CN101713473B - Device for carrying out valve microstep regulation by utilizing permanent magnet synchronous motor and realizing method thereof - Google Patents
Device for carrying out valve microstep regulation by utilizing permanent magnet synchronous motor and realizing method thereof Download PDFInfo
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- CN101713473B CN101713473B CN200910265304XA CN200910265304A CN101713473B CN 101713473 B CN101713473 B CN 101713473B CN 200910265304X A CN200910265304X A CN 200910265304XA CN 200910265304 A CN200910265304 A CN 200910265304A CN 101713473 B CN101713473 B CN 101713473B
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Abstract
The invention relates to a device for carrying out valve microstep regulation by utilizing a permanent magnet synchronous motor and a realizing method thereof. The device mainly comprises a permanent magnet synchronous motor, an electrically operated valve controller, a speed reducer and a valve, wherein the shaft of the permanent magnet synchronous motor is connected with the speed reducer through a flange; the speed reducer is connected with the valve through the flange; the electrically operated valve controller consists of a controller DSP control part and a driving power amplifying part; the electrically operated valve controller is connected with the speed reducer and connected with the permanent magnet synchronous motor. Compared with the prior art, the invention adopts the permanent magnet synchronous motor as a power source motor, takes the stator current of the motor as the direct controlled object and utilizes a fully digital controller to realize the accurate positioning precision of a valve electric device, thereby ensuring the response rapidity. Due to the microstep movement characteristic of the motor, a complicated mechanical driving device is omitted; the simple speed-reducing transmission can realize the microstep regulation and the position of the valve via motor shaft output instead of the multistage complicated drive system of the prior art; moreover, the device has the advantages of simple structure, fast response, strong pollution resistance and high reliability.
Description
Technical field:
The present invention relates to a kind of permagnetic synchronous motor that utilizes and carry out device and its implementation that valve micro-step is regulated.
Technical background:
Electric valve is a modern industry automation part and parcel, at fluid control industry electric valve important effect is arranged, and because of its power source is obtained easily, uses more general compared with the equipment of different driving mode such as pneumatic, as to surge.Nowadays along with the development of industrial automation, under the valve energy guaranteed performance and the situation in life-span, the Security of electric valve and reliability depend on the actuator of electric valve, so the performance of actuator, controlling level are the general performances of electric valve its technical level.The more important thing is: in the process of the design of electric valve, type selecting if only pay attention to the parameter of valve, ignore or do not have the related request of clear and definite actuator, not only make electric valve can not bring into play best performance, and in installation, debugging, using process, also can bring unnecessary trouble, even cause serious consequence to production.
China's electric valve is started late, a little less than the basic relative thin, the product that domestic research and development are produced require highi degree of accuracy, reliability high aspect need wait to improve.The driving mechanism part of the actuator of most electric valves is complicated, is not easy to install, debugging, and easy-maintaining not.
Summary of the invention:
The invention provides a kind of permagnetic synchronous motor that utilizes and carry out device and its implementation that valve micro-step is regulated, adopt the power source motor of permagnetic synchronous motor as electric valve, stator current with permagnetic synchronous motor is direct controlling object, the motion control pattern of analog stepping motor, obtain small motor Location accuracy, replace the multistage complex transmission of prior art to realize the fine setting of valve with easy gear transmission.The present invention is electric valve motor, electric valve controller, valve three-in-one device, can not only stablize the accurate micro-stepping control of realization to valve, also has advantage simple in structure, that response is fast, contamination resistance is strong, reliability is high.
The device that utilizes permagnetic synchronous motor to carry out the valve micro-step adjusting provided by the invention mainly comprises: permagnetic synchronous motor, electric valve controller, retarder, valve; The hydromagnetic synchronous motor shaft is by the flange connection reducer, and retarder connects valve by flange; Electric valve controller is made up of DSP control section and driving power enlarged portion; The electric valve controller connection reducer, electric valve controller connects permagnetic synchronous motor simultaneously.
Described driving power enlarged portion comprises drive circuit, signal isolation drive power supply, voltage sampling circuit, current sampling circuit, protective circuit.Protective circuit comprises braking protective circuit, overvoltage crowbar, under-voltage protecting circuit.
