CN101640514B - Separately excited motor controller and control method thereof - Google Patents
Separately excited motor controller and control method thereof Download PDFInfo
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- CN101640514B CN101640514B CN2008101513432A CN200810151343A CN101640514B CN 101640514 B CN101640514 B CN 101640514B CN 2008101513432 A CN2008101513432 A CN 2008101513432A CN 200810151343 A CN200810151343 A CN 200810151343A CN 101640514 B CN101640514 B CN 101640514B
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Abstract
The invention relates to a separately excited motor controller and a control method thereof. The controller comprises a power part and a control part, and also comprises an armature winding driving circuit, an exciting winding driving circuit, a singlechip and a peripheral circuit connected therewith. The armature winding driving circuit consists of a rectified power tube and a follow current power tube which are broken over complementarily, and the rectified power tube and the follow current power tube are in parallel connection by adopting a plurality of N-shaped channel depletion type power MOS tubes, and the exciting winding driving circuit adopts an H-shaped bridge structure and is driven by the N-shaped channel depletion type power MOS tubes. The control method is realized by the singlechip procedure and comprises the following steps: detecting an external analog signal and a switch signal in real time through each input circuit; controlling and regulating the control signal output by each output circuit according to the results; controlling the motor, each external contactor, relay, alerter and status indicator LED, thus realizing the function of control. The separately excited motor controller of the invention has compact structure, succinct circuit, consummate function and high reliability.
Description
Technical field
The present invention relates to a kind of electric machines control technology, especially relate to the design of system configuration of SCM Based separately excited motor controller and the control strategy that adopts.
Background technology
The separately excited motor controller that motor vehicle uses all is Digital Control System basically, and control circuit is realized based on single-chip microcomputer and corresponding peripheral circuit.The separately excited motor controller of main flow is the separately excited motor controller series of products of Jean-Philippe Cotis in the market, its control circuit has adopted the mode based on two single-chip microcomputers of principal and subordinate to realize, and adopted plug-in EEPROM, peripheral interface circuit is many, the structure relative complex; Owing to adopt this hardware plan, so that the design of control software also has been divided into two parts realization, cooperate by the specific communication mechanism of principal and subordinate processor, to realize the various control functions of whole system.The hardware configuration of whole control system and software configuration be relative complex all, can increase probability of malfunction, affects reliability of operation.Simultaneously, the fault diagnosis and dealing mechanism of present separately excited motor controller is not very perfect, and particularly the short-circuit detecting of armature driving power pipe and protection are not well solved.
Summary of the invention
For the problems referred to above, the present invention proposes a kind of system configuration of separately excited motor controller, and its control circuit is based on a chip microcontroller, and this single-chip microcomputer is integrated enough to satisfy the EEPROM of control needs capacity, thereby does not need plug-in EEPROM.Like this, the peripheral interface circuit of processor greatly reduces, so that reduce the fault point, hardware configuration is more compact; Software for Design is based on a chip microcontroller, software systems reduced complexity, Reliability Enhancement.Simultaneously, the present invention has increased special hardware circuit and has come detection power tube short circuit fault, has effectively realized the short-circuit protection function of armature driving power pipe, has greatly improved the reliability of whole system.
Purpose of the present invention realizes in the following manner, the present invention proposes a kind of separately excited motor controller, formed by power section and control section, described power section comprises armature winding drive circuit and excitation winding drive circuit, described control section comprise single-chip microcomputer and with the peripheral circuit of its interface, described armature winding drive circuit is made of rectified power pipe and the afterflow power tube of the complementary conducting of adopting the synchronous rectification mode, and rectified power pipe and afterflow power tube adopt a plurality of N channel depletion type power MOS tube parallels;
Described excitation winding drive circuit adopts the H bridge construction, is driven by N channel depletion type power MOS pipe;
Described interface microcontroller peripheral circuit comprises importation and output;
Described importation comprises analog signal conditioner circuit and switching signal modulate circuit, and described output comprises power tube drive circuit, external electromagnetic coil winding drive circuit, alarm drive circuit and driving circuit for status display lamp;
Wherein, described analog signal conditioner circuit zooms in or out the analog detection signal of outside input, is input to after the filtering in the single-chip microcomputer, and it is rear for control program with the AD conversion to be sampled by single-chip microcomputer again; The switching signal of outside input is carried out level conversion to described switching signal modulate circuit and filtering is processed, and then is input to single-chip microcomputer by the single-chip processor i/o mouth, uses for control program.
