CN102110010A - Hardware-in-the-loop (HIL) real-time simulation platform of permanent magnet linear synchronous motor - Google Patents
Hardware-in-the-loop (HIL) real-time simulation platform of permanent magnet linear synchronous motor Download PDFInfo
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- CN102110010A CN102110010A CN2009102474317A CN200910247431A CN102110010A CN 102110010 A CN102110010 A CN 102110010A CN 2009102474317 A CN2009102474317 A CN 2009102474317A CN 200910247431 A CN200910247431 A CN 200910247431A CN 102110010 A CN102110010 A CN 102110010A
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Abstract
The invention discloses a hardware-in-the-loop (HIL) real-time simulation platform of a permanent magnet linear synchronous motor. The HIL real-time simulation platform comprises a personal computer (PC) connected with the Ethernet, a controller simulation hardware platform, and a simulator simulation hardware platform, wherein the simulator simulation hardware platform includes a linear motor simulator connected with the Ethernet, as well as a first high-speed digital collection card and a high-speed analog output card connected with the linear motor simulator; and the controller simulation hardware platform includes a linear motor controller connected with the Ethernet, as well as a second high-speed digital collection card, a first analog collection card and a second analog collection card connected with the linear motor controller. The HIL real-time simulation platform can rapidly and accurately track the given position and speed signals with the micrometer-level precision, and can on-line regulate the controller parameter and the linear motor loads.
Description
Technical field
The present invention relates to a kind of emulation platform of permanent magnetic linear synchronous motor, relate in particular to a kind of permanent magnetic linear synchronous motor hardware at the ring real-time simulation platform.
Background technology
Linear electric motors are a kind of electric energy to be directly changed into rectilinear motion mechanical energy, and without any need for the gearing of intermediate conversion mechanism, have simple in structure, reliable, transmission efficiency is high, mechanical loss is little, noise is low and remarkable advantage such as good environmental adaptability, linear electric motors have been widely used in industry, civilian, military and other various straight-line occasions.External famous lathe company, as Siemens, Fanuc etc. all use the linear drives mode unlimitedly in its high-end numerically-controlled machine, make the precision and the process velocity that process product all be greatly improved.Permanent magnetic linear synchronous motor will be because to need not the big and efficient advantages of higher of electric excitation, pushing force density will be the developing direction of linear electric motors from now on.
Compare with traditional electric rotating machine, linear electric motors are because magnetic circuit is open, no mechanical gearing buffering between load and the linear electric motors, all disturbances all directly are loaded into motor side, add the distinctive end effect of linear electric motors, bring great challenge on the one hand the control of linear electric motors, the careless slightly danger that driving very easily occurs in debugging and operating process causes the person and property loss on the other hand.
Therefore the emulation platform that need build a permanent magnet linear synchronous motor comes it is carried out emulation and analysis, improves its security.
Summary of the invention
The object of the present invention is to provide a kind of permanent magnetic linear synchronous motor hardware at the ring real-time simulation platform, the position and the rate signal of indifference ground tracing preset fast, precision reaches several micron levels, can online adjustment control parameter and linear electric motors load, simulation result and actual Killmorgen system class are seemingly.
The technical scheme that realizes above-mentioned purpose is: a kind of permanent magnetic linear synchronous motor hardware wherein, comprises the PC computing machine, controller simulation hardware platform and the emulator simulation hardware platform that are connected on the Ethernet at the ring real-time simulation platform, wherein:
Described emulator simulation hardware platform comprises linear electric motors emulator that is connected on the described Ethernet and the first high-speed figure capture card and the high speed analog output card that links to each other with this linear electric motors emulator;
Described controller simulation hardware platform comprises the linear electric motors controller that is connected on the described Ethernet and the second high-speed figure capture card that links to each other with this linear electric motors controller, the first analog acquisition card, the second analog acquisition card;
The described second high-speed figure capture card outputs signal to the described first high-speed figure capture card;
The signal of described high speed analog output card output is received in the described first analog acquisition clamping;
The signal of described high speed analog output card output is received in the described second analog acquisition clamping.
