CN102075140B - Alternative-current/direct-current (AC/DC) dual-purpose motor control system - Google Patents
Alternative-current/direct-current (AC/DC) dual-purpose motor control system Download PDFInfo
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Abstract
The invention discloses an alternative-current/direct-current (AC/DC) dual-purpose motor control system, which is characterized in that: an electric power electronic part Insulated Gate Bipolar Transistor (IGBT) is adopted as a non-contact controllable switch to form a control main circuit, a digital microprocessor is adopted as a control core to form a micro-controller-based AC/DC dual-purpose motor control system. The control main circuit firstly adopts four power diodes to form a single-phase full-wave rectifier bridge, so an external AC power supply system and an external DC power supply system are unified to an internal DC power supply. An AC/DC dual-purpose motor control topology main circuit is arranged behind the rectifier bridge. The IGBT in the control topology main circuit is connected and disconnected according to a given discipline, so the connection order of different homonymous ends of a motor exciting winding and an armature winding can be realized, and the motor can run in the positive direction and the opposite direction or can be braked in the positive direction and the opposite direction. Due to the adoption of the AC/DC dual-purpose motor control system, the service life of the system is greatly improved, the electric arc and spark of the switch can be eliminated, the size can be reduced, and complicated functions of an AC/DC dual-purpose such as soft starting, stepless speed regulation and the like can be realized. The invention also provides a full-digital communication field bus interface so as to realize the remote monitoring of a field bus.
Description
Technical field
The present invention relates to the digital control and electric and electronic technical field category of motor, particularly a kind of electronic AC/DC dual-purpose motor control system based on microcontroller.
Background technology
Control loop generally has DC220V in the high pressure power supply-distribution system; DC110V; AC220V, several kinds of different electricity systems of AC110V are for the different electricity system of compatible AC and DC; Extensively adopt universal motor as execution unit in the action actuating mechanism, be used to promote separating brake and the combined floodgate that the high-voltage switch gear action realizes high-voltage switch gear.Universal motor comes down to a kind of series DC machine; It is in the same place excitation (stator) winding of direct current machine with armature (rotor) windings in series; Make that the direction of rotation of motor is only relevant with the end order of the same name that two windings connect, and have nothing to do with the positive and negative of supply power voltage.So this motor both can also can be moved by DC power supply by the ac power supply operation.Simultaneously, this motor also has the advantage that is suitable for heavy load starting.
The current relay logic circuit that adopts relay and contactor etc. to constitute usually to this universal motor is realized controls such as startup, braking, rotating; The control system complex structure; Wiring is more, and it is big to take up room, and can produce very big electric arc and electric spark when relay and contactless contactor; Electromagnetic interference is serious, and the life-span receives the very big restriction in relay contact life-span.And relay control mode can only be accomplished simple switch control, is difficult to realize sophisticated functionss such as soft starter for motor, stepless speed regulation, makes the range of application of universal motor be difficult to further expand.
Summary of the invention
Along with the development of the development of technology, particularly power electronic technology and microprocessor technology, constitute the control main circuit as contactless gate-controlled switch with power electronic device; With digital microprocessor as control core; The electronic type universal motor control system of forming based on microcontroller can make when guaranteeing original serviceability of control system and required technical parameter the useful life of improving system greatly; Eliminate switching arc and spark; Reduce volume, and the field-bus interface of all-digital communication can be provided, realize the fieldbus remote monitoring.Therefore, in the control loop of high pressure power supply-distribution system, available this electronic AC/DC dual-purpose motor control system replaces the conventional means of relay control system.And electronic AC/DC dual-purpose motor control system can realize sophisticated functionss such as soft starter for motor, stepless speed regulation, can make the universal motor application extension to more areas.
The technical problem that the present invention requires to solve can realize through following technical scheme:
A kind of universal motor control system comprises the main circuit part, and IGBT drives and the protective circuit part, control core, switch command signaling interface part, running status output; Said switch command signaling interface part, running status output and control core are connected, said control core connect successively again that IGBT drives and protective circuit partly, the main circuit part, finally be connected on the universal motor; It is characterized in that said main circuit comprises that partly a single-phase full wave rectifier bridge and is connected in single-phase full wave rectifier bridge universal motor control topological main circuit afterwards; Said single-phase full wave rectifier bridge comprises four rectified power diodes; The first rectified power diode and the series connection of the 3rd rectified power diode both positive and negative polarity; The second rectified power diode and the series connection of the 4th rectified power diode both positive and negative polarity; The first rectified power diode cathode is connected with the second rectified power diode cathode; The 3rd rectified power diode cathode is connected with the 4th rectified power diode cathode, and the both positive and negative polarity of external power source is connected between the first rectified power diode and the 3rd rectified power diode respectively and between the second rectified power diode and the 4th rectified power diode; Said universal motor control topological main circuit comprises five IGBT, three power diodes and a relay; The one IGBT is as motor power supply master switch; Its collector electrode connects the first rectified power diode and the second rectified power diode cathode; Emitter connects an end of universal motor armature and the negative pole of the 3rd power diode respectively; First power diode is anodal all to be connected the other end of armature with the second power diode negative pole; Second power diode all is connected with the positive pole of the 3rd rectified power diode and the 4th rectified power diode with the 3rd power diode positive pole; The emitter of the 2nd IGBT is connected with the collector electrode of the 4th IGBT; The emitter of the 3rd IGBT is connected with the collector electrode of the 5th IGBT, and the collector electrode of the collector electrode of the 2nd IGBT and the 3rd IGBT all is connected with the first power diode negative pole, and the emitter of the 4th IGBT and the 5th IGBT all is connected with anodal and the 3rd rectified power diode of second power diode, the 3rd power diode, the positive pole of the 4th rectified power diode; The negative pole of first power diode also connects an end of brake resistance; The other end of brake resistance is connected with relay contact one end, and the relay contact other end is connected on the emitter of an IGBT, and the two ends of the excitation winding of generator are connected between the 2nd IGBT and the 4th IGBT respectively and between the 3rd IGBT and the 5th IGBT.