Described analog signal conditioner circuit comprises battery voltage detection circuit, capacitance voltage testing circuit, armature supply testing circuit, exciting current testing circuit, main contactor and auxiliary relay winding voltage testing circuit, temperature sensing circuit and signal for faster testing circuit;
Described switching signal modulate circuit comprises that key switch signal deteching circuit, direction switch signal deteching circuit, foot-operated sensitive switch signal deteching circuit, mode switching signal testing circuit, hall speed sensor signal deteching circuit, solenoid drive over-current signal testing circuit and M-detection of short-circuit signal circuit.
Described power tube drive circuit comprises the power tube drive circuit of armature circuit and the power tube drive circuit of field circuit, the power tube drive circuit of armature circuit adopts IR2110S to drive chip and peripheral circuit consists of, and the power tube drive circuit of described field circuit adopts L6384D to drive chip and peripheral circuit consists of; Every road driver output of described external electromagnetic coil winding drive circuit adopts a metal-oxide-semiconductor, is used for driving external contactor or relay; Described alarm drive circuit adopts the NPN triode, is used for driving external alert buzzer or loudspeaker; The LED of the built-in demonstration malfunction of described driving circuit for status display lamp is directly driven by the I/O mouth.
The invention allows for the separately excited machine control method based on above-mentioned hardware platform, the various functions of described method realizes that by Single Chip Microcomputer (SCM) program described control method comprises step on the controller hardware platform:
Single-chip microcomputer detects external analog signal and switching signal in real time by each input circuit;
According to the testing result of these real-time parameter values, the control signal of each output circuit output of regulating and controlling;
Control motor and each external contactor, relay, alarm and status indicator LED by described control signal, thereby realize the control function of controller system.
The external analog signal of described real-time detection comprises the accelerator input signal, will speed up input signal and convert voltage signal input single-chip microcomputer to, single-chip microcomputer carries out the AD conversion with this voltage signal and becomes digital signal, single-chip microcomputer control program drives the pwm signal duty ratio according to the armature that adds the speed input signal regulation output, pass through again power tube drive circuit, control armature winding drive circuit, the adjusted open loop of realization motor speed accelerator.Adding given integral control link according to adding when speed input signal is regulated armature driving pwm signal duty ratio, make motor come mild acceleration and deceleration with certain rate of acceleration and the rate of deceleration.Wherein rate of acceleration and the rate of deceleration are client's programmable parameter.
Described external analog signal comprises the real-time detected value of exciting current and given reference value, the detection of the real-time detected value of described exciting current is to realize take the channel resistance of excitation winding driven MOS pipe as current sampling resistor, described given reference value is to utilize Hall current sensor that armature supply is converted to voltage signal, through being input to single-chip microcomputer after amplification and the filtering, in single-chip microcomputer, be converted to real-time armature supply detected value through AD, single-chip microcomputer control program calculates the corresponding given reference value of exciting current according to this real-time armature supply detected value, take this value as reference, by relatively the real-time detected value of exciting current and given reference value come the excitation of regulation output to drive the pwm signal duty ratio, pass through again power tube drive circuit, make exciting current actual value tracing preset reference value, realize PREDICTIVE CONTROL and the closed-loop adjustment of exciting current.
When single-chip microcomputer detects described real-time armature supply detected value above the inner cut-off current that arranges, control program will enter armature supply closed-loop adjustment state, the accelerator adjusted open loop is ineffective, under armature supply closed-loop adjustment state, Single Chip Microcomputer (SCM) program is by comparing the size of the real-time detected value of armature supply and inner setting cut-off current, armature is driven the pwm signal duty ratio to be regulated, thereby control armature supply actual value keeps the current limliting set point constant, realize current-limiting function, after the required armature supply of reality is less than the current limliting set point, program will withdraw from limited current state, reenter accelerator open loop control.
