, as shown in Figure 4, input end connects the digital quantity output interface circuit, and output terminal connects soft starting circuit, realizes the control to the second D.C. contactor KM3 in the soft starting circuit.

(4) full bridge driving circuit, as shown in figure 11, input end connects the DSP2812 control panel, and output terminal connects inverter circuit and pump rises circuit, and it accepts the pwm signal from the DSP2812 chip, behind CPLD and voltage signal amplifying circuit, outputs to drive plate.

In power circuit, the permagnetic synchronous motor control subsystem can realize four quadrant operations of permagnetic synchronous motor.The switching that realizes uncontrollable rectification circuit of three-phase and controlled rectification circuit that switches on and off by A.C. contactor KM1, the second Fuse Type knife-like switch DZ2 and the first D.C. contactor KM2, when the second Fuse Type knife-like switch DZ2 and the first D.C. contactor KM2 open-minded, A.C. contactor KM1 disconnects, and this moment, controlled rectification circuit was devoted oneself to work.When permagnetic synchronous motor drags direct current generator as prime mover, permagnetic synchronous motor runs on one, three quadrants.When direct current generator drags permagnetic synchronous motor, permagnetic synchronous motor is as the direct current generator load, and the electric energy of permagnetic synchronous motor can be realized the energy feedback grid by controlled rectification circuit, and permagnetic synchronous motor runs on two, four-quadrant.Traditional mode is the resistance consumption that rises circuit by pump, and this kind mode has been saved energy, and permagnetic synchronous motor runs on two, four-quadrant.

3, DC MOTOR CONTROL subsystem, as shown in figure 12

The DC MOTOR CONTROL subsystem comprises direct current generator, isolating switch, fuse, A.C. contactor, three-phase reactor and Siemens 6RA7025 DC speed regulator, the three-phase supply end of incoming cables connects isolating switch, isolating switch connects fuse, the terminal A.C. contactor that connects of fuse, A.C. contactor connects three-phase reactor, the terminal Siemens 6RA7025 DC speed regulator that connects of three-phase reactor is gone into line segment, and Siemens 6RA7025 DC speed regulator leading-out terminal connects the armature winding of direct current generator; Can simulate the permagnetic synchronous motor load on the one hand to control of DC, in test, can realize the energy feedback grid, control direct current generator on the other hand and drive the permagnetic synchronous motor running, realize four quadrant operations of permagnetic synchronous motor as prime mover.Wherein Siemens's DC speed regulator 6RA7025 has adopted the Direct Current Governor System of reversible logic non-circulating.Direct current generator is the single closed-loop fashion control of torque by changing the two closed-loop controls of DC speed regulator 6RA7025, as shown in figure 13 when doing the permagnetic synchronous motor load.When permagnetic synchronous motor dragged direct current generator, direct current generator added off-load to permagnetic synchronous motor, and this moment, direct current generator was in generating state, and energy feeds back to electrical network by DC speed regulator 6RA7025.And traditional off-load that adds is Dyn.-resistor group or magnetic powder brake, can cause the waste of energy like this, and this kind then saved energy.

Because DC speed regulator CBP2 communication board is connected on the Profibus bus, so host computer can directly be realized communication by bus with DC speed regulator, thereby that is to say that the operator can directly monitor and revise the fictitious load parameter that the DC speed regulator operational factor changes permagnetic synchronous motor from host computer.

Wherein Siemens's DC speed regulator 6RA7025 has adopted the Direct Current Governor System of reversible logic non-circulating, can realize four quadrant operations of motor.Logic control when acyclic flow control logic and current regulation loop are finished torque reindexing jointly.Just organizing bridge when work when working with anti-group bridge the direction of armature supply be different, the switching by positive and negative group of bridge has also just changed the direct current generator torque direction like this.Wherein the logic non-circulating controlling unit is mainly finished following 3 tasks:

I, whenever only allow one group of rectifier bridge that trigger pulse is arranged.

After having only cutout, rectifier bridge in II, the work could block its pulse, to prevent that the disappearance because of trigger pulse causes inverter failure when inversion is worked.

III, have only rectifier bridge when original work to turn-off fully and delay time after just open another group, in case circulation occurs.

