CN100517945C - Low-speed highly precise control system for magnetic suspending flying wheel electromotor based on n Hall sensors - Google Patents

Low-speed highly precise control system for magnetic suspending flying wheel electromotor based on n Hall sensors Download PDF

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CN100517945C
CN100517945C CNB2007101793072A CN200710179307A CN100517945C CN 100517945 C CN100517945 C CN 100517945C CN B2007101793072 A CNB2007101793072 A CN B2007101793072A CN 200710179307 A CN200710179307 A CN 200710179307A CN 100517945 C CN100517945 C CN 100517945C
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hall
speed
motor
signal
control
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CN101188393A (en
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房建成
朱娜
刘刚
王志强
周新秀
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北京航空航天大学
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Abstract

The invention provides a low-speed high-precision control system of a magnetically levitated flywheel motor based on n Hall transducers, which is used in the high-precision stance control executing mechanism of the new-generation high-stability satellite, namely, the drive control of the magnetically levitated reaction flywheel motor. The invention mainly comprises a controller taking the field programmable gate array (FPGA) as a core, a Hall transducer, a three-phase bridge power amplifier, a drive circuit of the power amplifier, a three-phase permanent magnet brushless DC motor, a voltage reducing chopper, an energy dissipation unit, a detecting unit of a winding current, a detecting unit of chopping voltage, and a DC constant power supply. By arranging n Hall transducers evenly on one side of the motor stator and detecting the Hall signals produced by the Hall transducers, precise rotation speed feedback can be obtained after the Hall signals are compensated, and the low-speed high-precision control of the magnetically levitated reaction flywheel used permanent magnet brushless DC motor can be implemented by using the controller taking the FPGA as the core.

Description

Low-speed highly precise control system based on the magnetically levitated flywheel motor of n Hall element

Technical field

The present invention relates to a kind of magnetically levitated flywheel permanent-magnet brushless DC electric machine high-precision control system, be used to realize high accuracy, the control of high stability attitude of satellite of new generation, be particularly suitable for the attitude control of magnetic suspension reaction fly-wheel based on n Hall element.

Background technology

High accuracy, the high stability attitude control technology of a new generation's satellite are one of key technologies that needs key breakthrough.Magnetic suspension reaction fly-wheel is as the high accuracy of satellite platform of new generation, the core actuator of high stability attitude control system, have angular momentum output accuracy height, control the linearity good, advantages such as the strong and response speed of antijamming capability is fast, progressively be applied in the world, and will become the first-selected actuator of China a new generation high accuracy, high stability satellite platform.In order to realize high-accuracy posture control, require the DC permanent-magnetic brushless drive motors to have very high low speed precision, existing control system adopts 3 Hall elements to detect, because a commentaries on classics only produces 3 hall signals, its accuracy of detection does not reach desired required precision far away under low speed.In order to improve the precision of control system, the employing photoelectric code disk and the resolver that have test the speed, though rate accuracy is very high when photoelectric code disk and resolver low speed, but when photoelectric code disk carries out magnetic suspension control, radially, axially adjustment is bigger, dyed by greasy dirt, price comparison is expensive and be not easy to install; And resolver is installed on the bearing, and the used bearing of magnetic suspension reaction fly-wheel motor is a magnetic suspension bearing, has bigger radial and axial beating, and volume is also bigger, so resolver also is difficult to be applied on the magnetic suspension reaction fly-wheel." based on the Switch-mode Hall low Speed Control for Flywheel " described method that Hao Jing in 2006 so is published on " Aerospace Control " magazine adopts 9 Hall elements to test the speed, with respect to adopting 3 Hall elements, can produce more hall signal and 3 frequencys multiplication in the method one-period and become 1 road hall signal, and adopt DSP that the Hall deviation that produces is carried out calibration compensation, so can improve the precision of low speed to a certain extent.But the method does not have to consider that the installation deviation to magnetic pole compensates, and is not clearly so precision improves.Count with DSP during the method calibration compensation, lower and data wire has only 16 because of the clock frequency of DSP, so counting error is bigger.Because of adopting external circuit 3 frequency-doubling methods, the time delay of peripheral frequency multiplier circuit is bigger, and there is certain deviation in the hall signal after the frequency multiplication with the hall signal of reality, and the peripheral circuit complexity.After the method can only compensate the motor of current use deviation is deposited in the data field of DSP, can not compensate in real time, bad to the versatility of motor, and the number of Hall-effect position sensors still is fewer, so improve neither be clearly for precision.