When single-chip microcomputer detects the real-time detected value of armature supply and is negative value, control program will enter the regenerative braking adjustment state, the real-time Detection capacitance voltage of single-chip microcomputer and armature current value, compare with overpressure value and the regeneration cut-off current of inner setting, when the capacitance voltage detected value surpasses overpressure value or armature supply and surpasses the regeneration cut-off current, single-chip microcomputer control program is regulated the duty ratio that armature drives pwm signal by regulating the rate of deceleration, the level and smooth continuous braking moment of realization is controlled and the overvoltage that causes owing to the electric capacity reverse charge in the regenerative process is limited, take this cut-off current as with reference to the regenerative braking electric current is carried out closed-loop control, realize level and smooth continuous braking effect.
Described external analog signal comprises the motor real-time rotate speed signal that Hall revolution speed transducer produces, when detecting described motor real-time rotate speed and surpass the speed limit of single-chip microcomputer inner setting, control program is with admission velocity closed-loop adjustment state, Single Chip Microcomputer (SCM) program is by comparing the size of motor speed measured value and inner setting speed limit, armature is driven the pwm signal duty ratio regulate, control motor speed actual value keeps the speed limit set point constant; When accelerator input reduce or since the load increase so that rotating speed reduces, program will withdraw from the speed limit state, reenter accelerator open loop control.
Described switching signal comprises that M-short-circuit detection signal, main contactor drive over-current signal, the non-skid braking relay drives over-current signal, is used for carrying out failure diagnosis.After the M-point average voltage that the M-short-circuit detection signal is corresponding amplifies through the operational amplifier amplifying circuit, compare with reference voltage, produce a switching signal input single-chip microcomputer, control program is by detecting the state of this switching signal, in conjunction with the criterion of M-short circuit, carry out the diagnosis of power tube puncture short fault.Main contactor drives over-current signal and the non-skid braking relay drives the switching signal input single-chip microcomputer that the direct and corresponding reference voltage of over-current signal produces more afterwards, carries out the diagnosis that main contactor or non-skid braking relay drive short trouble.
Described switching signal comprises locking wire switching signal, direction switch signal, foot-operated interlock switch signal, described switching signal feeds back to single-chip microcomputer, and Single Chip Microcomputer (SCM) program is controlled the driver output of main contactor, non-skid braking relay and alarm according to the state of switching signal.
Described built-in status indicator LED is driven by the result of Single Chip Microcomputer (SCM) program according to failure diagnosis, and LED shows failure code, and every kind of corresponding failure code of fault realizes completely failure diagnosis and corresponding defencive function.
Effect of the present invention: the compact conformation of this separately excited motor controller, simple circuit, perfect in shape and function have very high reliability.The fault diagnosis and dealing mechanism of this separately excited machine control method is also very perfect, and particularly the short-circuit detecting of armature driving power pipe and protection are well solved.
Description of drawings
Fig. 1 is system architecture diagram of the present invention;
Fig. 2 is main power circuit schematic diagram of the present invention;
Fig. 3 is logic power of the present invention and reference voltage circuit schematic diagram;
Fig. 4 is that capacitance voltage of the present invention detects, armature supply detects, exciting current detects and the temperature sensing circuit schematic diagram;
Fig. 5 is armature winding driven MOS pipe of the present invention and excitation winding driven MOS tube drive circuit schematic diagram;
Fig. 6 is each switching signal of the present invention, signal for faster, voltage signal, fault-signal testing circuit and contactor, relay, alarm driving circuit principle figure;
Fig. 7 is interface microcontroller of the present invention and serial communication circuit schematic diagram.
Embodiment
Below in conjunction with accompanying drawing concrete structure of the present invention and control mode are elaborated, Fig. 1 is system architecture diagram of the present invention.As shown in the figure, the separately excited machine control system that the present invention is directed to mainly is divided into the two large divisions: power section and control section.
