CN101183173A - Control method for large caliber astronomical arcs movement - Google Patents

Abstract

The present invention relates to the control method of the arc motion of a large caliber astronomical telescope. The method comprises steps as follows: a DSP module is arranged in a hypogynous computer system; the control program of the hypogynous computer system comprises steps as follows: 1. the initial value of a control register in the DSP module is set; the current and the voltage at a motor stator end is measured and the DSP module is initialized; 2. an A/D is collected and kept; a direct torque control algorithm program is processed and a corresponding PWM signal is generated; 3. novel data collection and refreshing is finished and a voltage vector is reselected; 4. data exchange is carried out, which mainly comprises the steps of receiving from a host computer, refreshing the servo control parameter of a local host and setting the servo operation mode; the parameter in an EEPROM is saved; the keyboard value of the DSP module is read and displayed. The system can satisfy the requirements of long time, high precision tracking and observing various celestial bodies for the large caliber astronomical telescope. The present invention also satisfies the requirements of precision and wide speed control for astronomical observation.

Description

A kind of control method of large caliber astronomical arcs movement

Technical field

The present invention relates to a kind of control method of astronomical telescope, be specifically related to a kind of control method of doing the heavy caliber astronomical telescope of movement in a curve.

Background technology

Mechanical motion when astronomical telescope is done observation is a kind of visual angle pursuit movement to the observation celestial body, and actual is compensatory motion to earth rotation, so the average velocity of this motion is 360 °/24 hours (utmost point at a slow speed).And all astronomical telescopes are observed at every turn, and the motion amplitude (or being called move distance) that needs is general can not to surpass one 180 ° arc.That is to say that the motion during astronomical telescope observation is the utmost point movement in a curve at a slow speed that is limited in the arc scope.The dynamo-electric tactic pattern of the tracking of traditional astronomical telescope all is to adopt to rotatablely move---the conversion of movement in a curve.The high speed rotary motion that is about to motor is by the movement in a curve at a slow speed of gearing conversion poling.For example, a large amount of paper that relates to the astronomical telescope motion control, patent in the prior art, even textbook all belong to this rotatablely moving---the tactic pattern of the conversion of movement in a curve.This tactic pattern complexity, the control technology relative difficult of heavy caliber astronomical telescope, the lead time is also long.The continuous exploration of the universe of human needs, the more and more bigbore telescope of astronomical development need, countries in the world are all at cooperation or oneself development heavy caliber astronomical telescope.Need the celestial body targeted species of exploration and research various, the track of operation also has nothing in common with each other, the frame of novel astronomical telescope is also constantly emerged in large numbers and is developed, require the tracking velocity scope of astronomical telescope more and more wideer, tracking accuracy is more and more higher, and the Electromechanical Control pattern of the astronomical telescope of development can not satisfy the tracer request of heavy caliber astronomical telescope at present.

Because the pursuit movement track of astronomical telescope is a camber line, so the more satisfactory type of drive of heavy caliber astronomical telescope is movement in a curve, (be Ultra-Low Speed high precision arc electric motor promptly by the movement in a curve motor, be called for short arc electric motor) constitute the design of electromechanical integration with telescope, the physical construction of this electromechanical integration movement in a curve is very simple, and can form the very strong annexation of rigidity.The control system of electromechanical integration movement in a curve is greatly improved telescopical dynamic property, control accuracy owing to there is not the torsional rigidity influence of mechanical transmission mechanism.

In modern heavy caliber astronomical telescope, the precision of its servo-control system plays important effect to whole telescopical system performance, carries out in the telescope that has built up that cost is very high in the telescope control system that improvement that telescope servo tracking positioning system carries out whole servo-drive system and modern control method use.And adopt after the system of electromechanical integration movement in a curve, the change of essence has all taken place in telescopical structure and mode of motion, and its control system also needs to adopt a kind of brand-new control technology and control device.Simultaneously, because the low speed of astronomical telescope requires to be lower than 1 "/s; Surpass 10 °/s during high speed.And require when low speed, creeping phenomenon can not take place.These technical indicators are except to the structural requirements such as telescopical machinery, electronics, also are very high to the requirement of control system.And these control technologys and control device did not adopt in existing astronomical telescope.

