CN101729009A - Control system of direct current motor - Google Patents
Control system of direct current motor Download PDFInfo
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- CN101729009A CN101729009A CN200810216799A CN200810216799A CN101729009A CN 101729009 A CN101729009 A CN 101729009A CN 200810216799 A CN200810216799 A CN 200810216799A CN 200810216799 A CN200810216799 A CN 200810216799A CN 101729009 A CN101729009 A CN 101729009A
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Abstract
The invention discloses a control system of a direct current motor for an electric actuator, which comprises an electric machine control unit, a driving circuit and a three-phase brushless direct current motor connected sequentially, wherein the driving circuit is provided with three groups of phase changing circuits which are respectively connected with three phase lines (U, V and W) of the direct current motor. According to the position information of a rotor, the current output of the driving circuit is controlled for phase change. Six paths (UH, UL, VH, VL, WH and WL) of pulse-width modulation signals output by the motor control unit 1 are respectively used for controlling the conduction and disconnection of six upper and lower half-bridge switching tubes of the driving circuit. The system overcomes the defect of poor starting characteristics of an alternating current motor and is convenient for the miniaturized design of the electric actuator. By dynamically regulating the duty ratio of the pulse-width modulation signal, the stable speed control function of the motor is realized. By a method of superposing different pulse-width modulation signals at the upper half bridge and the lower half bridge, the direct current motor is controlled to keep operation at stable speed in states of different external loads.
Description
Technical field
The present invention relates to the automatic control technology field, especially relate to the electric actuator of industrial process control.
Background technology
Along with the continuous development of social scientific and technological level, industrial process control intelligent level improves constantly.Simultaneously, as the requirement that improves the industrial processes productivity effect, intelligent control also progressively becomes main assurance means.And the realization of intelligent control not only needs to possess the operating platform of integrated control, also needs the intellectuality of each PCU simultaneously.And electric actuator is upgraded the particular importance that seems as main process control actuator to its intellectuality.
The AC Motor Control system is all adopted in traditional electric actuator field basically.For alternating current machine, there are following shortcomings and deficiencies in it, upgrades for the intellectuality of electric actuator and has brought many difficulties:
A. because of adopting alternating current machine, starting characteristic is not good;
B. speed regulation complexity, the cost height generally all is to move by fixed rotating speed;
C. the motor overload protection needs to finish by Machine Design, increases mechanism complexity, and some small-sized electric actuators are not because install Machine guarding, and regular meeting causes burn-down of electric motor;
D. the alternating current machine size is bigger than normal, is unfavorable for miniaturization Design;
E. the torque protection point can only be provided with one, can't carry out online configuration, is unfavorable for that electric actuator and different loads are used.
Summary of the invention
The technical problem to be solved in the present invention is, the DC MOTOR CONTROL technology is introduced the electric actuator field, number of drawbacks such as the staring torque deficiency of solution conventional electric actuator employing alternating current machine, speed control difficulty.
The present invention solve the technical problem the technical scheme that adopts to be: DC motor control system, comprise the motor control unit, drive circuit and the actuating motor that are linked in sequence, and described actuating motor is a three-phase brushless dc motor.Drive circuit is provided with three groups of commutation circuits, and its 3 outputs are connected with three phase lines (U, V, W) of direct current machine respectively.Direct current machine is provided with detecting apparatus for rotor position, and 3 positional informations (H1, H2, H3) of the reflection rotor of its output insert motor control unit respectively, and motor control unit is according to the positional information of rotor, the commutation of control Driver Circuit electric current output.Described commutation circuit is provided with last half-bridge switch pipe in parallel and following half-bridge switch pipe, 6 tunnel (UH, UL, VH, VL, WH, WL) pulse-width signal of described motor control unit 1 output is respectively applied for the conducting and the disconnection of 6 upper and lower half-bridge switch pipes of control Driver Circuit.
Compared with prior art,, adopt the three-phase DC motor control system, overcome in the prior art because the not good defective of alternating current machine starting characteristic at the characteristic of electric actuator; The volume of three-phase brushless dc motor is little, is convenient to the miniaturization Design of electric actuator.
A kind of improvement of the present invention is, system has increased the speed detection unit that is connected with position detecting device, it is according to the interval of the position signalling of rotor, calculate the rotating speed of brshless DC motor, Input Control Element, by the duty ratio of dynamic adjustments pulse-width signal, realize the speed stabilizing controlled function of three-phase brushless dc motor rotating speed.
When load pulling motor, specifying under the running speed, described motor control unit is in the cycle of pulse-width signal, half-bridge switch pipe and following half-bridge switch pipe are distinguished the superposed signal of conducting on the homophase of output control Driver Circuit, are used for the running speed of stable DC motor.Described superposed signal is provided with " dead band " that prevents half-bridge switch pipe on the homophase and the while conducting of following half-bridge switch pipe.