Above-mentioned permanent magnetic linear synchronous motor hardware is encircling real-time simulation platform, wherein,
Described linear electric motors emulator comprises continuous a RT controller and first fpga chip;
Described linear electric motors controller comprises continuous the 2nd RT controller and second fpga chip.
Above-mentioned permanent magnetic linear synchronous motor hardware is encircling real-time simulation platform, wherein,
Described first fpga chip comprises a straight line motor model emulation module, adopt the linear electric motors mathematical model and the equation of motion to simulate the running status of actual linear electric motors, the every service data of the linear electric motors that obtain is delivered to the first analog acquisition card and the second analog acquisition card in the emulator simulation hardware platform by the high speed analog output card;
Described second fpga chip comprises a straight line electric machine controller emulation module, this linear electric motors controller simulation module realizes position ring, speed ring, electric current loop three rings and speed ring, electric current loop two ring closed-loop controls, linear electric motors to simulation carry out the closed-loop control of speed or position, it receives the every service data of linear electric motors of described high speed analog output card output by the first analog acquisition card and the second analog acquisition clamping, and sends data to the first high-speed figure capture card in the described controller simulation hardware platform by the second high-speed figure capture card;
A described RT controller comprises that first parameter that links to each other with described linear electric motors model emulation module is provided with module, first image display module and first data recording and analysis module;
Described the 2nd RT controller comprises that second parameter that links to each other with described linear electric motors controller simulation module is provided with module, second graph display module and second data recording and analysis module;
Described first parameter is provided with module linear electric motors parameter, load factor, sticking coefficient of friction, the DC bus-bar voltage grown is set;
Described second parameter is provided with module Dead Time in initial controller parameter, triangular carrier frequency and amplitude, the PWM module is set;
Described first image display module and second graph display module are realized the data in real time exchange of first fpga chip and a RT controller, second fpga chip and the 2nd RT controller respectively, and real-time and dynamic shows displacement, speed, three-phase phase current, position angle and the PWM squiggle of linear electric motors;
The displacement of described first, second data recording and analysis module access linear electric motors, speed, three-phase phase current, position angle and PWM Wave data are analyzed linear electric motors electric current, voltage harmonic distribution.
Above-mentioned permanent magnetic linear synchronous motor hardware is at the ring real-time simulation platform, wherein, the every service data of linear electric motors of described linear electric motors model emulation module output comprises 2 road phase currents, speed, displacement, electrical angle, wherein, 2 road phase currents, displacement and electrical angle data input in the first analog acquisition card, and speed data inputs in the second analog acquisition card.
Above-mentioned permanent magnetic linear synchronous motor hardware is at the ring real-time simulation platform, and wherein, described linear electric motors controller simulation module is handled back positive and negative 6 road pwm signals of output to the described first high-speed figure capture card with the signal that obtains.
The invention has the beneficial effects as follows: the present invention adopts LabView8.6.1 and cRIO9074, soft, the hardware platform of cRIO9004, and the hardware of having built a cover permanent magnetic linear synchronous motor is at the ring real-time simulation platform.This platform utilization vector control algorithm realizes position ring, speed ring and electric current loop three rings or speed ring, electric current loop two ring closed-loop controls.Simulation result and Killmorgen system class have seemingly proved its correctness.
Description of drawings
Fig. 1 is the structural representation of permanent magnetic linear synchronous motor hardware of the present invention at the ring real-time simulation platform.
Embodiment
The invention will be further described below in conjunction with accompanying drawing.
See also Fig. 1, there is shown a kind of permanent magnetic linear synchronous motor hardware of the present invention, comprise the PC computing machine 2, controller simulation hardware platform 4 and the emulator simulation hardware platform 3 that are connected on the Ethernet 1 at the ring real-time simulation platform, wherein:
Emulator simulation hardware platform 3 comprises linear electric motors emulator 31 that is connected on the Ethernet 1 and the first high-speed figure capture card 32 and the high speed analog output card 33 that links to each other with this linear electric motors emulator 31;
Controller simulation hardware platform 4 comprises and is connected on the Ethernet 1 linear electric motors controller 41 and the second high-speed figure capture card 42, the first analog acquisition card 43, the second analog acquisition card 44 that links to each other with this linear electric motors controller 41;
The second high-speed figure capture card output signal 42 is given the first high-speed figure capture card 32;
The first analog acquisition card 43 receives the signal of high speed analog output card 33 outputs;
The second analog acquisition card 44 receives the signal of high speed analog output card 33 outputs.