Said IGBT drives and protective circuit partly comprises two optocouplers, an IGBT lockout logic gate circuit chip.Microcontroller IGBT trigger the input that port connects IGBT lockout logic gate circuit chip; Its another input is connected with the light-sensitive device of second optocoupler; Its output connects the luminescent device of first optocoupler, realizes the overcurrent protection of IGBT hardware, and the light-sensitive device of second optocoupler also is connected to microcontroller external interrupt port; So that the IGBT over-current signal is passed to microcontroller, realize software overcurrent protection processing.
Said universal motor control system also comprises the field bus communication interface, and said field bus communication interface one end connects microprocessor, and other end connected system external fieldbus is used to realize field bus communication.
Said universal motor control system also comprises the speed feedback interface; Said speed feedback interface one end is connected with microprocessor; The outside incremental speed probe of expressing rotary speed information of other end connected system is used to control universal motor and realizes speed closed loop control.。
The present invention is the control core with the digital microprocessor; With power electronic device IGBT is that switch constitutes main circuit; Receive control command with outside switching signal or field-bus interface; Control the on off state of each IGBT of main circuit in real time through digital microprocessor, change the topological structure of the main circuit that connects motor, thereby realize rotating and open braking and control.Through being implemented pulse-width modulation (PWM), the IGBT switch realizes speed regulating control.For the universal motor control that needs speed closed loop, system also provides the speed feedback interface, is used for rotating speed and detects, and realizes the closed loop function.Do not use for simple this partial function of open loop control.
The structure composition frame chart of system is as shown in Figure 1.
Because universal motor can adopt alternating current-direct current various power mode to move; Adopting same circuit structure and control method, this control system to adopt full-wave rectification bridge for AC and DC is supplied power is the unification earlier of different external supplied by AC/DC electricity mode that subsequent treatment is carried out in inner direct current supply again.This exchanges with this characteristic of direct current supply mode and advantage for native system is compatible simple but very effective solution is provided.
Owing to adopted technical scheme as above, the present invention compared with prior art has following characteristics: when guaranteeing original serviceability of control system and required technical parameter; Improve the useful life of system greatly; Eliminate switching arc and spark, reduce volume, and can realize sophisticated functionss such as soft starter for motor, stepless speed regulation; The field-bus interface of all-digital communication can also be provided, realize the fieldbus remote monitoring.Adopt this electronic AC/DC dual-purpose motor control system can make the universal motor application extension to more areas.
Description of drawings
Fig. 1 is the structure composition frame chart of universal motor control system.
Motor steering sketch map when Fig. 2 is linked in sequence by a kind of end of the same name for universal motor excitation winding and armature winding two ends.
Motor steering sketch map during Fig. 3 universal motor excitation winding for a change shown in Figure 2 and the armature winding end order of connection of the same name.
Fig. 4 is the main circuit structure figure of universal motor control system.
Fig. 5 is the equivalent brake circuit sketch map that universal motor control system master motor constitutes.
Fig. 6 is driving and the protective circuit figure of IGBT.
Fig. 7 is the overview flow chart of universal motor control system software.
Fig. 8 is a not speed-regulating type universal motor control system Electric Machine Control finite state machine of rotating speed open loop.
Fig. 9 is a rotating speed open loop speed-regulating type universal motor control system Electric Machine Control finite state machine.
Figure 10 is a speed closed loop type universal motor control system Electric Machine Control finite state machine.
Embodiment
For technological means, creation characteristic that the present invention is realized, reach purpose and effect and be easy to understand and understand, below in conjunction with concrete diagram, further set forth the present invention.
The present invention is the main circuit that main body constitutes the universal motor control system with the power electronic device; Through different electronic power switches in the main circuit being carried out break-make control; Realize its topological structure according to the dynamic change of motor different working state, realize control universal motor.