Power section (main power circuit) mainly is made of armature winding drive circuit and excitation winding drive circuit.The armature winding drive circuit adopts the synchronous rectification mode, is made of rectification metal-oxide-semiconductor and the afterflow metal-oxide-semiconductor of complementary conducting, can realize regenerative braking capability, and rectified power pipe and afterflow power tube all adopt the mode of a plurality of N channel depletion type power MOS tube parallels.The excitation winding drive circuit adopts the H bridge construction, is driven by N channel depletion type power MOS pipe, can realize electronic commutation and need not extra directional contactor.
The core of control section be single-chip microcomputer and with the peripheral circuit of its interface, comprise simultaneously the auxiliary circuits such as logic power circuit and reference voltage generating circuit.The interface microcontroller peripheral circuit mainly comprises importation and output, also comprises in addition the level shifting circuit for serial ports.Wherein the importation mainly comprises analog signal conditioner circuit and switching signal modulate circuit two large divisions.The analog signal conditioner circuit is with analog detection signal such as electric current, the temperature etc. of outside input, zooms in or out, and is input to after the filtering in the single-chip microcomputer, and it is rear for control program with the AD conversion to be sampled by single-chip microcomputer again; The switching signal modulate circuit then is that the switching signal of outside input is carried out necessary processing, mainly is level conversion and filtering, then is input to single-chip microcomputer by the single-chip processor i/o mouth, uses for control program.The analog signal conditioner circuit comprises battery voltage detection circuit, capacitance voltage testing circuit, armature supply testing circuit, exciting current testing circuit, temperature sensing circuit and signal for faster testing circuit; The switching signal modulate circuit comprises that key switch signal deteching circuit, direction switch signal deteching circuit, foot-operated sensitive switch signal deteching circuit, hall speed sensor signal deteching circuit, solenoid drive over-current detection circuit and M-short-circuit detecting circuit (detection of armature driving power pipe puncture short).
The output of interface microcontroller peripheral circuit comprises the drive circuit of power tube drive circuit, external electromagnetic coil winding drive circuit, alarm drive circuit and status indicator lamp.Power tube drive circuit is used for driving the power MOS pipe of main power circuit, adopts special driving chip to realize, comprises the power tube drive circuit of armature circuit and the power tube drive circuit of field circuit; The power tube drive circuit of armature circuit adopts IR2110S to drive chip and realizes, the power tube drive circuit of field circuit adopts L6384D to drive chip and realizes.The external electromagnetic coil winding drive circuit is used for driving external contactor or relay, and every road driver output adopts a metal-oxide-semiconductor to realize.The alarm drive circuit is used for driving external alert buzzer or loudspeaker, adopts the NPN triode to realize.Driving circuit for status display lamp is used for driving the built-in LED of control, shows malfunction, and LED can directly be driven by the I/O mouth.
The logic power circuit is realized by the linear voltage stabilization chip, for generation of the required logic supply power voltage of logic card work.Reference voltage generating circuit is realized by the precision resistance bleeder circuit, for generation of various voltage references.
Separate excitation controller various functions is realized by Single Chip Microcomputer (SCM) program on this hardware platform.The modules circuit can be divided into input and output two parts in the system from general function.Single-chip microcomputer detects external analog signal and switching signal in real time by each input circuit, Single Chip Microcomputer (SCM) program is according to the testing result of these real-time parameter values, the control signal of each output circuit output of regulating and controlling, control the equipment such as motor and each external contactor, relay, alarm and status indicator LED, thereby realize the whole system function.
According to above structure of the present invention, the control method to the motor vehicle motor of the present invention is described.The main line of native system work is to come the regulating electric machine rotating speed according to the accelerator input variable, and this is a kind of open loop control.Accelerator circuit will speed up signal and converts voltage signal input single-chip microcomputer to, single-chip microcomputer carries out the AD conversion with this accelerating voltage signal and becomes digital signal for control program, referring to potentiometer accelerator circuit among Fig. 6 and Fig. 7 interface microcontroller circuit theory diagrams, the conversion of signal for faster realizes by the potentiometer bleeder circuit.Single-chip microcomputer control program drives the pwm signal duty ratio according to the armature that adds the speed input signal regulation output, control armature winding drive circuit (as shown in Figure 2) by power tube drive circuit (as shown in Figure 5 IR2110S drive circuit) again, thereby realize motor speed accelerator adjusted open loop.Also added given integral control in accelerator adjusted open loop process, motor speed is accelerated gently with certain rate of acceleration and the rate of deceleration and slowed down, wherein rate of acceleration and the rate of deceleration are programmable parameter.