By the method at the upper and lower half-bridge stack of motor-driven bridge distinct pulse widths modulation signal, the control direct current machine keeps stabilized speed work under different external loading states.
The another kind of improvement of the present invention is, system has increased the electric current that connects drive circuit the unit has been set, be used to gather the operating current of direct current machine, be converted to voltage signal, a signal voltage that dynamically arranges with the user relatively after, insert the control end of motor control unit, limit the operating current of drive circuit, be used to be provided with the max. output torque of direct current machine.
Dynamically adjust max. output torque, the overload protection point can be provided with a plurality of, with the supporting use of the different loads of electric actuator.
Of the present invention also have a kind of improvement to be, system has increased the power down holding unit of judging power failure, notify motor control unit after detecting power-down conditions, control Driver Circuit and direct current machine enter generating, braking flow process, utilize motor oppositely the control unit work of energy power supply machine and the braking motor of generating.
By the detection power supply, and the method for utilizing actuator inertia to generate electricity, can remain on current position state normally when being controlled at device looses power.The electronics mode realizes that power down keeps function, can simplify the associated mechanisms of actuator.
By using these technology, make and on electric actuator, introduce brshless DC motor control that the performance that seems is more superior.
Description of drawings
Description of drawings of the present invention is as follows:
Fig. 1 is the logic block-diagram of DC motor control system of the present invention;
Fig. 2 is a DC motor control system of the present invention, the logic block-diagram of motor control unit 1;
Fig. 3 is a DC motor control system of the present invention, the pin circuitry figure of single-chip microcomputer;
Fig. 4 is a DC motor control system of the present invention, the circuit theory diagrams of drive circuit 2;
Fig. 5 is a DC motor control system of the present invention, and electric current is provided with the circuit theory diagrams of unit 4;
Fig. 6 is a DC motor control system of the present invention, the principle sketch of power-down retaining circuit;
Fig. 7 is a DC motor control system of the present invention, the logic block-diagram of power circuit;
Fig. 8 is a DC motor control system of the present invention, the 48-15VDC power circuit diagram;
Fig. 9 is a DC motor control system of the present invention, the 15-5VDC power circuit diagram;
Figure 10 is a DC motor control system of the present invention, indicator light circuit;
Figure 11 is a DC motor control system of the present invention, the logic block-diagram of function treatment circuit;
Figure 12 is a DC motor control system of the present invention, the PWM control flow chart in the closed-loop control;
Figure 13 is a DC motor control system of the present invention, ratio in the closed-loop control and integral algorithm flow chart;
Figure 14 is a DC motor control system of the present invention, the simplification circuit of drive circuit 2;
Figure 15 is a DC motor control system of the present invention, the state of a control table of three-phase brushless dc motor;
Figure 16 is a DC motor control system of the present invention, three-phase brushless dc motor control timing schematic diagram;
Figure 17 is a DC motor control system of the present invention, Electric Machine Control sequential partial enlarged drawing;
Figure 18 is a DC motor control system of the present invention, and the schematic diagram of motor maximum operating currenbt is set;
Figure 19 is a DC motor control system of the present invention, power down retentive control flow chart.
Embodiment
Further specify embodiments of the invention below in conjunction with accompanying drawing.
The logic block-diagram of DC motor control system of the present invention as shown in Figure 1, comprises the motor control unit 1, drive circuit 2 and the actuating motor 3 that are linked in sequence.Actuating motor 3 is provided with position detecting device 6, link position checkout gear 6 speed detection unit 7 arranged, all with signal feedback to control unit 1.The electric current that connects drive circuit 2 is provided with unit 4, two-way connection motor control unit 1.With the motor control unit 1 two-way power down holding unit 8 in addition that is connected.System also comprises and the motor control unit 1 two-way communication interface unit that is connected 9, and the condition indication circuit 10 of unidirectional connection.
As shown in Figure 2, motor control unit 1 comprises time-delay administrative unit 1A, the pulse-width signal generating unit 1B that is used to produce motor control signal, the pulse-width modulation administrative unit 1C that is linked in sequence, the channel management unit 1D that is used for the motor control signal channel management, its major function is according to position detecting device 6, speed detection unit 7, control selects to export to the pulse-width signal of drive circuit 2.The inside of pulse-width modulation administrative unit 1C includes the comparison circuit, control switch K and the mode selector that are linked in sequence.
