CN101969290B - Speed sensor-free speed regulation device and method for DC motor - Google Patents
Speed sensor-free speed regulation device and method for DC motor Download PDFInfo
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- CN101969290B CN101969290B CN2010105060405A CN201010506040A CN101969290B CN 101969290 B CN101969290 B CN 101969290B CN 2010105060405 A CN2010105060405 A CN 2010105060405A CN 201010506040 A CN201010506040 A CN 201010506040A CN 101969290 B CN101969290 B CN 101969290B
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 230000005284 excitation Effects 0.000 claims abstract description 43
- 238000004804 winding Methods 0.000 claims description 24
- 230000001105 regulatory effect Effects 0.000 claims description 9
- 238000004364 calculation method Methods 0.000 claims description 3
- 239000000523 sample Substances 0.000 description 7
- 238000001514 detection method Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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Abstract
The invention discloses a speed sensor-free speed regulation device and a speed sensor-free speed regulation method for a DC motor, which are suitable for rotating armature DC motors. The speed sensor-free speed regulation device comprises a controller; the input end of the controller is respectively connected with an armature circuit voltage and current sensor, an excitation circuit voltage and current sensor and a full digital keyboard, while the output end is respectively connected with an armature DC power supply and an excitation DC power supply; the armature circuit voltage and current sensor is connected with the armature DC power supply; the excitation circuit voltage and current sensor is connected with the excitation DC power supply; and the armature circuit voltage and current sensor and the excitation circuit voltage and current sensor send the respectively acquired voltage and current signals to the controller. The speed sensor is not needed; and the structure and method are simple and have high reliability.
Description
Technical field
The present invention relates to a kind of dc motor drive, be particularly useful for the direct current machine Speedless sensor speed regulating device that the revolving-armature type DC motor uses.
Background technology
In the direct current machine double closed-loop control system, the closed-loop control link of spinner velocity need detect the rotating speed of motor signal.At present, the control system of DC motor control system is many by the dc excitation power of not controlling, the armature power supply of micro core processor control, and direct current machine and rotating speed, voltage-current sensor are formed.Dc excitation power is connected with the motor excitation winding, is connected with the armature winding by micro core processor control armature power supply, and speed probe is connected with motor coaxle.The micro core processor receives rotating speed, and voltage and current signal is controlled the armature power supply; And then the operation of control motor, this method of testing is based on the control system of velocity transducer, need on direct current machine, install mechanical speed transducers such as photoelectric code disk, tachogenerator additional and carry out the motor speed detection; And feedback speed signal; This method need be added speed measuring device, has not only improved system cost and difficult installation.
Realize that high performance DC MOTOR CONTROL must detect armature resistance in circuit value in real time.Have only and detect the armature resistance in circuit accurately, just can accurately calculate the actual speed of motor.Detecting armature resistance in circuit value is to realize the key of direct current machine Speedless sensor control.Direct current machine inner armature resistance in circuit value is along with the operating mode of motor operation constantly changes, and its temperature with motor internal is directly related.Usually detect the motor internal temperature and need install special transducer additional, not only improved system cost and increased the complexity of system again, and increased the maintenance workload of system.
Summary of the invention
The purpose of this invention is to provide a kind of structure and method simple, be easy to safeguard, direct current machine Speedless sensor speed regulating device and method that cost is low.
For realizing above-mentioned purpose; Direct current machine Speedless sensor speed regulating device of the present invention comprise: comprise controller; The input of controller is connected with armature circuit voltage and current transducer, energized circuit voltage and current transducer and full digital keyboard respectively; Its output is connected with armature DC power supply and excitation dc power respectively; Armature circuit voltage and current transducer is connected with the armature DC power supply, and energized circuit voltage and current transducer is connected with excitation dc power, and pivot loop voltage and current sensor and energized circuit voltage and current transducer are sent to controller with the voltage that collects respectively, current signal.
Described controller comprises low-pass filter circuit, digital sample circuit, micro core processor and the Schmidt trigger circuit that is linked in sequence; Described micro core processor model is TMS320F2812; The model of described armature circuit voltage and current transducer is the Hall-type voltage-current sensor; The model of energized circuit voltage and current transducer is the Hall-type voltage-current sensor.
The method of direct current machine Speedless sensor of the present invention speed governing: on the armature DC power supply of direct current machine and excitation dc power, armature circuit voltage and current transducer and energized circuit voltage and current transducer are installed respectively; Respectively the voltage and current numerical value of armature DC power supply and excitation dc power is sampled through armature circuit voltage and current transducer and energized circuit voltage and current transducer, and sample information is sent in the controller; Controller carries out calculation process to sample information, obtains the rotating speed number of direct current machine, and rotating speed number and setting speed revolution value are compared; If the rotating speed number is inconsistent with setting revolution value; Then controller calculate this moment armature DC power supply and excitation dc power should put on the voltage swing of motor; To armature DC power supply and excitation dc power output control signal; Change the armature voltage and the exciting voltage of motor, make the rotating speed of motor number change, reach consistent with setting revolution value.