The control of universal motor comprises direction of rotation (rotating) control, plays braking control and speed regulating control.In actuating mechanism, be used as servo applications the general dynamic braking mode that adopts of universal motor braking, so this Control System Design is the dynamic braking mode.
Universal motor comes down to both can be used in the series DC machine that the direct current supply occasion also can be used in the Alternating Current Power Supply occasion, and its excitation (stator) winding and armature (rotor) windings in series are worked together.Constant when excitation winding and armature winding annexation, and when having only the supply current direction to change, the magnetic field of excitation winding and the electric current in the armature change direction simultaneously, like this armature winding stressed direction constant, so direction of rotation is also constant.The turning to of old friend's dc two-purpose motor (series DC machine) only depended on the end order of connection of the same name of excitation and armature two cover windings, with the positive and negative orientation independent of power supply.When excitation winding and armature winding two ends are linked in sequence by a kind of end of the same name, motor steering is defined as forward, and change the relative order of connection of end of the same name when two windings, and motor steering is defined as oppositely, like Fig. 2, shown in Figure 3.
Thereby the dynamic braking of universal motor consumes rotor kinetic energy Brake stop in time with brake resistance.The self-excitation mode is adopted in universal motor (series DC machine) dynamic braking; Cut off the motor power supply during braking; And the two ends of armature winding (or excitation winding) are exchanged, the end of the same name of excitation winding and armature winding is inverted in proper order, and is concatenated into brake circuit with brake resistance.Opposite when the excitation winding electric current and the armature winding sense of current move relatively like this, rotor receives the electromagnetic torque effect that hinders its rotation and gets into generating state release kinetic energy, braking rapidly in excitation winding magnetic field.If do not make two windings change the end order of connection of the same name, then rotor still receives the electromagnetic torque effect that helps its rotation in excitation winding magnetic field, makes it can't get into generating state and realizes dynamic braking.
After power supply inserts, at first adopt the single-phase full wave rectifier bridge in the main circuit of this control system, alternating current becomes direct current supply through rectifier bridge when Alternating Current Power Supply like this, and the power supply connection can be regardless of positive-negative polarity during direct current supply.
For realizing the basic function of above-mentioned universal motor control, this Control System Design has simply and cleverly main circuit.As shown in Figure 4.
Main circuit at first adopts the first rectified power diode D01, the second rectified power diode D02, the 3rd rectified power diode D03, the 4th rectified power diode D04 to constitute the single-phase full wave rectifier bridge in power supply access place, the unified direct current supply for inside of outside alternating current-direct current various power.When externally fed was interchange, this rectifier bridge became direct current with it and outputs to subsequent conditioning circuit., other common rectifications do not insert big capacitor filtering as using on the dc bus behind this rectifier bridge.Its reason is after inserting big capacitor filtering, if supply and AC voltage is the motor rated voltage, it is a lot of that VD can surpass this rated value, and this possibly cause motor to burn out because of overtension.Rectifier bridge directly inserts inside with externally fed when externally fed is direct current, does not change original supplied character.And adopted rectifier bridge, when direct current supply, also having a benefit is that the external dc power connection need not to be concerned about positive-negative polarity, and any end is not for just influencing the polarity of in-line power.
Rectifier bridge is based on the universal motor control topological main circuit of direct current supply mode at the back.Wherein, an IGBT T1 is as motor power supply master switch, and the 2nd IGBT T2, the 3rd IGBT T3, the 4th IGBT T4, the 5th IGBT T5 realize the end order of connection different of the same name of motor excitation winding 1 and armature 2 according to certain rule conducting and shutoff.
When control the one IGBT T1, the 2nd IGBT T2, the 5th IGBT T5 conducting; And the 3rd IGBT T3, the 4th IGBT T4 close; Simultaneously during relay K 1 output open circuit; The supply current serial flow is through an IGBT T1, armature 2, the first power diode D1, the 2nd IGBT T2, excitation winding 1 and the 5th IGBT T5, and electric current is held outflow from A1 end inflow A2 in armature 2, and electric current flows into I2 from the I1 end and holds outflow in excitation winding 1; This moment main circuit equivalent connecting circuit such as Fig. 2, universal motor forward running this moment.The second power diode D2, the 3rd power diode D3 bear reverse voltage and all are in cut-off state.
When control the one IGBT T1, the 3rd IGBT T3, the 4th IGBT T4 conducting; And the 2nd IGBT T2, the 5th IGBT T5 close; Simultaneously during relay K 1 output open circuit; The supply current serial flow is through an IGBT T1, armature 2, the first power diode D1, the 3rd IGBT T3, excitation winding 1 and the 4th IGBT T4, and electric current is held outflow from A1 end inflow A2 in armature 2, and electric current flows into I1 from the I2 end and holds outflow in excitation winding 1; This moment main circuit equivalent connecting circuit such as Fig. 3, this moment the universal motor antiport.The second power diode D2, the 3rd power diode D3 bear reverse voltage and all are in cut-off state.