Summary of the invention

At the problems referred to above of prior art, the purpose of this invention is to provide a kind of movement in a curve control system of heavy caliber astronomical telescope.This system can satisfy that heavy caliber astronomical telescope is long-time, the needs of high precision tracking, the various celestial bodies of observation, and satisfies precision, the wide range speed control parameter request of astronomical sight.

The scheme of finishing the foregoing invention task is: a kind of large caliber astronomical arcs movement control method, this method comprises: by host computer the next bit computer system is exported controlled variable and the servo operation pattern is set, and carry out online Centralized Monitoring, integrated management and Performance Detection; By the next bit computer system control program, realize that the steering order of host computer is finished the control corresponding algorithm, and the movement in a curve of motor is controlled in real time; Digital signal processor (DSP module) is set in the next bit computer system, central processing unit (CPU), SCI module, SPI module, A/D sampling module, position encoded input interface, pin interrupt module and PWM generator are set in the DSP module;

Described next bit computer system control program comprises the following steps:

1, sets the initial value of control register in the DSP module, measure the electric current and the voltage of motor stator end, the DSP module initialization;

2, carry out A/D data acquisition and maintenance, carry out the Direct Torque Control algorithm routine, produce corresponding pwm signal;

3, finish new data acquisition, refresh, reselect voltage vector;

4, carry out exchanges data, mainly comprise from the reception of host computer and refresh this machine servocontrol parameter, the servo operation pattern is set; The storage of parameter among the EEPROM, the reading and show of DSP module keyboard value.

Also further may further comprise the steps between above-mentioned steps 1 and the step 2:

Whether the power model that detects motor has fault output, when breaking down, blocks the pwm signal output channel.

In the above-mentioned steps 1, the initial value of control register in the described setting DSP module further may further comprise the steps:

1) setting of pll clock: the DSP frequency of operation is set at 150MHz;

2) I/O port initialization: set sampled value input port and PWM output port;

3) A/D converter work is set: A/D converter is set at the single conversion pattern, and conversion is by programmed control;

4) task manager initialization: set each general purpose timer, set the working method of QEP (quadrature coding pulse circuit);

5) interrupt management initialization;

In the above-mentioned steps 1, the electric current and the voltage of described measurement motor stator end further may further comprise the steps:

1. A/D converter is accepted the three-phase current i of tested motor _A, i _B, i _C, obtain current component i by 3/2 conversion _αComponent and i _βComponent;

2. by dc voltage value after the rectification link and switching states, obtain DC bus-bar voltage V _Dc, calculate stator voltage U according to 3/2 conversion principle again _α, U _β

Further comprise the following steps: in the above-mentioned steps 2

2.1 pass to the direct current of a known dimensions for the stator of motor, make stator produce a constant magnetic field like this, the stationary magnetic field of this magnetic field and rotor interacts, and forces rotor to forward the position that two magnetic linkages overlap to and stops, thereby obtain the initial phase of rotor;

2.2 the stator magnetic linkage amplitude is calculated: according to the u-n model, by calculating the component ψ of stator magnetic linkage at α β axle _α, ψ _βDetermine stator magnetic linkage; According to $\left|{\mathrm{\ψ}}_s\right|=\sqrt{{\mathrm{\ψ}}_{\mathrm{\α}}^2+{\mathrm{\ψ}}_{\mathrm{\β}}^2}$ Determine the stator magnetic linkage amplitude | ψ _s|;

2.3 according to $T_e=\frac{3}{2}P({\mathrm{\ψ}}_{\mathrm{\α}}{i}_{\mathrm{\β}}-{\mathrm{\ψ}}_{\mathrm{\β}}{i}_{\mathrm{\α}})$ Calculate electromagnetic torque;

2.4 according to time set, need to judge whether speed to regulate, if do not need, then execution in step 2.7;

2.5 the signal that scrambler produces is sent to position data processing single chip (ARM7), after position data processing single chip (ARM7) became position signalling, rate signal and commutation signal with these two signal transformations, its positional value, velocity amplitude and commutation signal all were sent to the position encoded interface (QEP) of DSP.By the step-by-step counting to photoelectric encoder of QEP1 and QEP2 two-phase quadrature coding pulse circuit, utilization M/T method is carried out the calculating of rotating speed, obtains rotating speed of motor; According to commutation signal motor is carried out forward and reverse control;