Beneficial effect: the present invention does not have mechanical velocity transducer, utilizes the resistance value of winding and the linear and electromagnetic relationship of direct current machine of temperature of winding itself own, estimates spinner velocity indirectly; Control effectively, omitted velocity transducer, not only have the accuracy of detection height for the DC motor closed loop speed control system; The characteristics of good reliability, and simple in structure, operation and easy to maintenance; Cost is low, has practicality widely.
Description of drawings
Fig. 1 is a structural principle sketch map of the present invention.
Fig. 2 is a controller architecture sketch map of the present invention.
Among the figure: 1-armature DC power supply, 2-direct current machine armature winding, 3-excitation of direct current generator winding, 4-excitation dc power, 5-armature circuit voltage and current transducer, 6-energized circuit voltage and current transducer, 7-controller, 8-full digital keyboard.
Embodiment
Below in conjunction with the embodiment in the accompanying drawing the present invention is done further description:
As shown in the figure, direct current machine Speedless sensor speed regulating device of the present invention comprise armature circuit voltage and current transducer 5, energized circuit voltage and current transducer 6, controller 7 and full digital keyboard 8; Controller 7 comprises low-pass filter circuit, digital sample circuit, micro core processor and the Schmidt trigger circuit that is linked in sequence, and wherein the micro core processor model is the TMS320F2812 of TI company production.The input of low-pass filter circuit is connected with energized circuit voltage and current transducer 6 with armature circuit voltage and current transducer 5 respectively in the controller 7, and full digital keyboard 8 is connected with micro core processor in the controller 7, in order to the input reference velocity; Armature circuit voltage and current transducer 5 is connected with excitation dc power 4 with armature DC power supply 1 respectively with energized circuit voltage and current transducer 6; The Schmidt trigger circuit output of controller 7 is connected with armature DC power supply 1 and excitation dc power 4 respectively; Armature DC power supply 1 directly is connected with direct current machine armature winding 2, and excitation dc power 4 directly is connected with excitation of direct current generator winding 3.Armature circuit voltage and current transducer 5 is connected with armature DC power supply 1; Energized circuit voltage and current transducer 6 is connected with excitation dc power 4, and armature circuit voltage and current transducer 5 and energized circuit voltage and current transducer 6 are sent to controller 7 with the voltage that collects respectively, current signal.The model of armature circuit voltage and current transducer 5 is the Hall-type voltage-current sensor; The model of energized circuit voltage and current transducer 6 is the Hall-type voltage-current sensor.
The method of direct current machine Speedless sensor of the present invention speed governing: on the armature DC power supply of direct current machine 1 and excitation dc power 4, armature circuit voltage and current transducer 5 and energized circuit voltage and current transducer 6 are installed respectively; Respectively the voltage and current numerical value of armature DC power supply 1 and excitation dc power 4 is sampled through armature circuit voltage and current transducer 5 and energized circuit voltage and current transducer 6, and sample information is sent in the controller 7; 7 pairs of sample information of controller are carried out calculation process, and the micro core processor in the controller 7 calculates motor excitation resistance in circuit value R according to voltage and current signal that the energized circuit voltage and current transducer that receives 6 sends
f, measure the terminal voltage U of energized circuit
fWith exciting current I
f, utilize the Ohm's law calculating formula again:
According to resistance value R
fJust can calculate motor temperature T with the variation of temperature relation, the temperature of the resistance value of excitation winding and excitation winding itself is linear, through measuring the resistance value of excitation winding, and just can be according to the relational expression of resistance and temperature:
R
f=R
F0+ (1+ α T) calculates the temperature of motor excitation winding.
In the formula: R
fExcitation winding resistance when being motor temperature T ℃; R
F0Be that motor temperature is 0 ℃ a resistance; α is a temperature coefficient of resistance, if temperature coefficient of resistance α is 4.27 * 10
-3(℃
-1),
According to formula (1) (2) and the resistance R measured in advance
F0, the temperature that can calculate the motor excitation winding is:
Just can calculate armature resistance resistance R according to armature resistance and variation of temperature relation
aBecause the stator excitation winding is positioned on the motor stator magnetic pole, it is very near apart from rotor core, and therefore, the temperature of rotor core in normal operation and motor excitation winding temperature are basic identical.According to the linear relationship of direct current machine armature winding resistance and temperature, the resistance of the armature winding in the time of can calculating motor temperature T ℃:
R
a＝R
a0+(1+α·T)
In the formula: R
aArmature winding resistance when being t ℃; R
A0Be the resistance of 0 ℃ of armature winding; α is a temperature coefficient of resistance.
Armature circuit voltage and current transducer 5 is sent to controller 7 with the armature circuit voltage and current signal that detects, and the micro core processor in the controller 7 is according to the DC armature voltage and the current signal that receive and calculate armature resistance R
aResistance, again according to the rate equation of DC motor:
N is a motor speed in the formula; K is a constant coefficient; I
fIt is exciting current; U is an armature voltage; i
aIt is armature supply; R
aIt is armature resistance; L is an armature inductance.