When universal motor is in the forward operating condition; If controlling an IGBT T1 closes; Then motor at first breaks off with power supply, because rotor is still rotating this moment, forms the A1 end on the armature 2 and is negative electromotive force for positive A2 end; If do not change the original switching logic state of other IGBT this moment; But control relay K1 is closed, and the electric current that is then produced by the armature electromotive force successively flow through brake resistance 3, the 2nd IGBT T2, excitation winding 1, the 5th IGBT T5 and the second power diode D2 return the A2 end.At this moment; Electric current flows out the inflow of A2 end from the A1 end in armature 2; Electric current flows into the I2 end from I1 end and flows out in excitation winding 1, and both senses of current are just in time opposite with respect to just transporting when capable, and rotor receives the electromagnetic torque effect that hinders its rotation and gets into generating state and discharge kinetic energy in excitation winding 1 magnetic field; Universal motor is rapidly from just commentaries on classics state entering on-position, finally parking.This current circuit constitutes the forward brake circuit, and the equivalent connecting circuit of main circuit is as shown in Figure 5.Be higher than cathode voltage owing to the first power diode D1 cathode voltage this moment, thus be in cut-off state, and the second power diode D2 is in conducting state connection brake circuit in contrast.
In like manner, when series DC machine is in the antiport state, close if control an IGBT T1; Other IGBT states are identical with when counter-rotating; The 3rd IGBT T3, the 4th IGBT T4 conducting, the 2nd IGBT T2, the 5th IGBT T5 close, and control relay K1 is closed simultaneously; Then main circuit can constitute the plugging loop and makes universal motor get into on-position from inverted status rapidly, the final parking.
Need only during dead ship condition keeps an IGBT T1 to close always.
Speed regulating control to motor is controlled through main circuit the one IGBT T1 switch is carried out HF switch with pulse-width modulation (PWM) mode, and the output mean value (promptly being added in the voltage on the universal motor) that makes an IGBT T1 is that an IGBT T1 front direct voltage multiply by the duty ratio of pulse-width modulation.Duty ratio is more little, and the average voltage that is added on the motor is also just more little, and motor speed is low more, and the extreme case duty ratio is zero, and then an IGBT T1 turn-offs fully, does not have voltage to be added on the motor, and motor does not change; Duty ratio is big more, and the average voltage that is added on the motor is also just big more, and motor speed is high more, and the extreme case duty ratio is 100%, and then an IGBT T1 is open-minded always, and all direct voltage is added on the motor, and motor moves with maximum speed.Therefore, the duty ratio that changes control the one IGBT T1 promptly realizes motor with the voltage regulating mode speed governing.
When control system when universal motor is started, the rotor rotating speed is very little, the back electromotive force in its armature is also just very little, so starting current is very big, possibly burn IGBT.In order to reduce the impact of starting current; To an IGBT T1 is not that the duty ratio under is at full speed carried out pwm switch control immediately, promptly is not that the voltage during immediately full speed is added on the motor, but comes into effect pulse width modulation controlled from extremely low duty ratio earlier; And along with rotating speed rises; Progressively strengthen, finally reach the duty ratio under the full speed, get into the full speed running state.Realize the soft start function of universal motor like this.
The main circuit of this universal motor control system is the basis of implementing universal motor control, and what pattern no matter other parts of system adopt, and what software algorithm and control strategy all are based on the topological structure of this main circuit and the dynamic change of structure.The IGBT that is adopted in this main circuit also can be replaced by other electronic power switch devices in some occasion, but essence does not all have difference with effect.
The control signal of IGBT is provided with the switching value mode by microprocessor; For guaranteeing the safe and reliable of weak current part; Control circuit and main circuit need be isolated on electric, trigger so control signal is carried out isolation drive through optocoupler 1,3 couples of IGBT of trigger protection chip, and be as shown in Figure 6.Because it is all very little with power that P raceway groove IGBT is general withstand voltage, and N raceway groove IGBT is used for the occasion that voltage is higher, power is bigger, so for adapting to different applications, the main circuit IGBT of native system all adopts the N channel type.Like this; The residing determining positions of each N raceway groove IGBT the isolation drive trigger " " inequality; And along with the switch of IGBT its " " be in constantly to float and change, so the power supply that isolation drive triggers should have the output of free floating, native system adopts the insulating power supplies with different outputs to realize; Wherein an IGBT T1, the 2nd IGBT T2, the 2nd IGBT T3 drive to supply power and respectively adopt one the tunnel independently to isolate output; The 4th IGBT T4, the 5th IGBT T5 emitter link together and have identical ground, so shared one the tunnel independently isolate output, have guaranteed that like this main circuit IGBT can both reliably trigger under any duty cycle of switching.