Summary of the invention

The technical problem that the present invention solves is: overcome prior art to the low deficiency of magnetic suspension reaction fly-wheel motor low speed precision, a kind of low-speed highly precise control system that is used for the brushless, permanently excited direct current motor of magnetic suspension reaction fly-wheel is provided.

Technical solution of the present invention: based on the low-speed highly precise control system of the magnetically levitated flywheel motor of n Hall element, comprise: as FPGA module, position probing, three-phase bridge power amplifier and the drive circuit of control, have the three-phase permanent brshless DC motor of n Hall element, n>3 wherein, n gets 3 multiple and is odd number, A/D modular converter, buck chopper device, energy consumption unit, the detecting unit of winding current, the detecting unit of chopping voltage, direct current steady power supply; After n Hall element detects output n road hall signal, through sending in the FPGA module after filtering, rectification, the level conversion, n road hall signal is carried out XOR generate 1 road signal, utilization is demarcated and is compensated this signal at the scaling method and the compensation method of rotor magnetic pole and Hall element alignment error, Hall element is positioned at the stator side of motor, obtains accurate speed feedback; The voltage of the electric current of the detecting unit output of the winding current of motor and the detecting unit output of chopping voltage is sent into the FPGA module after the A/D module converts, the FPGA module generates 8 road pwm signals after computing and control, wherein PWM1, PWM2, PWM3, PWM4, PWM5, PWM6 are used to have the commutation of the three-phase permanent brushless DC motor of n Hall element by three-phase bridge power amplifier and drive circuit, PWM7 is used for the control of buck chopper device, PWM8 is used for the control of energy consumption unit, and direct current steady power supply provides work needed steady voltage.

Described three-phase permanent brshless DC motor with n Hall element adopts the hollow cup-shaped winding stator structure of no teeth groove iron-free core, in the pairing side of a pair of rotor magnetic pole of motor stator along electrical degree Evenly place n Hall element, be pasted on the motor stator, and align with three-phase stator winding head end place groove center line respectively, wherein n>3, n get 3 multiple and are odd number.

The speed detection formula of the three-phase permanent brshless DC motor (5) of the described n of a having Hall element is: T is the time difference on n the n road hall signal that Hall element produced adjacent two edges of 1 road hall signal of carrying out producing behind the XOR in the formula, and n is the number of Hall element, and m is the logarithm of rotor magnetic pole.

Described scaling method is:

1. the error that installation deviation produced of rotor magnetic pole is demarcated, its alignment error is X in the formula iFor any 1 Hall element produces the count value of i hall signal FPGA during the cycle, m is the logarithm of rotor magnetic pole, i=1,2,3,4,5,6,7, m;

2. the error that the installation deviation of Hall element is caused is demarcated, and its setting angle error is Y in the formula iBe 1 road signal that obtains behind the XOR count value at the i time saltus step FPGA, i=1,2,3,4,5,6,7, n, n are the number of Hall element.

Described compensation method is a linear compensation, and compensation formula is:

10 5 × ( 3 4000 × x i × m 2 × n - y j ) 54 × n 1 i = 1 . . . . . . m × n { [ 3 4000 × ( x i - x i - 1 ) × m 2 × n ] 360 × 180 n - y j } × n 1 60 × 360 × 40 × 10 6 i = m × n + 1 . . . . . . 2 × m × n

N is the number of Hall element in the formula, and m is the logarithm of rotor magnetic pole, y jFor motor under the speed stabilizing condition first Hall element through j the count value that rotor magnetic pole produced, x iFor carrying out i count value that the hall signal pulse is produced behind the XOR, n 1Be the tachometer value of previous moment, j=1,2,3,4,5,6,7, m; I=1,2,3,4,5......m * n * 2; Compensation formula is deposited in the FPGA module (7), carry out corresponding compensation, obtain accurate speed feedback according to the current value of testing the speed.