Dc motor speed number that obtains and setting speed revolution value are compared; If the rotating speed number is inconsistent with setting revolution value; Then calculate armature DC power supply 1 and 4 voltage swings that should put on motor of excitation dc power at this moment, and connect armature DC power supply 1 and excitation dc power 4 respectively, to armature DC power supply 1 and excitation dc power 4 output control signals through the transmitting terminal of Schmidt trigger circuit through controller 7; Change the armature voltage and the exciting voltage of motor; Thereby effectively control exerting oneself of direct current machine, make the rotating speed of motor number change, reach consistent with setting revolution value.
Claims (5)
1. direct current machine Speedless sensor speed regulating device; It is characterized in that: it comprises controller (7); The input of controller (7) is connected with armature circuit voltage and current transducer (5), energized circuit voltage and current transducer (6) and full digital keyboard (8) respectively; Its output is connected with armature DC power supply (1) and excitation dc power (4) respectively; Armature circuit voltage and current transducer (5) is connected with armature DC power supply (1); Energized circuit voltage and current transducer (6) is connected with excitation dc power (4); Armature circuit voltage and current transducer (5) is sent to controller (7) with energized circuit voltage and current transducer (6) with the voltage that collects respectively, current signal, and controller (7) utilizes the linear and own electromagnetic relationship of direct current machine of temperature of the resistance value and the excitation winding itself of excitation winding, estimates spinner velocity indirectly.
2. direct current machine Speedless sensor speed regulating device according to claim 1 is characterized in that: described controller (7) comprises low-pass filter circuit, digital sample circuit, micro core processor and the Schmidt trigger circuit that is linked in sequence.
3. direct current machine Speedless sensor speed regulating device according to claim 2 is characterized in that: described micro core processor model is TMS320F2812.
4. direct current machine Speedless sensor speed regulating device according to claim 1 is characterized in that: the model of described armature circuit voltage and current transducer (5) is the Hall-type voltage-current sensor; The model of energized circuit voltage and current transducer (6) is the Hall-type voltage-current sensor.
5. the method for direct current machine Speedless sensor speed governing; It is characterized in that: on the armature DC power supply (1) of direct current machine and excitation dc power (4), armature circuit voltage and current transducer (5) and energized circuit voltage and current transducer (6) are installed respectively; Respectively the voltage and current numerical value of armature DC power supply (1) and excitation dc power (4) is sampled through armature circuit voltage and current transducer (5) and energized circuit voltage and current transducer (6), and sample information is sent in the controller (7); Controller (7) carries out calculation process to sample information; Utilize the linear and own electromagnetic relationship of direct current machine of temperature of the resistance value and the excitation winding itself of excitation winding; Estimate spinner velocity indirectly, obtain the rotating speed number of direct current machine, rotating speed number and setting speed revolution value are compared; If the rotating speed number is inconsistent with setting revolution value; Then controller (7) calculate this moment armature DC power supply (1) and excitation dc power (4) should put on the voltage swing of direct current machine; To armature DC power supply (1) and excitation dc power (4) output control signal; Change the armature voltage and the exciting voltage of direct current machine, make the rotating speed of motor number change, reach consistent with setting revolution value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105060405A CN101969290B (en) | 2010-09-30 | 2010-09-30 | Speed sensor-free speed regulation device and method for DC motor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105060405A CN101969290B (en) | 2010-09-30 | 2010-09-30 | Speed sensor-free speed regulation device and method for DC motor |
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| CN101969290A CN101969290A (en) | 2011-02-09 |
| CN101969290B true CN101969290B (en) | 2012-07-25 |
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| CN102842411B (en) * | 2011-06-24 | 2015-06-10 | 北京众智同辉科技股份有限公司 | Transformer with temperature measurement winding and method for on-line measuring temperature rise of transformer |
| CN102710208B (en) * | 2012-06-01 | 2015-01-14 | 万高(杭州)科技有限公司 | Permanent magnet synchronous motor self-adaptation control method based on temperature variation |
| CN107026588A (en) * | 2017-05-27 | 2017-08-08 | 北京无线电测量研究所 | A kind of motor driver, the control system and its control method of release rate fluctuation |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04261383A (en) * | 1991-02-13 | 1992-09-17 | Mitsubishi Electric Corp | Speed detector |
| JP3776683B2 (en) * | 2000-06-15 | 2006-05-17 | 株式会社リコー | DC motor rotation detection device and rotation control device |
| US7518324B2 (en) * | 2006-01-06 | 2009-04-14 | Stmicroelectronics, Inc. | Universal motor speed controller |
| US20080298784A1 (en) * | 2007-06-04 | 2008-12-04 | Mark Allen Kastner | Method of Sensing Speed of Electric Motors and Generators |
| CN201860288U (en) * | 2010-09-30 | 2011-06-08 | 中国矿业大学 | Non-speed sensor speed-adjusting device of DC motor |
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