Regulate 2.6 carry out rotating speed PI, speed regulator is determined the torque set-point according to torque set-point and actual speed;

2.7 with magnetic linkage and electromagnetic torque estimated value respectively and specified rate separately compare, produce corresponding deviation signal;

2.8 the judgement of stator magnetic linkage place section: Direct Torque Control is with stator magnetic linkage vector ψ _sRevolution space be divided into θ ₁～θ ₆Six sections are according to ψ _α, ψ _βValue realize the judgement of section;

2.9 determine to send which vector in six basic voltage vectors according to the switching voltage vector table;

2.10 write the value CMPR1 of three comparand registers accordingly, CPMR2 and CMPR3;

2.11 produce corresponding PWM pulse width signal, load on IPM output, and then the rotation of control motor.

The present invention is by the control system of the combination of hardware and software, control requirement when satisfying heavy caliber astronomical telescope and moving in the camber line mode, realize that heavy caliber astronomical telescope is long-time, the needs of high precision tracking, the various celestial bodies of observation, and satisfy precision, the wide range speed control parameter request of astronomical sight.In the control procedure, by electric current loop sampling and control, magnetic linkage and torque estimating, torque stagnate chain rate, magnetic linkage stagnate chain rate, links such as the calculating of switching voltage vector and selection, rotational speed regulation, reduce and the error of setting running orbit, reach accurate control.

Description of drawings

Fig. 1 is the embodiment of the invention 1 a hardware configuration synoptic diagram;

Fig. 2 is that the embodiment of the invention 1 input is to figure;

Fig. 3 is the main program flow chart of the embodiment of the invention 1;

Fig. 4 embodiment of the invention 1 motor torque control procedure process flow diagram;

Fig. 5 is that the embodiment of the invention 1 vector space section is judged FB(flow block);

Fig. 6 is the embodiment of the invention 1 a fault detect process flow diagram.

Embodiment

As shown in Figure 1, a kind of large caliber astronomical arcs movement control system, the control method of this system comprises: by host computer the next bit computer system is exported controlled variable and the servo operation pattern is set, and carry out online Centralized Monitoring, integrated management and Performance Detection; By the next bit computer system control program, realize that the steering order of host computer is finished the control corresponding algorithm, and the movement in a curve of motor is controlled in real time.The DSP module is set in the next bit computer system, central processing unit (CPU), SCI module, SPI module, A/D sampling module, position encoded input interface, pin interrupt module and PWM generator are set in the DSP module.

Be illustrated in figure 2 as the relation of the needed whole inputoutput datas of control system." rotating speed " of analog quantity, " DC voltage " and " set-point " are read in by interrupting 1 employing clock interrupt mode execution by the control and the data of the A/D converter in the host computer.

The value of reading in of rotating speed and DC voltage is directly transmitted removes (the Direct TorqueControl: Direct Torque Control) control as DTC.And set-point is sent to TMS320F2812 by interrupting 2 controls.In torque is directly regulated, torque set-point T _e ^*Be limited to be transmitted in allowed limits.ψ _e ^*Send by interrupting 2 as the flux linkage set value.Transmit torque tolerance ε by interrupting 4 _TWith magnetic linkage ε _ψWith by interrupting 6 transport model parameters.Model parameter is written in the twoport data RAM.

The A/D converter of TMS320F2812 is accepted the current component i of tested motor _αComponent and i _βComponent.In addition, also accept to be monitored by the minimum switch duration status signal of the inverter provide at the state mouth, the output quantity that is used to write down is exported by three D/A converters.

TMS320F2812 produces the voltage control signal of inverter, sends output signal S as shown in Figure 2 after the minimum switch duration monitors mouthful supervision _a, S _b, S _c

As shown in Figure 3, the task of main program module mainly is to finish measurement, dsp system initialization, peripheral module initialization and other subsidiary function of the initialization of control system, motor stator end physical quantity (electric current and voltage).