Embodiments of the invention are selected the ST7MC single-chip microcomputer for use, realize motor control unit 1 function.And partial function module and part peripheral circuit thereof by ST7MC single-chip microcomputer inside, realize the function of correlation unit.Single-chip microcomputer is the core of this control system among the embodiment, and single-chip microcomputer receives user profile, and rotor-position, operating current detection to motor realize control of DC.Speed stabilizing control technology, moment of torsion are provided with function and power-down protection, all are the information that single-chip microcomputer utilizes the motor operating mode, finish by self computing.
The pin circuitry of ST7MC single-chip microcomputer as shown in Figure 3.
The the 3rd, 2,1,44,43, No. 42 pin of single-chip microcomputer, the control signal of output driving circuit 2, called after UH, UL, VH, VL, WH, WL respectively.First letter representation phase is divided U here, V, W three-phase.Back this signal of letter representation is the last half-bridge (H) of this phase of control, still following half-bridge (L).The signal of being exported is one group of signal with upper and lower half-bridge pulse-width modulation (PWM) signal superposing control, is used for the switching of the switching tube of control Driver Circuit 2.
5th, No. 6 pins connect clock circuit; 7th, 26, No. 25 pin ground connection.
8th, 27, No. 24 pins connect the 5V DC power supply, and by capacitor C 302 and C301 with contingent pulse ground connection, prevent that arteries and veins from gushing voltage single-chip microcomputer is caused damage.
No. 9 pin called after M_TEMP connects the motor temperature transducer, is used to measure motor temperature; No. 31 pin called after E_TEMP is used for measures ambient temperature, and these two ports have mould/number conversion (ADC) function.
No. 10 pin called after Vbus is used to measure the operating voltage of motor; No. 23 pin called after Current is used to measure the operating current when front motor; No. 32 pin called after Vin is used for measuring the power supply input voltage, is ADC function port.
12nd, 13, No. 14 pins are used to measure the position signalling of rotor, generally need connect and draw resistance, and its signal code name is respectively H1, H2, H3.
19th, 20,21, No. 22 pins are configured to amplifier and comparator function module in application, be used to detect and be provided with the operating current of motor.
No. 18 pin called after Direction is used to control two LED light of indicating current electric machine operation states; No. 40 pin called after ALM is used to control the LED light of two indications when front wheel driving and control circuit fault message, is common I/O mouth function port.
No. 30 pin called after PSet is pulse-width modulation (PWM) signal output.
Actuating motor 3 of the present invention, employing has the three-phase brushless dc motor of three Hall switch of detection rotor position.
Fig. 4 is the circuit theory diagrams of drive circuit 2.Comprise that the electronic switching tube with 6 N types such as Q400, Q401, Q402, Q403, Q404 and Q405 is three groups of commutation circuits of core, every group has two switching tube series connection.3 ports of called after U, V, W are the output port of drive circuit 2, connect three phase lines of three-phase brushless dc motor respectively, are used to drive the running of direct current machine.
Before three groups of commutation circuits, being provided with U400, U401 and U402 chip is three groups of level shifting circuits with bootstrapping function of core, is used to improve the voltage of motor control unit 1 output signal.The input of level shifting circuit, difference called after UH, UL, VH, VL, WH, WL, connect ST7MC single-chip microcomputer delivery outlet of the same name, accept pulse-width modulation (PWM) signal of motor control unit 1 output, respectively the conducting and the disconnection of 6 switching tubes of control Driver Circuit 2.
Transformation period to rotor-position signal is caught, and speed detection unit 7 is by the signal of record continuous several times, and the time of obtaining each state variation, after the state of predetermined number of times switched, the calculating of averaging can obtain the actual speed of motor fast and accurately.Owing to the Hall switch signal of direct current machine read-around ratio changed all carried out record, therefore can calculate more value near actual speed.
Fig. 5 is provided with the circuit theory diagrams of unit 4 for electric current, and this unit comprises the motor working current testing circuit, signal amplification circuit, and signal comparator circuit and some filter circuits are formed.Among the figure 19,20,21,22 corresponds respectively to the pin of ST7MC single-chip microcomputer, and used operational amplifier and comparator are the inner integrated functional module of ST7MC single-chip microcomputer.
Current detection circuit; adopt the sampling with high precision resistance of a low-resistivity to sample; the magnitude of voltage that obtains and a default reference voltage compare, and comparative result is given the motor control unit 1 of single-chip microcomputer, are used for control Driver Circuit 2 and enter guard mode.
Electric current is provided with the Rsensor input of unit 4, connects the current of electric information outlet of drive circuit 2, and the signal of reception is the real work current value of motor.Electric current is provided with the PSet input of unit 4, connects the delivery outlet of the same name of No. 30 pin of ST7MC single-chip microcomputer, is used to the current protection point that electric current is provided with unit 4 is set, and the high workload current value of motor just is set.Electric current is provided with the Current output of unit 4, connects the input port of the same name of No. 23 pin of ST7MC single-chip microcomputer, and the signal that is transmitted is that motor working current is changed through current/voltage (I-V), and amplification and filtered value.