Another group trigger pulse is blocked and is in blocking state when the work of one group of thyristor, so just fundamentally eliminates at the circulation of just organizing between bridge and the counter group of bridge, makes system's failure-free operation.In addition, DC speed regulator also is added with the additional function of parameter of electric machine optimization, torque amplitude limit etc., realizes the stable control of dc motor speed, the two closed-loop controls of torque and the single closed loop of torque.

Behind permagnetic synchronous motor and direct current generator connecting shaft, when direct current motor moves under rotating speed, the two closed-loop controls of torque, the control direct current generator drags the permagnetic synchronous motor operation, and permagnetic synchronous motor is as generator, and electric energy feeds back to electrical network by controlled rectification circuit.

Doing load when experiment, removing the outer shroud-speed ring of rotating speed, the two closed-loop controls of torque, making control mode become the single closed-loop fashion control of torque by DC speed regulator.Current regulator ACR wherein is a pi regulator, and current regulator compares processing with electric current set-point and inner armature current actual value, is output as the pilot angle of flip flop equipment, send the armature trigger element behind the trigger angle amplitude limit.Trigger pulse is determined by the output valve of current regulator and Proctor Central in time, by the capable setting parameter pilot angle limit.Act on the Proctor Central that also has of flip flop equipment simultaneously.The Proctor Central of current regulation loop is used to improve the dynamic response of regulating system.Proctor Central is relevant with the back electromotive force of electric current set-point and motor, and guarantees the quick variation in electric current desired trigger angle continuously and when on-off state or torque reindexing.Flip flop equipment forms the power section thyristor control trigger pulse synchronous with supply voltage.Synchronizing signal is taken from power section, and is therefore irrelevant with rotating magnetic field and electron plate power supply.Trigger pulse is determined by the output valve of current regulator and Proctor Central in time, by the capable setting parameter pilot angle limit.Flip flop equipment can adapt to the power supply that frequency is 45-65Hz automatically.Flip flop equipment output modulation voltage is to armature, thereby the change armature supply is realized the armature supply closed-loop control.

When the parameter before experiment is provided with, make the direct current generator torque direction opposite, the load of simulation permagnetic synchronous motor with the permagnetic synchronous motor rotary speed direction.When permagnetic synchronous motor drags direct current generator when second quadrant moves, realize the forward regenerative braking of direct current generator, direct current energy can be safely is the three-phase alternating current electric energy by direct current generator armature winding through anti-group of bridge inversion of DC speed regulator, feeds back to electrical network again; When permagnetic synchronous motor drags direct current generator at four quadrant running, realize the reverse regenerative braking of direct current generator, AC energy can be safely is the three-phase alternating current electric energy by direct current generator armature winding through the just group bridge inversion of DC speed regulator, feeds back to electrical network again.

4. communication subsystem

Communication subsystem is realized the function that the total system data transmit, it is made of three parts: first realizes the communication of PC and PLC, second portion is realized the function of host computer and the communication of DC MOTOR CONTROL subsystem, and third part realizes host computer and permagnetic synchronous motor control subsystem communication function.It is a class main website that PLC is set, and PC is two class main websites.System as shown in figure 14.

Motor after host computer operating system is revised or controller parameter value are by passing to the control performance that slave computer changes motor operating state or controller under the communication subsystem.Meanwhile, slave computer also can make the host computer that uploads to of the communication subsystem of relevant some parameters of motor operating state by this system operating personnel can monitor the state and the performance of motor operation in each experiment in real time.Here, authenticity and reliability that the property relationship of communication is held motor status to experiment operator are one of this automatization test system piths.Adopt the field bus communication technology, field controller and supervision computing machine are coordinated mutually, both embodied the characteristic of PLC high reliability, guarantee the stable operation of test, give full play to the strong characteristics of supervision computing machine complex calculation processing power again, effectively realized the supervision optimal control.

In the communication of PC and PLC, the CPU314C-2DP of the Siemens PLC C of use comprises two DP mouths in host computer, and one of them is the Profibus bus interface, therefore adopts general-purpose interface to connect and just can be connected to PLC on the bus.On the other hand, by CP5613 address card in the PCI slot that is inserted in PC PC is connected on the Profibus bus.In the operating system WinCC of PC, added WinCC communication driver SIMATIC S7 Protocol Suite, wherein just comprise the Profibus channel unit, as long as the variable that needs communication is set in passage, and the actual address among address of variable and the PLC coupled together, just can realize uploading and passing down of variate-value by PLC.