1. the initialization of system

The mode of operation of each module of DSP is set by the control corresponding register, so at first must set the initial value of each control register as requested in the master routine, and initialized work mainly contains in native system:

1) setting of pll clock: the DSP frequency of operation is set at 150MHz.

2) I/O port initialization: set sampled value input port and PWM output port.

3) ADC work is set: ADC is set at the single conversion pattern, and conversion is by programmed control.

4) task manager initialization: the setting of each general purpose timer, the setting of QEP working method.

5) interrupt management initialization.

2. the real-time measurement of motor stator side physical quantity

Three-phase current i for inverter output _A, i _B, i _CSample, obtain i by 3/2 conversion _α, i _β

Voltage status and switching states and DC voltage V by inverter _DcBetween relation, can obtain U _α, U _β

(1) 3/2 conversion is described:

Direct Torque Control is calculated under stator two phase coordinate systems, and the threephase stator electric current that is obtained by current detection circuit obtains the current component under the two-phase system of axis α β through 3/2 conversion:

$\left[\begin{array}{c}{i}_{\mathrm{\α}}\\ i_{\mathrm{\β}}\\ i_0\end{array}\right]=\left[\begin{array}{ccc}1& -\frac{1}{2}& -\frac{1}{2}\\ 0& \frac{\sqrt{3}}{2}& \frac{\sqrt{3}}{2}\\ \frac{1}{2}& \frac{1}{2}& \frac{1}{2}\end{array}\right]\left[\begin{array}{c}{i}_A\\ i_B\\ i_C\end{array}\right]$

I is arranged again _A+ i _B+ i _C=0, so $i_{\mathrm{\α}}=\frac{3}{2}{i}_A,$ $i_{\mathrm{\β}}=\frac{3}{2}(i_A+{2i}_B).$

(2) U _α, U _βCalculating

For the motor of voltage source inverter power supply, its instantaneous voltage is one group of fixing value, and is corresponding one by one with switching states, as inverter direct-flow side busbar voltage V _DcIn the time of fixedly,, can obtain each voltage vector component under system of axis α β and see Table 1 according to 3/2 conversion principle.

Table 1 voltage vector α beta-axis component table

Wherein

$V_d=\frac{2}{3}{V}_{\mathrm{dc}}.$

3. subsidiary function

This part work mainly is the steering order of receiving system: start, stop and acceleration and deceleration etc.

4.DSP system initialization

(1) storage space setting, the in-chip FLASH storage space of DSP in ram in slice, can be changed configuration by the cmd file of change memory allocation with procedure stores up to 128k;

(2) system clock setting, the highest system clock frequency (SYSCLK) of DSP can reach 150MHz, and this frequency is programmable.In order to make full use of the resource of TMS320F2812, the coupling system performance requirement is so be decided to be 150MHz with SYSCLK in the native system;

(3) system break setting, this has used 5 interruptions in servo, is that the timing underflow of task manager A is interrupted, the cycle of task manager B regularly interrupts, external pin interrupts respectively, SPI receives and interrupt and SCI receives and interrupts

(4) the system house dog is provided with, and does not enable house dog.

5. peripheral module initialization

Peripheral module refers to each functional unit that is integrated in DSP inside, mainly contains: and task manager (A, B), D/A conversion unit (ADC), digital input and output (I/O), SPI and SCI communication interface module.

1) task manager (EVA, initialization EVB):

Task manager A (EVA) is the core function unit of this control system, and its main task is the signal of received pulse scrambler and produces pwm signal.EVA has two timers, and timer 1 (T1) and timer 2 (T2), T1 are used for producing the timer underflow and interrupt, and T2 is used for the pulse signal that the calculation code device produces.The initialization of EVA module comprises following process:

(1) timing cycle of T1 is set, i.e. PWM cycle/2;

(2) timer control register TICON is set, selects to increase/to subtract count mode continuously, EVA module clock is set calibrates coefficient, clock source selection innernal CPU clock in advance;

(3) dead band control register DBTCONA is set,, the dead band must be set, and Dead Time is greater than IGBT switching time for two IGBT up and down that guarantee the H bridge do not produce the situation of conducting simultaneously;

(4) manner of comparison control register ACTRA is set, the comparison way of output on each pin of PWM1～PWM6 is set, can select to force low, low effectively, high effectively, the high four kinds of modes of pressure;

(5) comparison control register COMCONA is set, enables compare operation, and comparand register heavy cartridges fiducial value when timer 1 counting is zero (being underflow);

(6) overall general purpose timer control register GPTCONA is set, setting is interrupted starting the ADC module by the underflow of timer 1 and is carried out analog to digital conversion.