Described signal isolated drive circuit connects dsp chip; The signal isolated drive circuit connects drive circuit (IPM).
Described voltage sampling circuit connects drive circuit, and voltage sampling circuit connects DSP simultaneously.
Described current sample uses Hall current sensor, and motor windings is passed Hall current sensor.
Described protective circuit comprises braking circuit, overvoltage circuit, under-voltage circuit.Braking circuit, overvoltage circuit, under-voltage circuit are connected to form protective circuit successively.
Described DSP control section comprises dsp chip, the DSP peripheral circuit, and the testing circuit of current signal, position detecting circuit shows and the button drive circuit.
Described DSP peripheral circuit is the chip external memory that connects user's expansion by the external memory interface module EMIF of DSP; And the jtag interface that passes through DSP connects external emulator.
The testing circuit of described current signal is that Hall current sensor is connected to the A/D ALT-CH alternate channel of DSP by outer meeting resistance with motor windings process Hall current sensor.
Described position detecting circuit comprises rotary transformer, function generator, high frequency power amplification chip, quantizer.
Described permagnetic synchronous motor adopts rotary transformer as position transducer; Function generator produces sinusoidal signal and is connected to high frequency power amplification chip; High frequency power is amplified chip output sinusoidal signal connection rotary transformer provides excitation for it; It is the digital type angle value with the signal conversion that rotary transformer produces that quantizer connects rotary transformer, and quantizer connects DSP.
Described DSP connects control LED nixie tube display unit by the SPI interface.
Described DSP detects pin by the I/O port as button and connects the keyboard input unit.
The step that a kind of implementation method of utilizing permagnetic synchronous motor to carry out the valve micro-step adjusting provided by the invention comprises:
Stator current with permagnetic synchronous motor is direct controlling object, motor adopts current phasor incremental motion pattern, and the motion control pattern of analog stepping motor is discrete with current phasor, advancing in the position of rotor follow current vector, obtains small motor Location accuracy with this; According to the requirement of user to the valve fine setting, the step number and the step pitch of electric current discretization is set, connect single reduction gear for motor on this basis; Single reduction gear connects valve, forms the electric valve device that highi degree of accuracy simple in structure, superior performance is finely tuned.
It is staircase waveform that the step pitches such as sine-wave current that feed the permagnetic synchronous motor winding are dispersed;
The stray currents vector that motor windings feeds is the staircase waveform that the one-period of electric current is divided into b part, and b is 6 multiple.
The concrete value of b is according to the number of poles of used permagnetic synchronous motor and user the fine motion required precision of valve to be chosen, and the accessible precision of the per step fine motion of permagnetic synchronous motor is: 360 °/(the motor number of pole-pairs * b).With the four-pole permanent magnet synchronous machine is example, and getting b is 12 o'clock, and the precision that per step of motor fine motion reaches is 15 °; B is 24 o'clock, and the precision that per step of motor fine motion reaches is 7.5 °.
Stator current is:
X represents the step number in the micro-step movement, is the arbitrary integer between 0 to b-1; When x gets zero, be that motor begins the initial stator current value of micro-step movement.The every micro-step movement of motor once, the electric current in the formula just changes once.By moving the given of step number x, realize the micro-stepping operation of motor.
Add the control of Current Vector Control device realization in the controller of electric device for valve, make rotor always follow the position of stator current vector, form the motion control of micro-stepping stator current.The control system structured flowchart as shown in Figure 1.
The motor shaft connection reducer of permagnetic synchronous motor, the retarder output terminal connects valve, realizes electric valve device micro-stepping regulatory function.
The permagnetic synchronous motor that utilizes provided by the invention carries out device that valve micro-step regulates and its implementation compared with prior art, adopt permagnetic synchronous motor as power source motor, stator current with motor is direct controlling object, utilize total digital controller to realize the accurate Location accuracy of electric device for valve, guaranteed the rapidity that responds; Motor micro-stepping acting characteristic has been saved the complicated mechanical transmission device, directly just can replace the fine setting and the location of the multistage complex transmission realization valve of prior art with easy gearing down via motor shaft output.Actual motion shows, but micro-stepping provided by the invention adjusting electric valve device has advantage simple in structure, that response is fast, contamination resistance is strong, reliability is high.