The electronic power switch of IGBT and so on is very easy to burn out when overcurrent, so will need carry out overcurrent protection to IGBT.Because IGBT is just possible overcurrent when motor is in the energising operating condition; And this moment is from system's main circuit; The one IGBT T1 and other IGBT form series relationship when conducting; And an IGBT T1 plays the master switch effect, and the IGBT electric current of all conductings of flowing through is all identical, so the IGBT that is adopted in the system can be chosen as same specification.Be in saturation condition during the IGBT operate as normal, the voltage VCE between its collector electrode C and emitter E is very little, and when the IGBT overcurrent, can withdraw from saturatedly, and VCE increases to and surpasses a fixed voltage value (being generally 6.5V).The IGBT protection of native system is implemented two parts by over-current detection and protection and is realized.Over-current detection adopts judges whether VCE surpasses 6.5V and realize.But VCE surpasses 6.5V two kinds of situation are arranged: overcurrent during conducting, or be in off state.So, judge whether overcurrent will see also whether IGBT is in conducting state, and this high-low level through grid-control voltage is judged.With VCE whether surpass two logics of 6.5V and grid-control voltage height through with the effective over-current signal of door (AND) generation high level.Owing to there is series relationship during the IGBT conducting; And be same specification; Whether overcurrent gets final product so detect one of them, again because a no matter how IGBT T1 conducting job always of motor traffic direction, so over-current signal is through detecting acquisition to an IGBT T1.Protection is implemented part and is implemented the protection to IGBT according to over-current signal.Over-current signal is isolated as interlock protection signal entering system, control circuit part through optocoupler 2.This signal acts on the grid control signal of an IGBT T1, when an IGBT T1 overcurrent, it is implemented turn-off protection.The IGBT grid control signal is generated after NAND gate (NAND) by this signal and the microcontroller control port to IGBT; IGBT conducting when the IGBT grid control signal is low; If overcurrent then the interlock protection signal is low, this moment, no matter microcontroller was high or low to the control port of IGBT, and the IGBT grid control signal that produces through NAND gate is height; IGBT is forced shutoff, plays a protective role; This interlock protection signal is also introduced the external interrupt interface of microcontroller simultaneously, takes place with notice microcontroller overcurrent, is convenient to microcontroller and carries out the software protection processing.The scheme of native system can realize that through the hardware interlock protection software protection is handled optional according to actual conditions and demands of different merely for overcurrent protection.
This universal motor control system can obtain control command through the switch command interface, through the current running status of running status output indication.Control command comprises that forward operation, inverted running, Brake stop and operation allow four switching value signals.Application for adjustable speed also has analog voltage signal, provides rotating speed with reference to input; Need not the speed governing occasion then not have this rotational speed setup part, rotating speed is fixed during operation, can not change, and main circuit the one IGBT T1 duty ratio that this rotating speed is corresponding is provided with in software in advance.The switching value signal outputs to the input/output port of microprocessor through light-coupled isolation, carries out the switching signal collection by microprocessor.Analog signals directly connects according to specific requirement or outputs to the analog to digital converter port of microprocessor through linear light-coupled isolation, carries out analog acquisition by microprocessor.The switching value signal has two types of low-voltage direct current 24V and high voltage alternating current-direct current 110-220V according to using difference, and signal is to have electricity and no electrical representation on off state.The difference of these two types of interfaces is the current-limiting resistance value of optocoupler importation serial connection.To the signal of direct current 24V type, the switch command interface section provides a 24V to isolate power supply, and optocoupler input side feeder ear is connected on it, and signal promptly can the contact form use.Simultaneously, it is the optocoupler of two-way light-emitting diode that optocoupler adopts input, and connects filter capacitor at output; Be output as stable low level when making AC signal that electricity condition arranged; Basically there is not AC ripple, consistent when importing with direct current signal, thus the switching signal input of compatible interchange or direct current.When forming actual controller product, adopt the interface modes of different configurations as the case may be, no matter the function of which kind of this part of mode is identical with citation form.Forward operation, inverted running are used for sending to control system and start operating instruction forward or backwards; Braking is used to send the Brake stop instruction; It is the enable signal of this control system that operation allows; Have only the effective control system of this signal just to work, otherwise control system do not work, motor is in halted state.This signal can be used for the interlocking of multiple electric motors operation.
Running status output is with the output of relay contact form, with the indication of realization state or be used for the operation interlocking of multiple electric motors or the chain control of mechanical hatching gate mechanism with universal motor present located state (move, stop).The running status output signal of a universal motor control system is received the enable signal end of another control system switch command interface section, can realize the interlock protection of motor operation, this is widely used in the high-voltage switch gear action actuating mechanism.Be the interlocked operation of compatible Different Logic, running status output provides normally-open normally-close two cover contacts simultaneously, can choose flexibly in actual the use.