Quadrature coding pulse circuit (QEP) connects pulse encoder, calculates pulse number.During initialization, by acquisition control register CAPCONA is set, forbid capturing unit, enable the quadrature coding pulse circuit, and timer 2 control register T2CON is set, making T2 is that orientation increases/subtract count mode, and with the orthogonal coding circuit as the clock source.

The regularly break in service of the EVB module has only been used timer 3 in native system cycle.Be the dynamic display circuit service.When initialization, periodic quantity, system clock divide ratio, count mode only need be set select to increase counting continuously, these are finished by register T3CON and GPTCONB and T3PR are set.

2) initialization of D/A conversion unit (ADC):

The ADC module need be changed 7 data: biphase current i _a, i _b, DC bus-bar voltage V _Dc, and be used for that sampled result proofreaies and correct two groups totally 4 analog quantitys.In initialization procedure, at first write control register 3 (ADCCTRL3) is selected the synchronized sampling pattern, pre-calibration coefficient, sampling pattern that write control register 1 (ADCCTRL1) is provided with sampling clock are startup/stop mode, two sorting unit (SEQ1, SEQ2) be the cascade pattern, next is provided with control register 2 (ADCCTRL2) and selects to be the triggering source that sampling starts, to set each passage order of maximum ALT-CH alternate channel number and sampling at last by EVA.

3) initialization of digital input and output modules (I/O):

DSP has the programmable digital input and output multiplexing port up to 56.Chosen 16 ports and be arranged to the I/O mouth on hardware, wherein 8 are used as input, and 8 as output.Design by 3.3V～5V electrical level matching circuit, is made port with TTL compatible with these 16 mouths during hardware.

4) communication interface (SPI, initialization SCI):

During the SPI initialization, data bit length, master slave mode, baud rate, no delayed delivery are set and set negative edge transmission data, rising edge receives data; The SCI module is mainly used in the communication with host computer, and data bit length, baud rate, position of rest, parity checking etc. mainly are set during initialization.

As shown in Figure 4, the motor torque control procedure is as follows:

2.1) pass to the direct current of a known dimensions for the stator of motor, make stator produce a constant magnetic field, the stationary magnetic field of this magnetic field and rotor interacts, and forces rotor to forward the position that two magnetic linkages overlap to and stops, thereby obtain the initial phase of rotor.

2.2) calculating of stator magnetic linkage amplitude: according to the u-n model, by calculating the component ψ of stator magnetic linkage at α β axle _α, ψ _βDetermine stator magnetic linkage; According to $\left|{\mathrm{\ψ}}_s\right|=\sqrt{{\mathrm{\ψ}}_{\mathrm{\α}}^2+{\mathrm{\ψ}}_{\mathrm{\β}}^2}$ Determine the stator magnetic linkage amplitude | ψ _s|.

ψ _α, ψ _βBe calculated as follows:

ψ _α＝∫(U _α-R _si _α)dt

ψ _β＝∫(U _β-R _si _β)dt

${\mathrm{\ψ}}_s=\sqrt{{\mathrm{\ψ}}_{\mathrm{\α}}^2+{\mathrm{\ψ}}_{\mathrm{\β}}}$

2.3) basis $T_e=\frac{3}{2}P({\mathrm{\ψ}}_{\mathrm{\α}}{i}_{\mathrm{\β}}-{\mathrm{\ψ}}_{\mathrm{\β}}{i}_{\mathrm{\α}})$ Calculate torque.

2.4) according to time set, need to judge whether speed to regulate, if do not need, then execution in step 2.7.