Electric current is provided with the current signal of gathering motor in unit 4 and is converted to voltage signal, receive the benchmark comparative voltage signal that motor control unit 1 is provided with simultaneously, according to comparative result, motor control unit 1 is sent the pwm signal of appointment, in fact the maximum operating currenbt value of restriction drive circuit 2 is equivalent to the max. output torque that motor is set.
Power down holding unit 8 is finished power-down protection by the correlation module and the handling procedure of ST7MC single-chip microcomputer inside jointly with some peripheral circuits.Fig. 6 is the circuit theory sketch, comprises the power supply Acquisition Circuit that divider resistance R1, R2 form, a termination power, other end ground connection, the detection input Vin of dividing potential drop termination single-chip microcomputer; The diode D1 that is used for unidirectional power supply restriction; One end connects diode D1, and other end ground connection is used for the capacitor C 1 of power storage; Reduction voltage circuit to the single-chip microcomputer power supply; Single-chip microcomputer; Drive circuit 2 and direct current machine.
Power down holding unit 8 detects the situation of change of supply power voltage by the power supply Acquisition Circuit, judges whether to take place power-down conditions, detect power-down conditions after the notice single-chip microcomputer carry out relevant handling process, comprise the power generation mode that motor is set, afterwards braking motor.
DC motor control system also is provided with power circuit, and its logic block-diagram comprises the 220VAC-48VDC power supply, 48-15VDC power supply and the 15-5VDC power supply that are linked in sequence as shown in Figure 7.
Earlier connects the anti-circuit that burns to prevent direct current supply before the 48V, and connect one and be used for the hold concurrently capacitor C 1 of filtering of energy storage by a diode D1.These constitute the part of power down holding unit 8 again.
A.220VAC-48VDC power supply, its input connects 176～265VAC 50Hz/60Hz civil power, is output as the 48V DC power supply, and one the tunnel is drive circuit 2 power supplies, and another road connects the input of 48-15VDC power supply.
B.48-15VDC power supply, circuit as shown in Figure 8, input connects 48V (the actual acceptable input voltage range of this partial circuit is a wide voltage power supply circuit) DC power supply, output 15VDC DC power supply more than the 24V-70V scope.One the tunnel is drive circuit 2 power supplies, and another road connects the input of 15V-5V DC power supply.
Circuit is the voltage stabilizing circuit of core, is feedback circuit and other set of devices one-tenth of core with photoelectrical coupler U202 with voltage reference chip U203 mainly by Switching Power Supply managing chip U200.This circuit adopts the Switching Power Supply working method, has improved the efficient of supply voltage conversion greatly.The Z200 that circuit input end connects too highly causes damage to circuit except can be used for preventing that input voltage is instantaneous, produces too high generating voltage in the time of also can preventing brshless DC motor generating mode of operation circuit is caused damage.The design of 48-15VDC power circuit guarantees that output current is not less than 0.2A.
C.15-5VDC power supply, circuit as shown in Figure 9, input meets 15VDC, and (the actual acceptable input voltage range of this partial circuit is more than the 8V-27V scope, be a wide voltage power supply circuit) DC power supply, output 5VDC power supply is the position detecting device 4 and the peripheral circuit power supply of ST7MC single-chip microcomputer, brshless DC motor.
Circuit is that core and other set of devices become with Switching Power Supply managing chip U201, and circuit design guarantees that output current is greater than 0.2A.
Figure 10 is condition indication circuit 10 schematic diagrams, is made up of 4 indicator lights and related resistors device.Wherein the both direction indicator light is used for the direction information of indication motor, and two other alarm lamp indicator light is used for the fault message of indicating circuit.
The Direction of condition indication circuit 10 and ALM input port connect the pin of the same name of ST7MC single-chip microcomputer.Adopt two indicator lights of an I/O mouth control of single-chip microcomputer, two indicator lights are except that the flicker display mode simultaneously, can also single lamp is bright (go out as the bright LED301 of LED300, or it is opposite), also can two lamp go out simultaneously (will control I/O mouth be arranged to high configuration input can realize), be provided with in flicker frequency that can to regard two lamps as when enough fast simultaneously bright.
The communication interface unit 9 that system comprised is the interface circuit of a kind of UART Universal Asynchronous Receiver Transmitter (UART) mode, this interface circuit is passed to motor control unit 1 after by the phase related control information that receives other equipment or module and send over, and carries out relevant operation according to relevant information.Can realize human-machine operation easily.