Description of drawings
Fig. 1 is a permanent-magnetic synchronous motor stator current oriention control system structural drawing.
Fig. 2 is based on the micro-stepping of permagnetic synchronous motor and regulates electric valve device.
Fig. 3 is an electric valve device control system structured flowchart.
Specific embodiments
As shown in Figure 2, the micro-stepping adjusting electric valve device based on permagnetic synchronous motor provided by the invention mainly comprises: permagnetic synchronous motor 1, controller 2, retarder 3, valve 4, flange 5.
Permagnetic synchronous motor 1 is by flange 5 connection reducers 2, and retarder 2 connects valve 4 by flange 5; Electric valve controller 2 is made up of DSP control section and driving power enlarged portion; Electric valve controller 2 connection reducers 3, electric valve controller 2 connects permagnetic synchronous motor 1 simultaneously.
Controller is made up of DSP control section and driving power enlarged portion.The control system structure as shown in Figure 3.
The driving power enlarged portion comprises drive circuit, signal isolated drive circuit, voltage sampling circuit, current sample, protective circuit.
DSP connects the signal isolated drive circuit; The signal isolated drive circuit connects drive circuit (IPM), and the on state of switching signal decision motor windings is provided for drive circuit.
Protective circuit comprises braking circuit, overvoltage circuit, under-voltage circuit.Braking circuit, overvoltage circuit, under-voltage circuit are connected to form protective circuit successively.
Voltage sampling circuit connects drive circuit, and voltage sampling circuit connects DSP simultaneously.Current sample uses Hall current sensor.
The DSP control section comprises DSP (TMS320F240, TI company), the DSP peripheral circuit, and the testing circuit of current signal, position detecting circuit shows and the button drive circuit.
The DSP peripheral circuit connects the chip external memory of user's expansion by the external memory interface module EMIF of DSP; Jtag interface by DSP connects external emulator.
The testing circuit of current signal is with motor windings electric current process Hall current sensor, connects resistance and is converted to voltage signal, is connected to the A/D ALT-CH alternate channel of DSP, the maintenance of sampling.
Position detecting circuit comprise rotary transformer, function generator (ICL8083, Intersil), high frequency power amplifies chip (OPA547), quantizer (AD2S90).
Permagnetic synchronous motor adopts rotary transformer as position transducer; Function generator produces sinusoidal signal and is connected to high frequency power amplification chip; High frequency power is amplified chip output sinusoidal signal connection rotary transformer provides excitation for it; It is the digital type angle value with the signal conversion that rotary transformer produces that quantizer connects rotary transformer, and quantizer connects DSP again.DSP obtains rotor-position according to detection, by the Current Vector Control device trigger signal of drive circuit is controlled, and regulates each phase winding electric current.
DSP connects control LED nixie tube (MAX7219, MAXIM) display unit by the SPI interface.
DSP detects pin by the I/O port as button and connects the keyboard input unit.
The step that the implementation method of utilizing permagnetic synchronous motor to carry out the valve micro-step adjusting comprises:
Stator current with permagnetic synchronous motor is direct controlling object, motor adopts current phasor incremental motion pattern, and the motion control pattern of analog stepping motor is discrete with current phasor, advancing in the position of rotor follow current vector, obtains small motor Location accuracy with this; According to the requirement of user to the valve fine setting, the step number and the step pitch of electric current discretization is set, connect single reduction gear for motor on this basis; Single reduction gear connects valve, realizes electric valve device micro-stepping regulatory function.
It is staircase waveform that the step pitches such as sine-wave current that feed the permagnetic synchronous motor winding are dispersed; The stray currents vector that motor windings feeds is the staircase waveform that the one-period of electric current is divided into b part, and b is 6 multiple.
The concrete value of b is according to the number of poles of used permagnetic synchronous motor and user the fine motion required precision of valve to be chosen, and the accessible precision of the per step fine motion of permagnetic synchronous motor is: 360 °/(the motor number of pole-pairs * b).With the four-pole permanent magnet synchronous machine is example, and getting b is 12 o'clock, and the precision that per step of motor fine motion reaches is 15 °; B is 24 o'clock, and the precision that per step of motor fine motion reaches is 7.5 °.