For using through the occasion that fieldbus is monitored; This universal motor control system provides eligible field bus communication interface; Can carry out field bus communication through this interface; Receive the operational order of control station, and information such as system mode and warning are dealt into other websites.Universal motor control system with field-bus interface part can realize totally digitilized remote monitoring, uses more flexible.Concrete fieldbus type is selected according to actual conditions, and RS-485 is generally arranged, and CAN etc. are multiple.After inserting fieldbus, each station needs the address that can be provided with, so field-bus interface also provides toggle switch to accomplish address setting.The switching signal of toggle switch is connected to the microprocessor input port, is detected by it to obtain.For universal motor control system, the program part that corresponding fieldbus is handled is arranged also in its microprocessor software with field-bus interface.
In the application that needs speed closed loop control, this electric machine control system provides the speed feedback interface, supports the incremental encoder speed feedback signal.System acquisition delta pulse coding; Ask for the actual speed value with software program; Compare with rotational speed setup; Relatively the gained difference obtains control signal through the software PID computing, control signal is converted into the duty ratio of main circuit the one IGBT T1 that is directly proportional with it again, reaches given rotating speed thereby act on main circuit control motor.Realize by microprocessor software to obtaining duty ratio from Calculation Speed.The speed feedback hardware interface realizes that then encoder is exported pulse becomes the Transistor-Transistor Logic level that microprocessor can directly be gathered.Encoder output is generally the 10-30V level signal; This interface converts this Signal Spacing to synchronous with it Transistor-Transistor Logic level signal through high speed photo coupling; Receive the pulse capture port or the external interrupt port of microprocessor, come Calculation Speed through the step-by-step counting timing with software program by microprocessor.
The core of this universal motor control system is a digital microprocessor, and it accomplishes the operation of The whole control system through software program.Microprocessor is according to the demands of different of practical application and different system configuration selection; Need satisfy the required particular interface resource of processing speed requirement, input/output port amount, different configuration (as the system configuration needs microprocessor that comprises field-bus interface is integrated maybe can conveniently expand corresponding field-bus interface); Can be 8-bit microprocessor, the microprocessor of 16 bit or 32-bit microprocessor; Also can be special-purpose digital signal processor (DSP), have complicated field bus communication and control of quality and require higher occasion can also adopt multiprocessor to realize.
The microprocessor software overall procedure of universal motor control system is as shown in Figure 7, the initialization section at the beginning of the system of removing powers on, and all the other task Infinite Cyclic are carried out, until outage.
Each parts of microprocessor internal (CPU, clock, input/output port etc.) that the system initialization completion will be used and the initialization of ancillary equipment are for system's operation is got ready.After getting into duty cycle, at first the sense switch command port scans each port status acquisition peripheral operation instruction and keeps in the variable of program, for the back Electric Machine Control is ready to data.For the system that speed-regulating function is arranged in the configuration, next the voltage analog signal to rotational speed setup carries out analog-to-digital conversion, obtains rotational speed setup, for data are prepared in the back speed governing.This part only is included in the system configuration of adjustable speed, and the configuration of not having this function does not then need this part program.Next system for having the field-bus interface function in the configuration handles the field bus communication protocol stack, accomplishes the transmitting-receiving of fieldbus data, receives the information of sending through fieldbus such as control command, and the information such as state of system are sent.This part only is included in the system configuration that has the field-bus interface ability, and the configuration of not having this function does not need this part corresponding program.Program begins to carry out really the part to Electric Machine Control then because the different configuration of system relates to Different control method and algorithm, so this subprogram according to the difference of system's concrete configuration function difference.After accomplishing the Electric Machine Control in the cycle period, program is expressed the present residing state of motor (move or stop) with the contacts status of state output relay, promptly according to the break-make of motor current state driving condition output relay.Accomplish a duty cycle like this, forward the sense switch command port afterwards to, carry out the duty cycle of new one-period.
For rotating speed open loop, the universal motor control system of speed-regulating type not, the Electric Machine Control part in the above-mentioned flow chart realizes that with the finite state machine mode of 7 states system always is in 7 states sometime.As shown in Figure 8.When certain command switch signal is effective, carry out corresponding state according to finite state machine and switch, microcontroller made main circuit topological structure generation respective change according to the requirement control IGBT of new state and the break-make of relay when state switched.System is after power-up initializing is accomplished; Be in the " STOP " state, when the control motor starts forward or backwards, get into " forward startup " or " the reverse startup " state; In starting state; From the zero duty ratio that increases an IGBT T1 gradually, finally reach preset nominal duty cycles (maximum can be 100%) according to preset increment, and get into the full speed running state.When system is in " forward braking " or " plugging " state; The microprocessor controls main circuit constitutes corresponding braking circuit; And make the braking time that this state continuance is enough, stop microcontroller response external operation signal no longer in this state to guarantee the motor braking reliability; Until reaching preset braking time, get into the " STOP " state.