In host computer and DC MOTOR CONTROL subsystem communication part, employing be the Profibus bus communication.Siemens DC speed regulator 6RA7025 just can be connected on the bus by intrinsic communication interface, represents with bus communication normal when glimmer together in communication board CBP2 red, yellow, green etc.In the PLC of Siemens hardware configuration, to the communication format of DC speed regulator 6RA7250 employing PPO1, it has comprised two control word PZD_1 and PZD_2, and wherein PZD_1 is set to read control word, PZD_2 is set to write control word, and their address definition in the plc data module unit.Communication by these two words can realize the read and write of rotating speed in rotating speed, the two closed loops of torque or realize function to the read and write of torque in the single closed loop of torque.In program realizes, adopt Siemens PLC C communication special module SFC14, SFC15 to finish communication function.DC MOTOR CONTROL subsystem and host computer subsystem communication step are as follows: as shown in figure 15,

Step 1: main circuit contact device action;

Step 2: the DC speed regulator on/off switch enables;

Step 3: the DC speed regulator terminal activates;

Step 4: DC speed regulator speed control word zero clearing;

Step 5: starter motor operation;

Step 6: judge whether to revise torque parameter is set,, turn to step 8 if not if carry out step 7;

Step 7: apply the torque that host computer is provided with to direct current generator;

Step 8: DC speed regulator is uploaded to host computer to the operational factor of direct current generator (actual motor torque and rotating speed);

Step 9: judge whether to shut down,, carry out step 10 if not if turn to step 11;

Step 10: turn back to step 7, circulate;

Step 11: shut down.

And in host computer and permagnetic synchronous motor control subsystem communication part, the serial communication modular realization permagnetic synchronous motor and the controller parameter thereof that have adopted the Profibus bus protocol to change serial port communicating protocol RS232 and DSP are uploaded monitoring and are passed the function of revising down.

1) on the hardware, the switching bridge device that has adopted the Profibus bus to change serial port communicating protocol RS232, its interface is flat mouthful of 9 pins of RS232, and the communication interface of slave computer DSP RS232 is round mouth 8 pins.Here, the serial port communication line with special 8 needle interfaces-9 needle interface links to each other two equipment interfaces the communication function on realization host computer and the lower computer hardware.In the realization of communication, the fastest 12M/s that reaches of the data rate of Profibus bus, and be used for realizing that the Profibus bus changes the fastest 200HZ of reaching of switching bridge device transmission/receive frequency of serial port communicating protocol RS232.So just guaranteed the requirement of the real-time transmission of data, can be so that the operator can hold the running status of permagnetic synchronous motor rapidly and accurately.

2) on the software, realize communication by the programming of host computer PLC and the program of DSP2812 control panel.The interrupt mode that adopts DSP2812 control panel software has realized the half-duplex operation with slave computer, in the dsp software program, realized passing the verification of communication data under the host computer, at different situations such as communication failure processing module, communication normal process module, handle respectively, guarantee reliable and secure communication.

Program by host computer PLC and DSP2812 control panel between permagnetic synchronous motor control subsystem and the host computer subsystem realizes communication, and concrete steps are as follows:

Host computer subsystem and permagnetic synchronous motor control subsystem communication master routine: shown in Figure 16-a,

Step 1: receive the communicating interrupt signal;

Step 2: keep the scene intact and CPU interrupts associative operation;

Step 3: judge whether communication failure,, carry out step 5 if not if carry out step 4;

Step 4: call the communication failure processing module, carry out step 6 then;

Step 5: call the normal communication processing module;

Step 6: recover on-the-spot;

Step 7: interrupt returning.

Host computer subsystem and permagnetic synchronous motor control subsystem communication failure processing module program: shown in Figure 16-b, step 1: remove the SCI data and accept buffer zone;

Step 2: send the reception error message to host computer;

Step 3: enable SCI and accept;

Step 4: the acceptance error zone bit resets;

Step 5: call end.

Host computer subsystem and permagnetic synchronous motor control subsystem communication normal process modular program: shown in Figure 16-c,

Step 1: the communication packet classification is judged;

If accept the communication confirmation message, carry out step 2;

If acceptance is parameter of electric machine message 1,2 or control message, carry out step 3;

Step 2: reply the normal confirmation message of communication to host computer, carry out step 4 then;

Step 3: send normal data and reply message;

Step 4: enable SCI once more and accept;

Step 5: call end.