DC motor control system is provided with the motor temperature testing circuit, and temperature sensor (employing thermistor) links to each other with three-phase brushless dc motor, and circuit output end links to each other with the ST7MC single-chip microcomputer.By gathering the temperature of motor, the heat protection temperature contrast with setting stops motor when motor temperature arrives default value, can realize the motor overheating defencive function.Also be provided with ambient temperature detection circuit, temperature sensor (employing thermistor) is arranged on the PCB, and circuit output end links to each other with the ST7MC single-chip microcomputer.
Whether the single-chip microcomputer of this system, the positional information that draws according to position detecting device 6 in state of a control table (Figure 15), can judge whether the hall signal mistake, thus protection drive circuit 2.
DC motor control system also is provided with the function treatment circuit, is used for man-machine interface operation and external signal and handles, by communication interface unit 9 and motor control unit 1 exchange message.Its logic block-diagram as shown in figure 11.Major function comprises: the state information of LCD display system (operating current, operating voltage, real-world operation speed, motor temperature, ambient temperature and actuator travel position); Key-input operation is handled (dynamically arranging given rotating speed and electric motor protecting moment of torsion); Input control signal is handled; Communication process to external world; Output feedback signal is used to reflect the positional information of current electric actuator; Motor control unit 1 is sent work order, the indication action.
In the present embodiment, adopt LM162AFC-2 character point configuration Liquid Crystal Module, be used to show current given signal, feedback signal, speed, moment; Be with one road 4-20mA analog input signal, one road feedback potentiometer input signal, one road 4-20mA analog output signal; Band RS-485 communication and bluetooth communication; Pass through the communication of UART Universal Asynchronous Receiver Transmitter (UART) mode with motor control unit 1.
Adopt the brshless DC motor control technology, function such as can realize that speed stabilizing controlled function, power-down protection, max. output torque can be established.Be described below respectively:
One. the speed stabilizing controlled function
For electric actuator, the speed stabilizing control technology is divided into, and motor press given rotating speed under the load condition in pulling and moved, motor two kinds of situations of stable speed operation under by the load driving status.
A. motor is pressed the given rotating speed operation under the pulling load condition:
Electric Machine Control mainly is the relation between processing speed feedback and the speed regulation in this case, and speed regulation is the adjusting of pulse-width signal duty ratio.Control to motor speed is actually by relevant pulse-width modulation (PWM) signal is controlled, and pulse-width modulation process adopts flowage structure as shown in figure 12.
Motor speed control comprises that mainly actual motor speed is measured and the adjusting of the pulse-width signal duty ratio of control Driver Circuit 2 switching tubes, and illustrated flow process is the part of whole speed regulation.In order in real time motor speed to be controlled, the trigger mechanism of a fixed cycle need be set in Single Chip Microcomputer (SCM) program, this makes above handling process periodically to carry out.
" given motor speed " in the flow chart is the user profile that this control system obtains by communication mode." actual motor speed " be ST7MC single-chip microcomputer inside speed detection unit 7, by what obtain after the signal of the position detecting device 6 of brshless DC motor is handled.
The process of handling comprises two steps: the first step is to catch the hardware time of speed detection unit 7, catching of this time is in the motor control unit 1 control machine operation process of single-chip microcomputer, when detecting the Hall switch signal generation state variation of reflection brushless DC motor rotor position of position detecting device 6, speed detection unit 7 notes, 6 continuous state time of origins of record provide data (three-phase brushless dc motor that adopts in the present embodiment is the right motors in the two poles of the earth, and the motor revolution moves 6 times 6 state variation will take place in a week) for revolution speed calculating in the interrupt routine.Second step was to convert the 6 state time of origins that record gets up the working speed of motor to by software mode, thereby obtained the actual operation speed of motor.
The adjusting of motor speed is to realize by the adjusting to pulse-width modulation (PWM) signal, this control system, the adjusting of pulse-width modulation (PWM) signal, and the processing of the working speed of brshless DC motor, be to carry out at ratio and integration (PI) algorithm routine that the ST7MC single-chip microcomputer is provided with reference to ST company.In program, ratio and integration (PI) algorithm is handled as follows:
PWM
Dutr＝f(freq) (1)
PWMstart is the initial value of pulse-width modulation (PWM) duty ratio calculating formula, and it is a constant, and this value is equivalent to be provided with motor initial start electric current;
Kp is a coefficient of comparisons;
Ki is an integral coefficient.
In design, above relevant parameter all needs to adjust according to employed brshless DC motor.