2.5) signal that produces of scrambler is sent to position data processing single chip (ARM7), after position data processing single chip (ARM7) became position signalling, rate signal and commutation signal with these two signal transformations, its positional value, velocity amplitude and commutation signal all were sent to the position encoded interface (QEP) of DSP.By the step-by-step counting to photoelectric encoder of QEP1 and QEP2 two-phase quadrature coding pulse circuit, utilization M/T method is carried out the calculating of rotating speed, obtains rotating speed of motor; According to commutation signal motor is carried out forward and reverse control;

2.6) carrying out rotating speed PI adjusting, speed regulator is determined the torque set-point according to torque set-point and actual speed;

2.7) with magnetic linkage and electromagnetic torque estimated value respectively and specified rate separately compare, produce corresponding deviation signal;

Because Direct Torque Control is that control inverter changes on off state according to certain rules.Therefore, if reasonably select each space voltage vector, just might obtain the constant and rotational stator magnetic linkage of amplitude.In fact, it almost is impossible will seeking out absolute circular stator magnetic linkage track with this way.In engineering is used, there is no need too to pursue the absolute circle of stator magnetic linkage track, as long as near circular just enough.For this reason, when selecting switching states, allow the instantaneous rotational speed and the amplitude of stator magnetic linkage that certain error is arranged.In native system, the adjusting of magnetic linkage realizes by the ring control that stagnates.For example work as magnetic linkage greater than prescribing a time limit on the magnetic linkage of setting, select suitable voltage vector to reduce magnetic linkage; When down in limited time less than the magnetic linkage of setting, select other voltage vector to increase magnetic linkage, to regulate so repeatedly, magnetic linkage track will approach set-point, near circular.

Native system adopts the ring that stagnates to control the electromagnetic torque of motor, the given T of electromagnetic torque simultaneously ^*When comparing, work as T with value of feedback T ^*During-T 〉=Δ T, torque is indicated to increase in ring controller output τ=1 that stagnates; Work as T ^*During-T≤Δ T, torque is indicated to reduce in ring controller output τ=0 that stagnates; When-Δ T≤T ^*During-T≤Δ T, the ring controller output τ that stagnates maintains the original state.

2.8) judgement of stator magnetic linkage place section: Direct Torque Control is with stator magnetic linkage vector ψ _sRevolution space be divided into θ ₁～θ ₆Six sections are according to ψ _α, ψ _βValue realize the judgement of section.

Carry out magnetic linkage, torque ratio after, when exporting their conditioning signal, must depend on the section at stator magnetic linkage place, as long as according to ψ _α, ψ _βValue just can realize the judgement of section.For ψ _sAnd the angle theta between the α axle has $\sin \mathrm{\θ}=\frac{{\mathrm{\ψ}}_{\mathrm{\β}}}{\left|{\mathrm{\ψ}}_s\right|},$ Making it is M, then according to section division, has with lower curtate and judges conclusion:

With block representation such as Fig. 5.According to the flow process of block diagram, can in DSP, realize judging section easily.

2.9) determine to send which vector in six basic voltage vectors according to the switching voltage vector table.

2.10) write the value CMPR1 of three comparand registers, CPMR2 and CMPR3 accordingly;

2.11) produce corresponding PWM pulse width signal, load on IPM output, and then the rotation of control motor.

Power model protection is interrupted DSP and is aimed at system and protection power model and opertaing device occur when unusual and establish, and it is that non-shielding is interrupted, and interrupt level is more preferential.When the PDPINT pin is a low level and when being responded by DSP, DSP at first blocks the output of pwm signal immediately from hardware level, corresponding pin is high-impedance state, carry out corresponding interrupt service routine then, disconnect the contactor J in the DC loop, just guaranteed that from power end accident can further not enlarge when the IPM fault like this.Its flow process as shown in Figure 6.

Claims (5)

1. large caliber astronomical arcs movement control method, this method comprises: to next bit computer system output controlled variable with the servo operation pattern is set, and carry out online Centralized Monitoring, integrated management and Performance Detection by host computer; By the next bit computer system control program, realize that the steering order of host computer is finished the control corresponding algorithm, and the movement in a curve of motor is controlled in real time;

It is characterized in that, the DSP module is set in the next bit computer system, CPU, SCI module, SPI module, A/D sampling module, position encoded input interface, pin interrupt module and PWM generator are set in the DSP module;

Described next bit computer system control program comprises the following steps:

1, sets the initial value of control register in the DSP module, measure the electric current and the voltage of motor stator end, the DSP module initialization;

2, carry out A/D data acquisition and maintenance, carry out the Direct Torque Control algorithm routine, produce corresponding pwm signal;

3, finish new data acquisition, refresh, reselect voltage vector;

4, carry out exchanges data, mainly comprise from the reception of host computer and refresh this machine servocontrol parameter, the servo operation pattern is set; The storage of parameter among the EEPROM, the reading and show of DSP module keyboard value.