Exciting current adopts current forecasting control, and closed loop PWM regulates.Single-chip microcomputer control program is according to exciting current set-point corresponding in real time armature supply detected value calculating, this set-point is the exciting current predicted value, take this set-point as reference, drive the pwm signal duty ratio by comparing the real-time detected value of exciting current with the excitation of coming regulation output with reference to set-point, again by power tube drive circuit (as shown in Figure 5 L6384D drive circuit) control excitation winding drive circuit (as shown in Figure 2), make exciting current actual value tracing preset reference value, realize PREDICTIVE CONTROL and the closed-loop adjustment of exciting current.The testing circuit of armature supply and exciting current such as Fig. 2, Fig. 4 and shown in Figure 7.
When single-chip microcomputer detects the armature supply actual value above the inner cut-off current that arranges, control program will enter armature supply closed-loop adjustment state, and the accelerator adjusted open loop is ineffective.Under armature supply closed-loop adjustment state, Single Chip Microcomputer (SCM) program is by comparing the size of the real-time detected value of armature supply and inner setting cut-off current, armature is driven the pwm signal duty ratio regulate, thereby control armature supply actual value keeps the current limliting set point constant, realizes current-limiting function.(reduce or accelerator input is reduced to certain value such as load) after the required armature supply of reality is less than the current limliting set point, program will withdraw from limited current state, reenter accelerator open loop control.
The tach signal that the Hall revolution speed transducer of motor internal produces is input to single-chip microcomputer after nursing one's health, so that single-chip microcomputer can carry out Real Time Monitoring to motor speed, the motor speed testing circuit as shown in Figure 6.When detecting the motor real-time rotate speed and surpass the speed limit of single-chip microcomputer inner setting, control program is with admission velocity closed-loop adjustment state.Under the speed closed loop adjustment state, Single Chip Microcomputer (SCM) program is by comparing the size of motor speed measured value and inner setting speed limit, armature is driven the pwm signal duty ratio to be regulated, thereby control motor speed actual value keeps the speed limit set point constant, realize speed limiting function, this moment, the accelerator of accelerator open loop control was ineffective.When accelerator input reduce or since the load increase so that rotating speed when reducing (such as climbing), program will withdraw from the speed limit state, reenter accelerator open loop control.
When single-chip microcomputer detects armature supply and is negative value, control program will enter the regenerative braking adjustment state.Regenerative braking occurs in the decelerating through motor state.At the regenerative braking state, the real-time Detection capacitance voltage of single-chip microcomputer and armature current value, compare with overpressure value and the regeneration cut-off current of inner setting, when the capacitance voltage detected value surpasses overpressure value or armature supply and surpasses the regeneration cut-off current, single-chip microcomputer control program is regulated the duty ratio that armature drives pwm signal by the adjusting rate of deceleration, and the level and smooth continuous braking moment of realization is controlled and the overvoltage that causes owing to the electric capacity reverse charge in the regenerative process is limited.The regenerative braking cut-off current is relevant with the real-time rotate speed of motor, changes with the variation of rotating speed.Single-chip microcomputer detects the real-time rotate speed of motor, in program by rotating speed with regeneration cut-off current relation curve, calculate the regeneration cut-off current under the real-time rotate speed, take this cut-off current as reference the regenerative braking electric current is carried out closed-loop control, actual armature regenerative current in the moderating process is changed by the relation curve (brake cruve) of rotating speed and regenerative current, thereby realize level and smooth continuous braking effect, and brake cruve able to programme realized regulating of braking effect.