For the universal motor control system of rotating speed open loop, speed-regulating type, the Electric Machine Control part also realizes that with the finite state machine mode of 7 states system always is in 7 states sometime.As shown in Figure 9.When certain command switch signal is effective, carry out corresponding state according to finite state machine and switch, microcontroller made main circuit topological structure generation respective change according to the requirement control IGBT of new state and the break-make of relay when state switched.System is after power-up initializing is accomplished; Be in the " STOP " state; When the control motor starts forward or backwards, get into " forward stable operation " or " reverse stable operation " state, when velocity setting changes, get into corresponding " forward speed change " or " reverse speed change " state.In speed change state,,, an IGBT T1 duty ratio gets into steady operational status again after reaching the corresponding duty ratio of new velocity setting according to presetting the duty ratio that increment increases or reduce an IGBT T1; If change again then system still is in speed change state changes duty ratio until getting into steady operational status by up-to-date velocity setting at the speed change state rotational speed setup.When system is in " forward braking " or " plugging " state; The microprocessor controls main circuit constitutes corresponding braking circuit; And make the braking time that this state continuance is enough, stop microcontroller response external operation signal no longer in this state to guarantee the motor braking reliability; Until reaching preset braking time, get into the " STOP " state.
For the universal motor control system of speed closed loop type, the Electric Machine Control part realizes that with the finite state machine mode of 5 states system always is in 5 states sometime.Shown in figure 10.When certain command switch signal is effective, carry out corresponding state according to finite state machine and switch, microcontroller made main circuit topological structure generation respective change according to the requirement control IGBT of new state and the break-make of relay when state switched.System is after power-up initializing is accomplished; Be in the " STOP " state; When the control motor starts forward or backwards; Get into " forward operation " or " inverted running " state, regulate rotating speed of motor, try hard to make the actual speed of motor identical with given rotating speed thereby under this state, adopt the closed loop pid algorithm to change an IGBT T1 duty ratio according to the velocity setting value.This dynamic speed adjustment process is carried out always, so system is in dynamic process in running status always, has stable state unlike open cycle system control that kind.When system was in " forward braking " or " plugging " state, the microprocessor controls main circuit constituted corresponding braking circuit, until detecting the motor speed vanishing, got into the " STOP " state.In on-position middle controller response external switching signal not.
The universal motor control system is a universal motor controlling platform; Field-bus interface wherein, speed feedback, simulation rotational speed setup are optional part; The switch command signaling interface can be chosen as low voltage DC 24V signal mode, high voltage DC or AC 110-220V signal mode, or mixed mode.Increase and decrease flexibly and dispose these hardware components and corresponding software part, select microprocessor flexibly according to concrete application scenario; And adopt the main circuit components and parts of different capabilities to the motor of different capacity grade, can derive a series of universal motor controller products.
More than show and described basic principle of the present invention, principal character and advantage of the present invention.The technical staff of the industry should understand; The present invention is not restricted to the described embodiments; That describes in the foregoing description and the specification just explains principle of the present invention; The present invention also has various changes and modifications under the prerequisite that does not break away from spirit and scope of the invention, and these variations and improvement all fall in the scope of the invention that requires protection.The present invention requires protection range to be defined by appending claims and equivalent thereof.
Claims (5)
1. a universal motor control system is characterized in that, comprises the main circuit part, and IGBT drives and the protective circuit part, control core, switch command signaling interface part, running status output; Said switch command signaling interface part, running status output and control core are connected, and said control core connects driving and protective circuit part, main circuit part again successively, finally is connected on the universal motor; Said main circuit comprises that partly a single-phase full wave rectifier bridge and is connected in single-phase full wave rectifier bridge universal motor control topological main circuit afterwards; Said single-phase full wave rectifier bridge comprises four rectified power diodes; The first rectified power diode and the series connection of the 3rd rectified power diode both positive and negative polarity; The second rectified power diode and the series connection of the 4th rectified power diode both positive and negative polarity; The first rectified power diode cathode is connected with the second rectified power diode cathode; The 3rd rectified power diode cathode is connected with the 4th rectified power diode cathode, and the both positive and negative polarity of external power source is connected between the first rectified power diode and the 3rd rectified power diode respectively and between the second rectified power diode and the 4th rectified power diode; Said universal motor control topological main circuit comprises five IGBT, three power diodes and a relay; The one IGBT is as motor power supply master switch; Its collector electrode connects the first rectified power diode and the second rectified power diode cathode; Emitter connects an end of universal motor armature and the negative pole of the 3rd power diode respectively; First power diode is anodal all to be connected the other end of armature with the second power diode negative pole; The two or two power utmost point pipe all is connected with the positive pole of the 3rd rectified power diode and the 4th rectified power diode with the 3rd power diode positive pole; The emitter of the 2nd IGBT is connected with the collector electrode of the 4th IGBT; The emitter of the 3rd IGBT is connected with the collector electrode of the 5th IGBT, and the collector electrode of the collector electrode of the 2nd IGBT and the 3rd IGBT all is connected with the first power diode negative pole, and the emitter of the 4th IGBT and the 5th IGBT all is connected with anodal and the 3rd rectified power diode of second power diode, the 3rd power diode, the positive pole of the 4th rectified power diode; The negative pole of first power diode connects an end of brake resistance; The other end of brake resistance is connected with relay contact one end, and the relay contact other end is connected on the emitter of an IGBT, and the two ends of the excitation winding of generator are connected between the 2nd IGBT and the 4th IGBT respectively and between the 3rd IGBT and the 5th IGBT;
This control system is only through adopting pulse width modulation mode to carry out motor speed control to a said IGBT.