2. control method according to claim 1 is characterized in that, also further may further comprise the steps between above-mentioned steps (1) and the step (2): whether have fault output, when breaking down, block the pwm signal output channel if detecting Intelligent Power Module.

3. control method according to claim 1 is characterized in that, in the above-mentioned steps (1), the initial value of control register in the described setting DSP module further may further comprise the steps:

1.1) setting of pll clock: the DSP frequency of operation is set at 150MHz;

1.2) the I/O port initialization: set sampled value input port and PWM output port;

1.3) A/D converter work setting: A/D converter is set at the single conversion pattern, and conversion is by programmed control;

1.4) the task manager initialization: set each general purpose timer, set the working method of QEP;

1.5) the interrupt management initialization;

4. control method according to claim 1 is characterized in that, measures the electric current and the voltage of motor stator end described in the above-mentioned steps (1), further may further comprise the steps:

1. A/D converter is accepted the three-phase current i of tested motor _A, i _B, i _C, obtain by 3/2 conversion

Current component i _αComponent and i _βComponent;

2. by dc voltage value after the rectification link and switching states, obtain dc bus

Voltage V _Dc, calculate stator voltage U according to 3/2 conversion principle again _α, U _β

5. control method according to claim 1 is characterized in that, further comprises the following steps: in the above-mentioned steps 2

2.1) pass to the direct current of a known dimensions for the stator of motor, make stator produce a constant magnetic field like this, the stationary magnetic field of this magnetic field and rotor interacts, and forces rotor to forward the position that two magnetic linkages overlap to and stops, thereby obtain the initial phase of rotor;

2.2) calculating of stator magnetic linkage amplitude: according to the u-n model, by calculating the component ψ of stator magnetic linkage at α β axle _α, ψ _βDetermine stator magnetic linkage; According to $\left|{\mathrm{\ψ}}_s\right|=\sqrt{{\mathrm{\ψ}}_{\mathrm{\α}}^2+{\mathrm{\ψ}}_{\mathrm{\β}}^2}$ Determine the stator magnetic linkage amplitude | ψ _s|;

2.3) basis $T_e=\frac{3}{2}P({\mathrm{\ψ}}_{\mathrm{\α}}{i}_{\mathrm{\β}}-{\mathrm{\ψ}}_{\mathrm{\β}}{i}_{\mathrm{\α}})$ Calculate torque;

2.4) according to time set, need to judge whether speed to regulate, if do not need, then execution in step 2.7;

2.5) signal that produces of scrambler is sent to the position data processing single chip, after the position data processing single chip becomes position signalling, rate signal and commutation signal with these two signal transformations, its positional value, velocity amplitude and commutation signal all are sent to the QEP of DSP, by the step-by-step counting of QEP1 and QEP2 two-phase quadrature coding pulse circuit to photoelectric encoder, utilization M/T method is carried out the calculating of rotating speed, obtains rotating speed of motor; According to commutation signal motor is carried out forward and reverse control;

2.6) carrying out rotating speed PI adjusting, speed regulator is determined the torque set-point according to torque set-point and actual speed;

2.7) with magnetic linkage and electromagnetic torque estimated value respectively and specified rate separately compare, produce corresponding deviation signal;

2.8) judgement of stator magnetic linkage place section: Direct Torque Control is with stator magnetic linkage vector ψ _sRevolution space be divided into θ ₁～θ ₆Six sections are according to ψ _α, ψ _βValue realize the judgement of section;

2.9) determine to send which vector in six basic voltage vectors according to the switching voltage vector table;

2.10) write the value CMPR1 of three comparand registers, CPMR2 and CMPR3 accordingly;

2.11) produce corresponding PWM pulse width signal, load on IPM output, and then the rotation of control motor.

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