As shown in Figure 6, single-chip microcomputer detects the state of each external switch signal in real time, control program is take these switching values as input, by specific criterion, control each drive output signal, thereby control the break-make of each external contactor, relay or alarm, the functions such as start-stop logic, commutation and non-skid braking that the realization system is basic.To single-chip microcomputer, Single Chip Microcomputer (SCM) program is controlled the break-make of main contactor, non-skid braking relay and alarm and the type of drive of excitation winding and armature winding according to the state of these switching signals with locking wire switching signal, direction switch signal, foot-operated interlock switch signal and hall speed sensor signal feedback in system.Main contactor drives over-current signal, the non-skid braking relay drives the input of over-current signal and M-short-circuit detection signal for realizing corresponding short-circuit protection function.
The present invention has designed special hardware circuit to improve armature driven MOS pipe puncture short defencive function, as shown in Figure 2.Behind suitable amplification of M-point average voltage (the DS voltage of armature driven MOS pipe) process operational amplifier amplifying circuit; compare with reference voltage; produce a switching signal input single-chip microcomputer; control program is by detecting the state of this switching signal; in conjunction with the criterion of M-short circuit, carry out diagnosis and the corresponding defencive function of power tube puncture short fault.The mechanism of this soft or hard combination makes the realization of power tube puncture short defencive function more reliable.
Single Chip Microcomputer (SCM) program drives built-in status indicator LED according to the result of failure diagnosis.Native system can be realized the diagnostic function of 23 kinds of different faults, every kind of corresponding failure code of fault, and this code is shown by LED, therefore can realize completely failure diagnosis by the code of LED indication.
Native system can host computer or hand-hold programmer carry out serial communication, upper computer software and hand-hold programmer need and controller compatible, can just be obtained by pine.By host computer and hand-hold programmer can programme to system parameters, monitoring and failure diagnosis.
The above narrates is under hardware system integral frame and concrete hardware circuit platform, the general function of control system and the embodiment of control strategy.The below introduces the operation principle of each concrete hardware circuit.
Fig. 2 is the main power circuit schematic diagram.The armature winding drive circuit adopts half-bridge topology, synchronous rectification mode.Q1-Q8, Q22 represent 9 power MOS pipes in parallel as the synchronous rectifier of armature winding drive circuit, and Q9-Q16 represents 8 power MOS pipes in parallel, are the synchronous freewheeling pipe, the complementary conducting of synchronous rectifier and continued flow tube.The armature of single-chip microcomputer output drives pwm control signal, behind overdrive circuit (Fig. 5), and the break-make of control synchronous rectifier and synchronous freewheeling pipe.Excitation winding is driven by the full-bridge circuit that Q17, Q18, Q19 and Q20 form, pipe modulation in the employing, each brachium pontis is managed up and down the control mode of complementary conducting, namely when control exciting current direction be that S1 is when flowing to S2, Q19 is the high-frequency PWM signal controlling, the complementary conducting of Q20 and Q19, the complete conducting of Q18, Q17 then turn-offs fully; Otherwise, when the exciting current direction is S2 during to S1, the complete conducting of Q20, Q19 turn-offs fully, and Q17 is the PWM modulating tube.S1 and S2 are the sampled point of exciting current, namely with the channel resistance of pipe under the excitation winding drive circuit sampling resistor as exciting current, carry out the detection of exciting current.Hall current sensor is connected to armature winding M-side, and armature current signal is converted to voltage signal, carries out after the filter and amplification (Fig. 4) and sends into that single-chip microcomputer carries out AD conversion (Fig. 7) thereby the detection that realizes armature supply.Pliotron Q21 and voltage-stabiliser tube D1 form the linear voltage decreasing circuit, produce the altogether control circuit use of 15V direct voltage.
Fig. 3 is the logic power circuit.Q6 is 7805 linear voltage stabilization chips, and the 15V input direct voltage is converted to the 5V direct voltage.Generating circuit from reference voltage is realized by the precision resistance dividing potential drop by 5V voltage.