Claims (6)

1, a kind of permanent magnet synchronous motor control performance automation test system is characterized in that this system comprises communication subsystem, host computer subsystem, permagnetic synchronous motor control subsystem, DC MOTOR CONTROL subsystem; The hardware of communication subsystem comprises DC speed regulator Communication Card CBP2 and RS232 switching bridge device, the host computer subsystem comprises PC and Programmable Logic Controller PLC, the permagnetic synchronous motor control subsystem comprises permagnetic synchronous motor and controller hardware circuit thereof, the controller hardware circuit comprises power circuit, control circuit, testing circuit and full bridge driving circuit, and the DC MOTOR CONTROL subsystem comprises direct current generator, isolating switch, fuse, A.C. contactor, three-phase reactor and Siemens 6RA7025 DC speed regulator; Control circuit connects the RS232 switching bridge device in the communication subsystem in the permagnetic synchronous motor control subsystem, Siemens 6RA7025 DC speed regulator in the DC MOTOR CONTROL subsystem connects the DC speed regulator Communication Card CBP2 in the communication subsystem, DC speed regulator Communication Card CBP2 in the communication subsystem is connected the Programmable Logic Controller PLC in the host computer subsystem with RS232 switching bridge device, the direct current generator main shaft in the DC MOTOR CONTROL subsystem connects the permagnetic synchronous motor main shaft in the permagnetic synchronous motor control subsystem; The host computer subsystem by communication subsystem with the permagnetic synchronous motor rated voltage, rated current, rated frequency, busbar voltage, number of pole-pairs, friction factor, moment of inertia, stator resistance, D axle inductance, Q axle inductance, rotor flux, the speed proportional gain of controller, rate integrating gain, the current ratio gain, the permagnetic synchronous motor control subsystem is passed in current integration gain, and the permagnetic synchronous motor control subsystem is control word, the actual speed of permagnetic synchronous motor, the phase current effective value, the phase voltage effective value passes to the host computer subsystem by communication subsystem; The host computer subsystem is given with DC generator speed by communication subsystem, the given DC MOTOR CONTROL subsystem that passes to of direct current generator torque, the DC MOTOR CONTROL subsystem is with the direct current generator actual speed, and direct current generator actual torque parameter passes to the host computer subsystem by communication subsystem; Power circuit is realized four quadrant operations of permagnetic synchronous motor by the switching of three-phase controlled rectifier circuit or the uncontrollable rectification circuit of three-phase in the permagnetic synchronous motor subsystem; When direct current generator during as the permagnetic synchronous motor load, be the single closed-loop fashion control of torque by changing the two closed-loop controls of DC speed regulator 6RA7025 in the DC MOTOR CONTROL subsystem, energy feeds back to electrical network by DC speed regulator 6RA7025.

2, the automatization test system of permanent magnet synchronous motor control performance according to claim 1, it is characterized in that in the permagnetic synchronous motor control subsystem power circuit mainly by three-phase controlled rectification or uncontrollable rectification circuit, soft starting circuit, pump rises circuit and inverter circuit constitutes, the three-phase supply end of incoming cables connects the first Fuse Type knife-like switch DZ1, and the first Fuse Type knife-like switch DZ1 connects uncontrollable rectification circuit of three-phase and three-phase controlled rectifier circuit respectively; Uncontrollable rectification circuit of three-phase or controlled rectification circuit connect soft starting circuit, and soft starting circuit connects pump and rises circuit, and pump rises circuit and connects inverter circuit; The uncontrollable rectification circuit of three-phase is by A.C. contactor KM1, three-phase inlet wire reactor L and diode VT1-VT6 bridge rectifier module connect and compose successively, three-phase controlled rectifier circuit is by the second Fuse Type knife-like switch DZ2, the 3 groups of IGBTV1-V6 rectifier bridges and the first D.C. contactor KM2 connect and compose successively, soft starting circuit is made of first resistance R and the second D.C. contactor KM3 parallel connection of 1 Ω/100W, its left end connects the fuse FR of 80A, pump rises circuit that circuit is in parallel by an IGBT and second resistance R 3 and diode VT2 and connects and constitute, and inverter circuit is made of with the inverter bridge of 3 groups of IGBT that controlled by pwm signal is in parallel the circuit of the first capacitor C d1 and second capacitor C d2 series connection.