The computing of described FPGA module and control procedure are: to process filtering, rectification, n after the level conversion Hall element detection output is carried out XOR and is generated 1 road signal, the hall signal error that deviation produced by rotor magnetic pole and Hall element compensated obtain accurate speed feedback signal, and subtract each other the formation speed controlled quentity controlled variable with speed reference signal, after speed regulation, produce electric current, the Voltage Reference amount, the deviation of its current reference amount and current feedback amount is recently regulated rotor speed through the controlled quentity controlled variable of Current Regulation formation PWM7 duty ratio by the duty that changes PWM7; N Hall element after process filtering, rectification, the level conversion detected 1 tunnel of output, The road signal is sent into FPGA and is driven inverter bridge and carry out commutation through logical combination generation PWM1, PWM2, PWM3, PWM4, PWM5, PWM6; The deviation of its Voltage Reference amount and buck chopper device feedback quantity forms the controlled quentity controlled variable PWM8 of PWM duty ratio after voltage-regulation, be used for the control of buck chopper device.

Principle of the present invention is:

(1) magnetic suspension reaction fly-wheel adopts two working methods that are conducted the two closed-loop controls of three-phase six states with the three-phase permanent brshless DC motor.The key that is improved permanent-magnet brushless DC electric machine low speed control precision by background technology as can be known is to improve the accuracy of detection of low speed, and the speed detection method of permanent-magnet brushless DC electric machine is: T is the time difference that n road hall signal carries out adjacent two edges of 1 road hall signal that produce behind the XOR in the formula, and n is the number of Hall element, and m is the logarithm of rotor magnetic pole.By following formula as can be known its speed accuracy of detection be directly proportional with the number of Hall element, thereby control precision also is directly proportional with the number of Hall element, so improve the control precision that the number of Hall element can improve low speed.Motor adopts the hollow cup-shaped winding stator structure of no teeth groove iron-free core, in the pairing side of a pair of rotor magnetic pole of motor stator along electrical degree Evenly place n Hall element, be pasted on the motor stator, differ Electrical degree is placed, and aligns with three-phase stator winding head end place groove center line respectively, and wherein n>3, n get 3 multiple and be odd number.Because the installation deviation of rotor magnetic pole and Hall element, the sensitivity difference of different response devices, make motor when low speed tests the speed, not reach very high precision, so need compensation to reach ideal the signal that is produced to be installed, thereby improve the rate accuracy of low speed by the deviation of the signal that rotor magnetic pole and Hall element produced.

(2) at first calculate the deviation that rotor magnetic pole is installed: the rotor magnetic pole logarithm of establishing motor is that m is right, as shown in Figure 1.At first use absolute position transducer (according to patent<a kind of device for discriminating rotar position of magnet suspension flywheel〉patent No. for) to find the absolute position of motor, and the rotor magnetic pole at regulation place is a rotor magnetic pole 1, allow motor stabilizing under 5000r/min with PHASE-LOCKED LOOP PLL TECHNIQUE then, lasting accuracy is 10 -5, survey Hall element 1 and produce m cycle of hall signal continuously, then the mechanical angle that turns over is 360 ° m continuous cycle.As shown in Figure 2, equate principle, use formula according to the electrical degree that turns in the equal time under the speed stabilizing (i=1......m), T is total time that Hall element 1 produces m continuous hall signal cycle in the formula, t iFor Hall element through i the time that rotor magnetic pole is used.Can obtain the setting angle β of rotor magnetic pole iThe signal that Hall element 1 is produced is connected to FPGA after filtering, shaping, level conversion, begin counting from Hall element 1 through rotor magnetic pole 1 hour counter, rising edge counter of every generation is preserved this count value and is restarted counting, continuous counter promptly turns over 360 ° an of machinery for m time, can obtain m count value, establishing the count value that obtains is x i(i=1,2,3,4,5,6,7......m), because of the working clock frequency of selected FPGA is 40M, then count value is x iThe time angle that turns over be The alignment error that can obtain rotor magnetic pole is

(3) alignment error of calculating Hall element: if rotor magnetic pole had compensated and reached perfect condition, continue to allow motor stabilizing under 5000r/min, lasting accuracy is 10 -5, when adopting n Hall element, in 360 ° electrical degree, electrical degree is 0 ° when making the H1 rising edge, is 180 ° during trailing edge then, then electrical degree is successively when n hall signal rising edge, trailing edge:

Table 1

Last table as can be seen under perfect condition, the leading hall signal of hall signal 1 rising edge Trailing edge The leading hall signal of hall signal 2 rising edges Trailing edge The leading hall signal of hall signal 3 rising edges Trailing edge ... can utilize the electrical degree poor (as shown in Figure 2) after the electrical degree difference principle of top realistic border Hall element is obtained the hall signal XOR, compensate then to improve precision.