Stator current is:
X represents the step number in the micro-step movement, is the arbitrary integer between 0 to b-1; When x gets zero, be that motor begins the initial stator current value of micro-step movement.The every micro-step movement of motor once, the electric current in the formula just changes once.By moving the given of step number x, realize the micro-stepping operation of motor.
Add the control of Current Vector Control device realization in the controller of electric device for valve, make rotor always follow the position of stator current vector, form the motion control of micro-stepping stator current.
The motor shaft connection reducer of permagnetic synchronous motor, the retarder output terminal connects valve, realizes electric valve device micro-stepping regulatory function; Permagnetic synchronous motor is controlled by electric valve controller; Electric valve controller is made up of DSP control section and driving power enlarged portion.The driving power enlarged portion comprises drive circuit, signal isolated drive circuit, voltage sampling circuit, current sample, protective circuit.The DSP control section comprises DSP (TMS320F240, TI company), the DSP peripheral circuit, and the testing circuit of current signal, position detecting circuit shows and the button drive circuit.
DSP sends pwm pulse signal, with pwm signal input signal isolated drive circuit; The signal isolated drive circuit connects drive circuit (IPM), and the on state of switching signal decision motor windings is provided for drive circuit.Simultaneously, break down as drive circuit, trouble signal will be sent to DSP by the signal isolation drive, and DSP detects trouble signal and in time interrupts the motor windings electric current.
Protective circuit comprises braking circuit, overvoltage circuit, under-voltage circuit.Braking circuit, overvoltage circuit, under-voltage circuit are connected to form protective circuit successively.Braking circuit consumes the energy of motor feedback on braking resistor; Overvoltage circuit is to stop inverter output when the VDC of direct-flow intermediate circuit surpasses the overvoltage specified value, avoids burning of components and parts; Under-voltage circuit quits work system when brownout phenomenon more than the stipulated time appears in the VDC that detects direct-flow intermediate circuit, avoids occurring the misoperation that causes because of the control circuit undertension.
Voltage sampling circuit connects drive circuit, and voltage sampling circuit connects DSP simultaneously.Its effect is that the drive circuit neutral voltage is sampled, and with overvoltage or under-voltage signal input DSP, as detects overvoltage or under-voltage signal sends brake signal, and the input signal isolated drive circuit in time turn-offs the motor windings electric current.Current sample uses Hall current sensor.
The DSP peripheral circuit connects the chip external memory of user's expansion by the external memory interface module EMIF of DSP; Jtag interface by DSP connects external emulator.
The testing circuit of current signal is with motor windings electric current process Hall current sensor, connects resistance and is converted to voltage signal, is connected to the A/D ALT-CH alternate channel of DSP again.
Position detecting circuit comprise rotary transformer, function generator (ICL8083, Intersil), high frequency power amplifies chip (OPA547), quantizer (AD2S90).
Permagnetic synchronous motor adopts rotary transformer as position transducer; Function generator produces sinusoidal signal and is connected to high frequency power amplification chip; High frequency power is amplified chip output sinusoidal signal connection rotary transformer provides excitation for it; It is the digital type angle value with the signal conversion that rotary transformer produces that quantizer connects rotary transformer, and quantizer connects DSP again.DSP obtains rotor-position according to detection, by the Current Vector Control device trigger signal of drive circuit is controlled, and regulates each phase winding electric current.
DSP connects control LED nixie tube (MAX7219, MAXIM) display unit by the SPI interface.
DSP detects pin by the I/O port as button and connects the keyboard input unit.
Claims (7)
1. one kind is utilized permagnetic synchronous motor to carry out the device that valve micro-step is regulated, and it is characterized in that it mainly comprises: permagnetic synchronous motor, electric valve controller, retarder, valve; The permagnetic synchronous motor axle is by the flange connection reducer, and retarder connects valve by flange; Electric valve controller is made up of controller DSP control section and driving power enlarged portion, the electric valve controller connection reducer, and electric valve controller connects permagnetic synchronous motor simultaneously;
Described driving power enlarged portion comprises drive circuit, signal isolated drive circuit, voltage sampling circuit, current sampling circuit, and protective circuit, protective circuit comprise braking protective circuit, overvoltage crowbar, under-voltage protecting circuit; DSP connects the signal isolated drive circuit; The signal isolated drive circuit connects drive circuit, and the on state of switching signal decision motor windings is provided for drive circuit; Voltage sampling circuit connects drive circuit, and voltage sampling circuit connects DSP simultaneously; Braking circuit, overvoltage circuit, under-voltage circuit are connected to form protective circuit successively.