Fig. 4 comprises the capacitance voltage testing circuit, armature supply testing circuit, exciting current testing circuit and temperature sensing circuit.The capacitance voltage testing circuit is exactly a simple electric resistance partial pressure and RC filter circuit, and output access Chip Microcomputer A/D transducer is for detection of the Support Capacitor C1-C12 in parallel between (Fig. 2) B+ and the B-in the main power circuit, C16, the magnitude of voltage at C17 two ends.The operation amplifier and the filter circuit that are made of amplifier U8 are used for the armature supply detection signal that the conditioning Hall current sensor is exported, and then access the detection that the Chip Microcomputer A/D transducer is realized armature supply.The filtering and amplifying circuit that is made of amplifier U4 is used for conditioning from the exciting current sampled signal of S1 and S2 (Fig. 2), then accesses the detection that the Chip Microcomputer A/D transducer is realized exciting current.Analog switch be used for to be realized the switching that exciting current detects, namely when the direction of exciting current be S2 during to S1, single-chip microcomputer output excitation direction 1 signal is high level, excitation direction 2 signals are low level, single-chip microcomputer detection this moment be S1 point voltage over the ground; Otherwise single-chip microcomputer output excitation direction 1 signal is low level, and excitation direction 2 signals are high level, and this moment, single-chip microcomputer detected is S2 point voltage over the ground.So just realized when direction is switched the correct detection to exciting current.R101 and thermo-sensitive resistor form the bleeder circuit realization to the detection of temperature, and resistance R 100 and capacitor C 48 form filter circuits temperature detection signal is carried out filtering.
Fig. 5 is the metal-oxide-semiconductor drive circuit.Wherein IR2110S drives chip and peripheral circuit formation armature half-bridge drive circuit thereof, is used for driving synchronous rectifier and the synchronous freewheeling pipe (Fig. 2) of armature winding drive circuit; Two L6384D drive chip and peripheral circuit excitation winding full bridge driving circuit thereof, are used for driving 4 power MOS pipes (Fig. 2) of full-bridge circuit.
Fig. 6 comprises each switching signal testing circuit, main contactor and auxiliary relay drive circuit, battery voltage detection circuit, main contactor and auxiliary relay state detection circuit, the signal for faster testing circuit, the rate signal testing circuit, main contactor and auxiliary relay drive the over current fault testing circuit, and M-short trouble testing circuit.As shown in Figure 6, each switching signal, comprise key switch, mode switch, direction switch, foot-operated interlock switch, all be to adopt electric resistance partial pressure and RC filter circuit to realize the corresponding high-low level of switch on and off, read the detection (Fig. 7) that corresponding I/O mouth level state is realized switching signal by single-chip microcomputer.Battery voltage detection circuit, main contactor and auxiliary relay state detection circuit are after detected magnitude of voltage is carried out resistor voltage divider circuit step-down and RC filtering, to be detected by Chip Microcomputer A/D again.The signal for faster testing circuit is to will speed up signal to be converted to voltage signal by the potentiometer bleeder circuit, detects the sliding point voltage value of potentiometer by single-chip microcomputer and realizes.The comparison circuit that comparator U7A consists of carries out inputting single-chip microcomputer behind the isolation filter to the Hall pulse signal of the hall speed sensor generation of motor, carries out the detection of motor speed.Main contactor and auxiliary relay drive the over current fault testing circuit and are realized by the comparison amplifying circuit that U15 consists of.When main contactor or auxiliary relay driving overcurrent, the terminal voltage on drive current sample resistance R70 or the R117 surpasses reference voltage level, produces the fault-signal of Low level effective, carries out detection and Identification by single-chip microcomputer.The M-short trouble detects and to be divided into two-stage, by detect M-point over the ground the average voltage of (Fig. 2) realize the short trouble of armature drive circuit rectification metal-oxide-semiconductor.The M-point voltage to earth is the PWM square-wave signal under normal circumstances, after the comparison amplifying circuit that this square-wave signal consists of through U7B is isolated, at the RC filter circuit output average voltage that is formed by R159 and C93 through one-level, when this voltage is lower than given reference voltage (the 4 pin voltages of U16), produce the fault-signal of Low level effective, carry out detection and Identification by single-chip microcomputer.