Employing ratio and integration (PI) algorithm in the program, calculate one group of pulse-width modulation (PWM) signal according to the speed of user's setting and the actual speed of motor, and with this group pulse-width signal be superimposed upon on the control signal of drive circuit 2, thereby realize control, and be reflected to control motor speed to the machine operation average voltage.Make the adjusting of rotating speed can be stabilized to the state that needs fast and the concussion situation not occur.Adopt the variation of software PI algorithm governing speed and operating current, can prevent to export the excessive mechanism that causes of impact and damage.
Handling process as shown in figure 13, the minimum output valve of ratio and integration (PI) computing is 0, under this value, pulse-width modulation (PWM) signal dutyfactor value minimum is 0, motor is in not driving condition.
B. motor stable speed operation under by the load driving status:
This control system be except can keeping stable rotating speed under normal load condition, also can keep steady running at motor under by the load driving status.Method is that the waveform to the pulse-width signal that is used for control Driver Circuit 2 carries out some improvement.Adopt phase-change switch pipe assist control mode, realize that motor can be stabilized in the rotating speed state that needs by the pulling of the load in the certain limit running time.The method of this assist control, what make that this control system can be maximum utilizes the high advantage of the little efficient of brshless DC motor volume.
Figure 14 is the simplified electrical circuit diagram of drive circuit 2.K1, K3, K5 are the last half-bridge switch pipe of U, V, three phase drive axles of W among the figure, and K2, K4, K6 are the following half-bridge switch pipe of U, V, three phase drive axles of W.Three ports of called after U, V, W are used to connect three phase lines of three-phase brushless dc motor.
Figure 15 is the state of a control table in three-phase brushless dc motor, adopt the upper and lower half-bridge of homophase in the cycle of pulse-width signal, be superimposed with, descend the half-bridge switch pipe control method of the pulse-width signal of conducting respectively, realize rotating speed of motor is regulated controlled function.P represents to act on the pulse-width signal (represent when signal is high that switching tube opens, represent when low switching tube close) of half-bridge in the table; The switching tube of the corresponding phase of 1 expression is opened; NP represents to act on down the respective signal (the certain dead band design that keeps in this Design of Signal) of half-bridge pulse-width signal on the correspondence of half-bridge.
Figure 16 is a three-phase brushless dc motor control timing schematic diagram, provided motor control unit 1 among the figure, according to Hall switch input signal H1, H2, H3, correspondence is exported to signal UH, VH, WH, the UL of drive circuit 2, the relation between VL, the WL, the upper and lower switching signal of the homophase of exporting to drive circuit 2 has been described among the figure, has had the dead band characteristic.
P and NP waveform in the state of a control table are shown in the partial enlarged drawing of Figure 17 control timing.Situation during with the superimposed pulse-width modulation of U (PWM) signal is an example, is used to control the oscillogram of the pulse-width signal of single mutually upper and lower half-bridge.UH is that high level represents that the half-bridge switch pipe opens, for low level is represented to close; UL is that high level represents that the half-bridge switch pipe is opened down, for low level is represented to close.Motor control unit 1 is passed to the pulse-width signal of drive circuit 2, has the upper and lower half-bridge signal of homonymy and replaces the open and close operation.The design in " dead band " that identifies among the figure is avoided causing when the pulse-width signal high-low level switches, upper and lower half-bridge conducting simultaneously and damage the problem of circuit.
The fixed value that is provided with when being programming of sign " pwm signal cycle " among the figure, pulse-width modulation (PWM) signal dutyfactor (pulse-width modulation (PWM) signal high level accounts for the pulse-width modulation ratio in (PWM) cycle) then are that the working condition according to motor changes.
Two. the max. output torque regulatory function:
The invention solves the traditional AC Motor Control system of electric actuator and can only fix the restriction of a max. output torque, can adapt to the application demand of controlling different torque apparatus.
Utilize one group of pulse-width signal of single-chip microcomputer, wave circuit converts direct current signal to afterwards as the comparison reference of motor working current after filtration, and relatively the signal after is used for the foundation that single-chip microcomputer judges whether this restriction output current.Because the operating voltage of regulation motor is stable in the design, therefore just can be converted to restriction to motor working current to the restriction of motor max. output torque.
The overload protection function of this control system is provided with unit 4 by electric current and realizes, adopts the max. output torque technology that dynamically arranges.
For the maximum operating currenbt value that can be accepted by brshless DC motor is set, need adjust the multiplication factor of current sampling resistor R413 and amplifying circuit, the principle of adjusting is that direct current machine also is in safe work state when the Pset signal that is used to be provided with maximum operating currenbt is maximum 5V.This arrangement is used to avoid cause direct current machine to be in and have destructive action when single-chip microcomputer generation abnormal failure.
For maximum operating currenbt is set accurately, program need be carried out initial proving operation according to circuit, and proving operation is the relation of confirming between the maximum operating currenbt of Pset signal and motor reality.