2. device according to claim 1 is characterized in that described DSP control section comprises dsp chip, the DSP peripheral circuit, and the testing circuit of current signal, position detecting circuit shows and the button drive circuit; Described DSP peripheral circuit is the chip external memory that connects user's expansion by the external memory interface module of DSP; And the jtag interface that passes through DSP connects external emulator;
The testing circuit of described current signal is that Hall current sensor connects resistance and is converted to voltage signal, is connected to the A/D ALT-CH alternate channel of DSP again, the maintenance of sampling with motor windings process Hall current sensor;
Described position detecting circuit comprises rotary transformer, function generator, high frequency power amplification chip, quantizer.
3. device according to claim 1 is characterized in that described permagnetic synchronous motor adopts rotary transformer as position transducer; Function generator produces sinusoidal signal and is connected to high frequency power amplification chip; High frequency power is amplified chip output sinusoidal signal connection rotary transformer provides excitation for it; It is the digital type angle value with the signal conversion that rotary transformer produces that quantizer connects rotary transformer.
4. device according to claim 1 is characterized in that described DSP connects control LED nixie tube display unit by the SPI interface.
5. device according to claim 1 is characterized in that described DSP detects pin by the I/O port as button and connects the keyboard input unit.
6. one kind is utilized permagnetic synchronous motor to carry out the implementation method that valve micro-step is regulated, and it is characterized in that the step that comprises:
Stator current with permagnetic synchronous motor is direct controlling object, motor adopts current phasor incremental motion pattern, and the motion control pattern of analog stepping motor is discrete with current phasor, advancing in the position of rotor follow current vector, obtains small motor Location accuracy with this; According to the requirement of user to the valve fine setting, the step number and the step pitch of electric current discretization is set, connect single reduction gear for motor on this basis; Single reduction gear connects valve, concrete step:
1) will feed that the step pitches such as sine-wave current of permagnetic synchronous motor winding are discrete to be staircase waveform;
2) the stray currents vector of motor windings feeding is the staircase waveform that the one-period of electric current is divided into b part, and b is 6 multiple;
3) the concrete value of b is that number of poles and user according to used permagnetic synchronous motor chooses the fine motion required precision of valve, and the precision that the per step fine motion of permagnetic synchronous motor can reach is: 360 °/(the motor number of pole-pairs * b), the stator current formula is:
X represents the step number in the micro-step movement, is the arbitrary integer between 0 to b-1; When x gets zero, be that motor begins the initial stator current value of micro-step movement, the every micro-step movement of motor once, the electric current in the described stator current formula just changes once, given by operation step number x realized the micro-stepping operation of motor;
4) add the control of Current Vector Control device realization in the controller of electric device for valve, make rotor always follow the position of stator current vector, form the motion control of micro-stepping stator current;
5) the motor shaft connection reducer of permagnetic synchronous motor, the retarder output terminal connects valve, realizes electric device for valve micro-stepping regulatory function.
7. method according to claim 6 is characterized in that b is at 12 o'clock, and the precision that per step of motor fine motion reaches is 15 °; B is 24 o'clock, and the precision that per step of motor fine motion reaches is 7.5 °.
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| JP5601217B2 (en) * | 2011-01-24 | 2014-10-08 | 株式会社デンソー | Expansion valve device |
| UA109733C2 (en) * | 2011-08-10 | 2015-09-25 | CONTINUOUS ACTION CONTAINER FOR THE TRANSPORT OF HEAVY Bulk OR ARTIFICIAL MATERIALS | |
| CN103541881A (en) * | 2013-10-30 | 2014-01-29 | 无锡建仪仪器机械有限公司 | Pressure water pump for impermeability instrument |
| CN106787425A (en) * | 2016-11-10 | 2017-05-31 | 常兆芹 | A kind of method for replacing three-dimensional printer stepper motor with synchronous motor |
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