When calculating actual electrical degree difference, calculate to improve precision with the digital circuit clock pulse counter.Send into FPGA after n road hall signal is handled and carry out XOR, obtain 1 road hall signal, as shown in Figure 4, detect H then 1Rising edge the time begin counting with counter, every once level saltus step is just preserved this count value and is restarted counting, can obtain m * n * 2 count value altogether, design value is y i(i=1,2,3,4,5,6,7,8,9......m * n * 2), because of the clock frequency of FPGA is 40M, then count value is y iThe used time is The speed stabilizing rotating speed is 5000r/min, and then count value is y iThe time angle that turned over be Be the angular error of installation.

(4) compensation method: after calculating actual electrical degree difference, compensate to improve precision.Used compensation method is a linear compensation.Because of producing 1 road hall signal behind n the hall signal XOR, the formula of used speed is: the angle/used time that the Hall pulse turns over, be behind the XOR average speed in the hall signal cycle, so can use linear compensation.Actual when asking rotating speed used angle be mechanical angle, the leading hall signal of hall signal 1 rising edge that produces when supposing through rotor magnetic pole 1 The trailing edge electrical degree is y 1°, because of electrical degree under the perfect condition should be in advance So the electrical degree error that Hall is installed is Because of the deviation of rotor magnetic pole, rotor magnetic pole 1 with the actual installation angle of rotor magnetic pole 2 is as from the foregoing again So be for the actual electrical angular error that turns over the hall signal that produces under the same rotor magnetic pole If the previous moment rotating speed is n 1, then turn over The used time is ( 3 4000 × x 1 × m 2 × n - y 1 ) × 60 n 1 × 360 , Because of the clock frequency of FPGA is 40M, then turn over The count value of Shi Suoyong is ( 3 4000 × x 1 × m 2 × n - y 1 ) × 60 n 1 × 360 × 40 × 10 6 = 2 × 10 7 × ( 3 4000 × x 1 × m 2 × n - y 1 ) 3 n 1 Be directly proportional with rotating speed.For turning over the hall signal that produces under the different rotor magnetic pole, when still turning over rotor magnetic pole 1 with Hall element 1 is example: produce rising edge when Hall element 1 turns over rotor magnetic pole 1, then the hall signal of n Hall element generation carries out behind the XOR and the adjacent trailing edge of hall signal 1 rising edge Trailing edge, and The rotor magnetic pole that turns over is m.This moment, the error by the one-period hall signal 1 that rotor magnetic pole 1 produces was One-period hall signal by rotor magnetic pole m generation Error be Then turning over 1 ° of error by rotor magnetic pole 1 and the common generation of rotor magnetic pole m is [ 3 4000 × ( x 1 - x m ) × m 2 × n ] 360 × 180 n , Then turn over [ 3 4000 × ( x 1 - x m ) × m 2 × n ] 360 × 180 n The count value of Shi Suoyong is { [ 3 4000 × ( x 1 - x m ) × m 2 × n ] 360 × 180 n - y 1 } × 60 n 1 × 360 × 40 × 10 6 . Other can be by that analogy.Tabulation deposits the data field of FPGA in, when the motor low cruise, obtains the site error of adjacent hall signal in the mode of tabling look-up, and the count value of available previous counter compensates error this time, adds during rolling counters forward in program 2 × 10 7 × ( 3 4000 × x 1 × m 2 × n - y 1 ) 3 n 1 (carrying out preceding m * n behind the XOR) or { [ 3 4000 × ( x 1 - x m ) × m 2 × n ] 360 × 180 n - y 1 } × 60 n 1 × 360 × 40 × 10 6 (carrying out back m * n behind the XOR), i=1,2,3,4,5,6,7, m in the formula; J=1,2,3,4,5......m * n * 2.Can obtain accurate speed feedback, subtract each other with given rotating speed and obtain the rotating speed deviation, regulate the back through FPGA and produce 8 road pwm control signals, thereby can realize that low-speed highly precise controls (shown in Figure 6).

The present invention's advantage compared with prior art is: the present invention adopts the individual Hall element of n (n is generally 3 multiple and is odd number) to test the speed, the error that installation deviation produced by rotor magnetic pole and Hall element is compensated, and adopt a kind of new demarcation, compensation method and demarcation, compensation all in FPGA, to realize with software, peripheral circuit is few, and is portable good.Draw the calibration compensation formula and deposit the FPGA data field in,, have versatility applicable to a rotor magnetic pole and the various motors of a Hall element arbitrarily arbitrarily.Because the signal that is produced carries out producing more a plurality of pulses (as Fig. 3) than the motor with three Hall elements behind the XOR, increasing of pulse number can obtain more velocity information under low speed, speed feedback more accurately can be provided through behind the calibration compensation, thereby low-speed highly precise control can be carried out.