Figure 18 is the schematic diagram that the motor maximum operating currenbt is set, the PSet pin (MCPWMV) of 12 pulse-width signal generating unit 1B of ST7MC single-chip microcomputer, produce one group of pulse-width signal, this group pwm signal is through forming a level signal after the filtering, level signal is used as the reference voltage of comparison circuit, and imports by No. 22 pin (MCCREF) pin of ST7MC single-chip microcomputer.No. 19 pin (OAP) of ST7MC single-chip microcomputer is used to receive the motor working current signal through after the conversion of Rf resistance.
Its working method is that OAP receives the signal of motor working current, through after the operational amplifier amplification computing, compares with the reference voltage signal then.Relatively the back signal enters pulse-width modulation administrative unit 1C inside, acts on control switch K, if motor working current then disconnects the signal path between pulse-width signal generating unit 1B and the mode selector greater than default reference voltage signal.
The max. output torque regulatory function be at direct current machine with the configuration of different load equipment and propose, this function can make control system adapt to the equipment of multiple load, also reduces the trouble of user's type selecting.
Three. power-down protection
In extraneous sudden power, and original motor is in by under the load pulling working order, and motor can in time be stopped not to be changeed.(prerequisite that this function realizes is that electric actuator is originally stopping under the situation, and not powering on can not spurred by load.Just, the magnetic force that the brshless DC motor that is adopted self is had can maintain under the original static situation of mechanism.)
Permanent-magnet brushless DC electric machine is because the effect of magnetic force all has certain confining force generally speaking.Because the characteristic of magnetic pole, the brshless DC motor resistance mean value that the magnetic force of self plays under by load pulling situation is less, and can give full play of the effect of obstruction at the original halted state lower magnetic force of motor.In the processing of native system to power-down conditions, can make brshless DC motor under the situation that power down is spurred by load again simultaneously, the energy that utilizes circuit to store in time makes motor stop, and just can rely on the magnetic force of motor own and mechanism's resistance to make motor keep static afterwards.
1. detection of power loss:
Power down holding unit 8 comprises two resistance that are used for dividing potential drop, a Schottky diode that is used to limit electric current backflow, and the diode back is provided with the electrical power storage circuit.Under the normal operation, electric current flow into related work circuit and accumulator from power supply by Schottky diode.When power supply disappeared or reduce, Schottky diode limits was flow backwards back to supply line by the energy of accumulator, and single-chip microcomputer also can in time detect.
2. stop control:
When detecting the power supply disconnection or hanging down excessively, the motor control unit 1 of single-chip microcomputer began in first second time by default pulse-width modulation (PWM) signal, according to power down phase State Control motor working current constantly, this situation is equivalent to strengthen the magnetic force of motor self, simultaneously, if motor also running can with self mechanical energy part be converted to electric energy, return to electrical energy storage circuit.
Crossed one second rear motor control unit 1 and stopped by mode of braking control motor, the design has guaranteed the ability of electrical energy storage circuit, is enough to keep the short-term operation of single-chip microcomputer, and the control motor stops operating in the loading range that allows.
If original motor is in motor and hauls loaded work piece, and can not overcome the resistance acting after loading on the motor power down, drive circuit 2 can consume the stored energy of accumulator fast.
If original motor is in motor and is spurred situation by load, the energy of energy storage is with the enough a bit of time of interlock circuit work, can in time stop motor rotation with assurance control unit 1, thereby utilize the static friction of actuator and the magnetic force of motor to enter hold mode.
This method has solved under the motor band heavy duty situation (comprised spurred and spur by heavy duty heavy duty) motor and has overcome under the motion state, and confining force is not enough and the problem that can't allow load stop.
Under normal operation, the VCC power supply that obtains behind the 220VAC-48VDC power supply process diode D1 of the power supply of drive circuit 2 by power circuit, single-chip microcomputer is passed through the 5V power supply power supply that obtains after 48-15VDC power supply and the step-down of 15-5VDC power supply by VCC, the control that the motor control unit 1 of single-chip microcomputer is realized brshless DC motor by drive circuit 2, whether 8 pairs of 48VDC power supplies of the holding unit of power down simultaneously periodically detect, normal to judge power supply.When the 48V of power supply suddenly disappears or when dropping to certain level value, because the effect single-chip microcomputer of capacitor C 1 can also a bit of time of operate as normal, at this moment, motor control unit 1 is just controlled motor at once and is stopped.If original with load be unlikely to spur direct current machine and rotate, then can stop operating at once; If original with load can spur motor and rotate, then stop the mode that motor rotates this moment, generating produces electric energy to make load pulling motor rotate oppositely, and electric energy works on for single-chip microcomputer after being stored in capacitor C 1, single-chip microcomputer will have enough energy to stop motor like this, to guarantee that electric actuator can remain on current location accurately.