3, the automatization test system of permanent magnet synchronous motor control performance according to claim 1, it is characterized in that the permagnetic synchronous motor control subsystem realizes four quadrant operations of permagnetic synchronous motor, in power circuit, by A.C. contactor KM1, the switching that switches on and off realization uncontrollable rectification circuit of three-phase and controlled rectification circuit of the second Fuse Type knife-like switch DZ2 and the first D.C. contactor KM2, when the second Fuse Type knife-like switch DZ2 and the first D.C. contactor KM2 open-minded, A.C. contactor KM1 disconnects, this moment, controlled rectification circuit was devoted oneself to work, when permagnetic synchronous motor drags direct current generator as prime mover, permagnetic synchronous motor runs on one, three quadrants, when direct current generator drags permagnetic synchronous motor, permagnetic synchronous motor is as the direct current generator load, the electric energy of permagnetic synchronous motor is realized the energy feedback grid by controlled rectification circuit, and this moment, permagnetic synchronous motor ran on two, four-quadrant.

4, the automatization test system of permanent magnet synchronous motor control performance according to claim 1, it is characterized in that in the DC MOTOR CONTROL subsystem when direct current generator during as the permagnetic synchronous motor load, by changing the two closed-loop controls of DC speed regulator 6RA7025 is the single closed-loop fashion control of torque, energy feeds back to electrical network by DC speed regulator 6RA7025, wherein DC speed regulator 6RA7025 has adopted the Direct Current Governor System of reversible logic non-circulating, direct current generator is when doing the permagnetic synchronous motor load, by changing the two closed-loop controls of DC speed regulator 6RA7025 is the single closed-loop fashion control of torque, when permagnetic synchronous motor drags direct current generator, direct current generator adds off-load to permagnetic synchronous motor, this moment, direct current generator was in generating state, and energy feeds back to electrical network by DC speed regulator.

5, the automatization test system of permanent magnet synchronous motor control performance according to claim 1, it is characterized in that the switching bridge device that communication subsystem has adopted the Profibus bus to change serial port communicating protocol RS232, its interface is flat mouthful of 9 pins of RS232, the communication interface of slave computer DSP RS232 is round mouth 8 pins, adopt the serial port communication line of 8 needle interfaces-9 needle interface that two equipment interfaces are linked to each other, realize the communication function on host computer and the lower computer hardware, in the realization of communication, the data rate of Profibus bus reaches 12M/s, is used for realizing that the switching bridge device transmission/receive frequency of Profibus bus commentaries on classics serial port communicating protocol RS232 reaches 200HZ.

6, the automatization test system of the described permanent magnet synchronous motor control performance of claim 1, it is characterized in that realizing communication by the programming of host computer PLC and the program of DSP2812 control panel between permagnetic synchronous motor control subsystem and the host computer subsystem, concrete steps are as follows:

Host computer subsystem and permagnetic synchronous motor control subsystem communication master routine:

Step 1: receive the communicating interrupt signal;

Step 2: keep the scene intact and CPU interrupts associative operation;

Step 3: judge whether communication failure,, carry out step 5 if not if carry out step 4;

Step 4: call the communication failure processing module, carry out step 6 then;

Step 5: call the normal communication processing module;

Step 6: recover on-the-spot;

Step 7: interrupt returning;

Host computer subsystem and permagnetic synchronous motor control subsystem communication failure processing module program:

Step 1: remove the SCI data and accept buffer zone;

Step 2: send the reception error message to host computer;

Step 3: enable SCI and accept;

Step 4: the acceptance error zone bit resets;

Step 5: call end;

Host computer subsystem and permagnetic synchronous motor control subsystem communication normal process modular program:

Step 1: the communication packet classification is judged;

If accept the communication confirmation message, carry out step 2;

If acceptance is parameter of electric machine message 1,2 or control message, carry out step 3;

Step 2: reply the normal confirmation message of communication to host computer, carry out step 4 then;

Step 3: send normal data and reply message;

Step 4: enable SCI once more and accept;

Step 5: call end.

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