Description of drawings

Fig. 1 is motor stator schematic diagram of the present invention (with 9 road Halls is example, and 9 Hall elements are installed in 1-9 the groove);

Fig. 2 is the hall signal schematic diagram that 1 road Hall element of the present invention produces;

Fig. 3 is adjacent 2 road hall signal schematic diagrames of the present invention;

Fig. 4 is the hall signal schematic diagram that n of the present invention road Hall element produces;

Fig. 5 is the installation diagram of n of the present invention road Hall element;

Fig. 6 is a schematic diagram of the present invention;

Fig. 7 is the FPGA control flow chart of high-speed permanent-magnet brushless DC generator speed control system of the present invention;

Fig. 8 is a high-speed permanent-magnet brushless DC generator speed control system theory diagram of the present invention.

Embodiment

As shown in Figure 1, Hall element used in the present invention is 9, and the three-phase permanent brshless DC motor adopts the hollow cup-shaped winding stator structure of 8 pairs of utmost points, no teeth groove iron-free core, is easy to install 9 Hall elements.As shown in Figure 5, evenly place n Hall element in the pairing side of a pair of rotor magnetic pole of motor stator for 40 ° along electrical degree, be pasted on the motor stator, and align with three-phase stator winding head end place groove center line respectively, the hall signal 1 and the hall signal 2 that then produce differ 40 ° of electrical degrees, as shown in Figure 3.

As shown in Figure 6, control system of the present invention is by FPGA module 7, position probing 6, three-phase bridge power amplifier and drive circuit 4, the three-phase permanent brshless DC motor 5 with n Hall element, A/D modular converter 10, buck chopper device 2, energy consumption unit 3, the detecting unit 8 of winding current, the detecting unit 9 of chopping voltage, direct current steady power supply as control; After n Hall element detects output n road hall signal, through filtering, rectification, send into after the level conversion in the FPGA module 7, the voltage of the electric current of detecting unit 8 outputs of the winding current of motor and detecting unit 9 outputs of chopping voltage is sent into FPGA7 after 10 conversions of A/D modular converter, FPGA7 generates 8 road pwm signals after computing and control, PWM1 wherein, PWM2, PWM3, PWM4, PWM5, PWM6 is used to have the commutation of the three-phase permanent brushless DC motor 5 of n Hall element by three-phase bridge power amplifier and drive circuit 4, PWM7 is used for the control of buck chopper device 2, PWM8 is used for the control of dynamic braking unit 3, and direct current steady power supply 1 provides work needed steady voltage.

As shown in Figure 7, sending into the FPGA XOR after 9 road hall signals process filtering of 9 Hall element detection outputs, rectification, the level conversion and compensate the back is that the control core device produces speed feedback by FPGA; Given rotating speed and speed feedback form deviation, produce electric current, Voltage Reference amount after regulating, and the deviation of its current reference amount and current feedback amount forms the controlled quentity controlled variable of PWM duty ratio after Current Regulation, be used for the speed regulating control of motor; The deviation of its Voltage Reference amount and buck chopper device feedback quantity forms the controlled quentity controlled variable PWM7 of PWM duty ratio after voltage-regulation, be used for the control of buck chopper device, and carries out commutation with PWM1, PWM2, PWM3, PWM4, PWM5, PWM6.Under low speed, accurate speed measuring device is the bottleneck of restriction control precision, is key point of the present invention so improve the speed measuring device of low speed.As shown in Figure 5, the present invention is by 9 Hall elements of even installation on motor stator and by detecting the hall signal that it produces, to obtain speed feedback after its compensation, and utilize FPGA to realize the low-speed highly precise control of magnetic suspension reaction fly-wheel with permanent-magnet brushless DC electric machine for the control core device.