Fig. 7 is that the distribution of interface microcontroller function reaches the serial communication circuit that is made of MAX232 (U2).Each I/O mouth of single-chip microcomputer is used for inputting various switch detection signals and the various driving signals of output and pwm signal as universaling I/O port, and is used for inputting various analog detection signals as the AD input port.Specifically distribute referring to circuit diagram.Level conversion when the serial communication circuit realization is communicated by letter with the PC host computer.
Claims (2)
1. separately excited machine control method, the various functions of described method realize that by Single Chip Microcomputer (SCM) program wherein, single-chip microcomputer detects external analog signal and switching signal in real time by each input circuit on the controller hardware platform; According to the testing result of these real-time parameter values, the control signal of each output circuit output of regulating and controlling; Control motor and each external contactor, relay, alarm and status indicator LED by described control signal, thereby realize the control function of controller system, it is characterized in that described control method comprises:
When single-chip microcomputer detects described real-time armature supply detected value above the inner cut-off current that arranges, control program will enter armature supply closed-loop adjustment state, the accelerator adjusted open loop is ineffective, under armature supply closed-loop adjustment state, Single Chip Microcomputer (SCM) program is by comparing the size of the real-time detected value of armature supply and inner setting cut-off current, armature is driven the pwm signal duty ratio to be regulated, thereby control armature supply actual value keeps the current limliting set point constant, realize current-limiting function, after the required armature supply of reality is less than the current limliting set point, program will withdraw from limited current state, reenter accelerator open loop control.
When single-chip microcomputer detects the real-time detected value of armature supply and is negative value, control program will enter the regenerative braking adjustment state, the real-time Detection capacitance voltage of single-chip microcomputer and armature current value, compare with overpressure value and the regeneration cut-off current of inner setting, when the capacitance voltage detected value surpasses overpressure value or armature supply and surpasses the regeneration cut-off current, single-chip microcomputer control program is regulated the duty ratio that armature drives pwm signal by regulating the rate of deceleration, the level and smooth continuous braking moment of realization is controlled and the overvoltage that causes owing to the electric capacity reverse charge in the regenerative process is limited, take this cut-off current as with reference to the regenerative braking electric current is carried out closed-loop control, realize level and smooth continuous braking effect.
2. separately excited machine control method according to claim 1 is characterized in that,
Described external analog signal comprises the motor real-time rotate speed signal that Hall revolution speed transducer produces, when detecting described motor real-time rotate speed and surpass the speed limit of single-chip microcomputer inner setting, control program is with admission velocity closed-loop adjustment state, Single Chip Microcomputer (SCM) program is by comparing the size of motor speed measured value and inner setting speed limit, armature is driven the pwm signal duty ratio regulate, control motor speed actual value keeps the speed limit set point constant; When accelerator input reduce or since the load increase so that rotating speed reduces, program will withdraw from the speed limit state, reenter accelerator open loop control.
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| CN103078583A (en) * | 2012-12-28 | 2013-05-01 | 天津市松正电动汽车技术股份有限公司 | Separately excited motor control flow |
| CN103259469A (en) * | 2013-04-19 | 2013-08-21 | 杭州微光电子股份有限公司 | Electronic commutation brushless direct current and single phase fan circuit and control method thereof |
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| CN112448620A (en) * | 2019-09-02 | 2021-03-05 | 深圳拓邦股份有限公司 | Motor brake control method and device and electric tool |
| CN110625221B (en) * | 2019-09-23 | 2022-04-29 | 佛山耀立电气有限公司 | Method and device for storing abnormal power failure parameters during welding parameter adjustment and welding machine |
| CN112421760B (en) * | 2020-11-26 | 2023-10-27 | 科华恒盛股份有限公司 | Method and device for controlling exciting current of UPS isolation transformer |
| CN116827173B (en) * | 2023-05-09 | 2024-01-30 | 肇庆晟辉电子科技有限公司 | DC brushless motor speed regulating circuit and speed regulating method based on PWM control |
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