Above power down retentive control function, the routine processes flow process of realization as shown in figure 19.The Single-chip Controlling motor stops to have passed through " the control motor stops with current state " and " braking motor " two steps.
" the control motor stops with current state " is meant, in 6 states of three-phase brushless dc motor work, when single-chip microcomputer is fixing when taking place with power down, one of residing 6 states of single-chip microcomputer are controlled motor, even undergoing phase transition of motor rotor position drives too at this moment.Can regard the magnetic force that improves motor as under this control mode.The control motor stops with current state, and single-chip microcomputer is controlled with a predefined pulse width modulation duty.
" braking motor " is meant, three following half-bridges of drive circuit of control motor all opened, and gone up the half-bridge Close All.This method is equivalent to three phase line short circuits of motor together, and motor is in from the loss state.When motor is under the big inertia working order, should not adopt this mode that motor is stopped.Therefore the design has used above-mentioned " the control motor stops with current state " method as the transition processing method.
Claims (10)
1. DC motor control system, comprise the motor control unit (1), drive circuit (2) and the actuating motor (3) that are linked in sequence, it is characterized in that: described actuating motor (3) is a three-phase brushless dc motor, described drive circuit (2) is provided with three groups of commutation circuits, and its 3 outputs are connected with three phase lines (U, V, W) of direct current machine respectively; Direct current machine is provided with detecting apparatus for rotor position (6), 3 positional informations (H1, H2, H3) of the reflection rotor of its output insert motor control unit (1) respectively, motor control unit (1) is according to the positional information of rotor, the commutation of control Driver Circuit (2) output current.
2. control system according to claim 1, it is characterized in that: described commutation circuit is provided with half-bridge switch pipe and following half-bridge switch pipe, 6 tunnel (UH, UL, VH, VL, WH, WL) pulse-width signal of described motor control unit (1) output is respectively applied for the conducting and the disconnection of 6 upper and lower half-bridge switch pipes of the described drive circuit of control (2).
3. control system according to claim 2, it is characterized in that: system also comprises the speed detection unit (7) that is connected with position detecting device (6), it is according to the interval of the position signalling of rotor, calculate the rotating speed of brshless DC motor, input motor control unit (1), by the duty ratio of dynamic adjustments pulse-width signal, realize the speed stabilizing controlled function of three-phase brushless dc motor rotating speed.
4. control system according to claim 3, it is characterized in that: when load pulling motor, specifying under the running speed, described motor control unit (1), in the cycle of pulse-width signal, half-bridge switch pipe and following half-bridge switch pipe are distinguished the superposed signal of conducting on the homophase of output control Driver Circuit (2), are used for the running speed of stable DC motor.
5. control system according to claim 4 is characterized in that: described superposed signal is provided with " dead band " that prevents half-bridge switch pipe on the homophase and the while conducting of following half-bridge switch pipe.
6. control system according to claim 2 is characterized in that: described motor control unit (1) comprises the time-delay administrative unit (1A) that is linked in sequence, the pulse-width signal generating unit (1B) that is used to produce motor control signal, pulse-width modulation administrative unit (1C), is used for the channel management unit (1D) of motor control signal channel management; The inside of pulse-width modulation administrative unit (1C) includes the comparison circuit, control switch K and the mode selector that are linked in sequence.
7. control system according to claim 2 is characterized in that: be provided with level shifting circuit before the described commutation circuit, be used to improve the voltage of motor control unit (1) output signal.
8. control system according to claim 2, it is characterized in that: system comprises that also the electric current that connects drive circuit (2) is provided with unit (4), be used to gather the operating current of direct current machine, be converted to voltage signal, a signal that dynamically arranges with the user relatively after, insert the control end of motor control unit (1), limit the operating current of drive circuit (2), be used to be provided with the max. output torque of direct current machine.
9. control system according to claim 2 is characterized in that: be provided with power down holding unit (8) between described motor control unit (1) and the power circuit, comprise the divider resistance of gathering the power supply power down, the diode D1 of unidirectional power supply restriction; The storage capacitor C1 that connects diode; After the power failure, motor control unit (1) oppositely generates electricity by drive circuit (2) control motor provides electric energy, control system to enter generating, braking flow process.
10. control system according to claim 9 is characterized in that: described power circuit is the 220VAC-48VDC power supply for direct current machine power supply that is linked in sequence, for the 48-15VDC power supply of drive circuit (2) power supply be the 15-5VDC power supply of motor control unit (1) power supply.
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| CN2008102167992A CN101729009B (en) | 2008-10-21 | 2008-10-21 | Control system of direct current motor |
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