(1) calculate the alignment error of rotor magnetic pole: as shown in Figure 2, m=8, the hall signal that Hall element produced when order turned over 360 ° of mechanical angles is 8.Can calculate the alignment error that permanent-magnet brushless DC electric machine adopts 8 pairs of utmost points to obtain rotor magnetic pole by principle (2) is X in the formula iBe i rotor magnetic pole, i=1,2,3,4,5,6,7,8;

(2) alignment error of calculating Hall element: Fig. 4 is that 9 road signal XORs are the schematic diagram of 1 road signal, and electrical degree is successively in the time of can getting 9 hall signal rising edges, trailing edge by principle (3):

Table 2

Hall signal Rising edge Trailing edge ??H1 ??0 ??180 ??H2 ??40 ??220 ??H3 ??80 ??260 ??H4 ??120 ??300 ??H5 ??160 ??340 ??H6 ??200 ??20 ??H7 ??240 ??60

????H8 ????280 ????100 ????H9 ????320 ????140

As can be seen from the above table under perfect condition, 20 ° of leading hall signal 6 trailing edges of hall signal 1 rising edge, 20 ° of leading hall signal 7 trailing edges of hall signal 2 rising edges, 20 ° of leading hall signal 8 trailing edges of hall signal 3 rising edges ... as shown in Figure 3, if the used time is t1 when turning over 360 ° of mechanical angles, the time of leading hall signal 2 rising edges of hall signal 1 rising edge is t2.By principle (3) the angular error that can install of formula is

(3) compensation method: by principle (4) 8 pairs of utmost points as can be known, the compensation formula of the permanent-magnet brushless DC electric machine of 9 Hall elements for (carry out XOR after preceding 72) or { [ 3 4000 × ( x i - x i - 1 ) × m 2 × n ] 360 × 180 n - y j } × 60 n 1 × 360 × 40 × 10 6 (carry out XOR after back 72) tabulation deposits the data field of FPGA in, when the motor low cruise, obtain the site error of adjacent hall signal in the mode of tabling look-up, the count value of available previous counter compensates error this time, adds during rolling counters forward in program 2 × 10 7 × ( 3 4000 × x 1 × m 2 × n - y 1 ) 3 n 1 (carry out XOR after preceding 72) or { [ 3 4000 × ( x i - x i - 1 ) × m 2 × n ] 360 × 180 n - y j } × n 1 60 × 360 × 40 × 10 6 (carry out XOR after back 72), i=1,2,3,4,5,6,7,8 in the formula; J=1,2,3,4,5......144.Can obtain accurate speed feedback, subtract each other with given rotating speed and obtain the rotating speed deviation, regulate the back through FPGA and produce 8 road pwm control signals, thereby can realize that low-speed highly precise controls (shown in Figure 6).

As shown in Figure 7, the control procedure of FPGA module 7 of the present invention is: sending into the FPGA XOR after 9 road hall signals process filtering of 9 Hall element detection outputs, rectification, the level conversion and compensating the back is that the control core device produces speed feedback by FPGA; Given rotating speed and speed feedback form deviation, produce electric current, Voltage Reference amount after regulating, and the deviation of its current reference amount and current feedback amount forms the controlled quentity controlled variable of PWM duty ratio after Current Regulation, be used for the speed regulating control of motor; The deviation of its Voltage Reference amount and buck chopper device feedback quantity forms the controlled quentity controlled variable PWM7 of PWM duty ratio after voltage-regulation, be used for the control of buck chopper device, and carries out commutation with hall signal 1,2,3,4,5,6.

Claims (6)