2. a kind of universal motor control system as claimed in claim 1 is characterized in that, said IGBT drives and protective circuit partly comprises two optocouplers, an IGBT lockout logic gate circuit chip; Micro controller I GBT triggers the input that port connects IGBT lockout logic gate circuit chip; Its another input is connected with the light-sensitive device of second optocoupler; Its output connects the luminescent device of first optocoupler, realizes the overcurrent protection of IGBT hardware, and the light-sensitive device of second optocoupler also is connected to microcontroller external interrupt port; So that the IGBT over-current signal is passed to microcontroller, realize software overcurrent protection processing.
3. according to claim 1 or claim 2 a kind of universal motor control system; It is characterized in that; Said universal motor control system also comprises the field bus communication interface; Said field bus communication interface one end connects microprocessor, and other end connected system external fieldbus is used to realize field bus communication.
4. according to claim 1 or claim 2 a kind of universal motor control system; It is characterized in that; Said universal motor control system also comprises the speed feedback interface; Said speed feedback interface one end is connected with microprocessor, and the outside incremental speed probe of expressing rotary speed information of other end connected system is used to control universal motor and realizes speed closed loop control.
5. a kind of universal motor control system as claimed in claim 3; It is characterized in that; Said universal motor control system also comprises the speed feedback interface; Said speed feedback interface one end is connected with microprocessor, and the outside incremental speed probe of expressing rotary speed information of other end connected system is used to control universal motor and realizes speed closed loop control.
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| CN103219928A (en) * | 2013-05-07 | 2013-07-24 | 大连庆鸿科技有限公司 | Soft starter of direct-current motor and soft starting method thereof |
| CN103248349B (en) * | 2013-05-16 | 2016-05-04 | 湖南长重机器股份有限公司 | Electronic AC contactor |
| CN103684111A (en) * | 2013-12-31 | 2014-03-26 | 合肥凯利科技投资有限公司 | Contactless reversing contactor and electric vehicle |
| CN104192003A (en) * | 2014-07-28 | 2014-12-10 | 厦门纵横通电动车有限公司 | Anti-slip device for electric sightseeing vehicle |
| CN105159163B (en) * | 2015-08-17 | 2017-10-20 | 河南兵峰电子科技有限公司 | Motor status detect circuit |
| CN106685282B (en) * | 2015-11-05 | 2024-01-05 | 广东美的生活电器制造有限公司 | Electric appliance and motor speed regulating device thereof |
| US10014807B2 (en) * | 2016-06-06 | 2018-07-03 | Deere & Company | System and method for an inverter for self-excitation of an induction machine |
| CN106580364B (en) * | 2016-11-16 | 2020-06-09 | 上海惠影医疗科技有限公司 | X-ray machine limiting protection device and method thereof |
| CN106788007A (en) * | 2016-12-20 | 2017-05-31 | 上海纳信实业有限公司 | A kind of direct current generator flexible starter |
| CN107104610A (en) * | 2017-06-21 | 2017-08-29 | 今创科技有限公司 | A kind of braking circuit and shield door |
| CN107482582A (en) * | 2017-10-09 | 2017-12-15 | 赵东顺 | A kind of guard method of motor circuit |
| CN108621799A (en) * | 2018-06-20 | 2018-10-09 | 荆楚理工学院 | A kind of pure electric automobile high voltage safety protector |
| CN111082396B (en) * | 2019-12-11 | 2021-09-24 | 江苏海明医疗器械有限公司 | Motor rotating speed safety regulation control method |
| CN111082736B (en) * | 2020-01-21 | 2021-07-13 | 佛山市银丰世科科技有限公司 | Drive circuit for alternating current motor and household appliance |
| CN112953349B (en) * | 2020-08-31 | 2023-02-17 | 合肥海尔智能电子有限公司 | Alternating current motor control circuit and lampblack absorber |
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| CN101425771B (en) * | 2008-08-18 | 2011-04-06 | 王创社 | Control circuit, braking method, energy production method and device for DC motor |
| CN201656892U (en) * | 2010-05-11 | 2010-11-24 | 上海海事大学 | Small-sized series direct-current motor controller based on microprocessor |
| CN101860311B (en) * | 2010-06-07 | 2012-01-11 | 苏州能健电气有限公司 | Drive device of series DC machine for pitch control system |
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