1, based on the low-speed highly precise control system of the magnetically levitated flywheel motor of n Hall element, it is characterized in that comprising: as FPGA module (7), position probing (6), three-phase bridge power amplifier and the drive circuit (4) of control, have the three-phase permanent brshless DC motor (5) of n Hall element, n>3 wherein, n gets 3 multiple and is odd number, A/D modular converter (10), buck chopper device (2), energy consumption unit (3), the detecting unit (8) of winding current, the detecting unit (9) of chopping voltage, direct current steady power supply (1); After n Hall element detects output n road hall signal, through sending in the FPGA module (7) after filtering, rectification, the level conversion, n road hall signal is carried out XOR generate 1 road signal, utilization is demarcated and is compensated this signal at the scaling method and the compensation method of rotor magnetic pole and Hall element alignment error, Hall element is positioned at the stator side of motor, obtains accurate speed feedback; The voltage of detecting unit (9) output of the electric current of the detecting unit of the winding current of motor (8) output and chopping voltage is sent into FPGA module (7) after A/D modular converter (10) conversion, FPGA module (7) generates 8 road pwm signals after computing and control, PWM1 wherein, PWM2, PWM3, PWM4, PWM5, PWM6 is used to have the commutation of the three-phase permanent brushless DC motor (5) of n Hall element by three-phase bridge power amplifier and drive circuit (4), PWM module 7 is used for the control of buck chopper device (2), PWM8 is used for the control of energy consumption unit (3), and direct current steady power supply (1) provides work needed steady voltage.
2, the low-speed highly precise control system of the magnetically levitated flywheel motor based on n Hall element according to claim 1, it is characterized in that: the three-phase permanent brshless DC motor (5) of the described n of a having Hall element adopts the hollow cup-shaped winding stator structure of no teeth groove iron-free core, in motor stator and the corresponding side of a pair of rotor magnetic pole along electrical degree Evenly place n Hall element, be pasted on the motor stator, and align with three-phase stator winding head end place groove center line respectively, n>3 wherein, n gets 3 multiple and is odd number.
3, the low-speed highly precise control system of the magnetically levitated flywheel motor based on n Hall element according to claim 1, it is characterized in that: the speed detection formula of the three-phase permanent brshless DC motor (5) of the described n of a having Hall element is: T is the time difference on n the n road hall signal that Hall element produced adjacent two edges of 1 road hall signal of carrying out producing behind the XOR in the formula, and n is the number of Hall element, and m is the logarithm of rotor magnetic pole.
4, the low-speed highly precise control system of the magnetically levitated flywheel motor based on n Hall element according to claim 1, it is characterized in that: described scaling method is:
1. the error that installation deviation produced of rotor magnetic pole is demarcated, its alignment error is X in the formula iFor any 1 Hall element produces the count value of i hall signal FPGA during the cycle, m is the logarithm of rotor magnetic pole, i=1,2,3,4,5,6,7, m;
2. the error that the installation deviation of Hall element is caused is demarcated, and its setting angle error is Y in the formula iBe 1 road signal that obtains behind the XOR count value at the i time saltus step FPGA, i=1,2,3,4,5,6,7, n, n are the number of Hall element.
5, the low-speed highly precise control system of the magnetically levitated flywheel motor based on n Hall element according to claim 1, it is characterized in that: described compensation method is a linear compensation, and compensation formula is:
10 5 × ( 3 4000 × x i × m 2 × n - y i ) 54 × n 1 i = 1 . . . . . . m × n { [ 3 4000 × ( x i - x i - 1 ) × m 2 × n ] 360 × 180 n - y i } × n 1 60 × 360 × 40 × 10 6 i = m × n + 1 . . . . . . 2 × m × n
N is the number of Hall element in the formula, and m is the logarithm of rotor magnetic pole, y iFor motor under the speed stabilizing condition first Hall element through j the count value that rotor magnetic pole produced, x iFor carrying out i count value that the hall signal pulse is produced behind the XOR, n 1Be the tachometer value of previous moment, j=1,2,3,4,5,6,7, m; I=1,2,3,4,5......m * n * 2; Compensation formula is deposited in the FPGA module (7), carry out corresponding compensation, obtain accurate speed feedback according to the current value of testing the speed.
6, the low-speed highly precise control system of the magnetically levitated flywheel motor based on n Hall element according to claim 1, it is characterized in that: the computing and the control procedure of described FPGA module (7) are: to process filtering, rectification, n after the level conversion Hall element detection output is carried out XOR and is generated 1 road signal, the hall signal error that deviation produced by rotor magnetic pole and Hall element (5) compensated obtain accurate speed feedback signal, and subtract each other the formation speed controlled quentity controlled variable with speed reference signal, after speed regulation, produce electric current, the Voltage Reference amount, the deviation of its current reference amount and current feedback amount is recently regulated rotor speed through the controlled quentity controlled variable of Current Regulation formation PWM7 duty ratio by the duty that changes PWM7; N Hall element after process filtering, rectification, the level conversion detected 1 tunnel of output, The road signal is sent into FPGA and is driven inverter bridge and carry out commutation through logical combination generation PWM1, PWM2, PWM3, PWM4, PWM5, PWM6; The deviation of its Voltage Reference amount and buck chopper device (2) feedback quantity forms the controlled quentity controlled variable PWM8 of PWM duty ratio after voltage-regulation, be used for the control of buck chopper device (2).
CNB2007101793072A 2007-12-12 2007-12-12 Low-speed highly precise control system for magnetic suspending flying wheel electromotor based on n Hall sensors CN100517945C (en)

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