Linear electric motors emulator 31 comprises a continuous RT (in real time) controller 311 and FPGA (field programmable gate array) chip 312; Linear electric motors controller 41 comprises the 2nd continuous RT controller 411 and second fpga chip 412.
This linear electric motors controller simulation module 4121 is an example with the position ring closed-loop control, according to given signal in position and the position feed back signal that collects, obtains deviate and sends into position ring pi regulator (not shown), and it is exported as the velocity setting signal.By that analogy, obtain the d-q axle through speed ring pi regulator (not shown), electric current loop pi regulator (not shown) (containing the d-q axle) and give determining voltage signal,, obtain the three-phase phase voltage modulation signal by anti-Clarke-Park conversion.These signals and triangular carrier signal compare, and obtain comprising positive and negative 6 road pwm signals, and signal is outputed to linear electric motors model emulation module 3121, and so far whole linear electric motors position closed loop control is achieved.
The one RT controller 311 comprises that first parameter that links to each other with linear electric motors model emulation module 3121 is provided with module 3111, first image display module 3112 and first data recording and analysis module 3113;
The 2nd RT controller 411 comprises that second parameter that links to each other with linear electric motors controller simulation module 4121 is provided with module 4111, second graph display module 4112 and second data recording and analysis module 4113;
First parameter is provided with module 3111 linear electric motors parameter, load factor, sticking coefficient of friction, DC bus-bar voltage, the sample frequency 100kS/s grown is set;
Second parameter is provided with module 4111 Dead Time in initial controller parameter, triangular carrier frequency and amplitude, the PWM module, sample frequency 20kS/s is set;
First image display module 3112 and second graph display module 4112 realize respectively that by FIFO (first in first out) data buffer (not shown) the data in real time of first fpga chip 31 2 and a RT controller 311, second fpga chip 412 and the 2nd RT controller 411 exchanges, and real-time and dynamic shows displacement, speed, three-phase phase current, position angle and the PWM squiggle of linear electric motors;
Data such as the displacement of first, second data recording and analysis module 3113,4113 access linear electric motors, speed, three-phase phase current, position angle and PWM waveform are analyzed linear electric motors electric current, voltage harmonic distribution, for further optimized Algorithm provides data.
In the present embodiment, the model that linear electric motors emulator 31 adopts is cRIO9004, the model that linear electric motors controller 41 adopts is cRIO9074, the model that the first high-speed figure capture card 32 and the second high-speed figure capture card 42 adopt is 9401, high speed analog output card 33 adopts model 9264, the model that the first analog acquisition card 43 adopts is that the model that 9215, the second analog acquisition cards 44 adopt is 9205.
The present invention is by the LabVIEW 8.6.1 of National Instruments company, cRIO9074, cRIO9004 and 9401,9215,9264,9205 high speed numbers, soft, the hardware platform of mould capture card have been built a cover permanent magnetic linear synchronous motor hardware in the short period of time at the ring real-time simulation platform.This platform utilization vector control algorithm, can realize position ring, speed ring and electric current loop three rings or speed ring and electric current loop two ring closed-loop controls as required, the highest sample frequency of electric current reaches 20kS/s (cycle 50us), is higher than Killmorgen linear motor driver current sample frequency 16kS/s (cycle 62.5us).The output of the position of system and speed fast indifference the position and the rate signal of tracing preset, precision reaches several micron levels, can online adjustment control parameter and linear electric motors load, simulation result and actual Killmorgen system class are seemingly.
Below embodiment has been described in detail the present invention in conjunction with the accompanying drawings, and those skilled in the art can make the many variations example to the present invention according to the above description.Thereby some details among the embodiment should not constitute limitation of the invention, and the scope that the present invention will define with appended claims is as protection scope of the present invention.
Claims (5)
1. a permanent magnetic linear synchronous motor hardware is characterized in that at the ring real-time simulation platform, comprises being connected in
PC computing machine on the Ethernet, controller simulation hardware platform and emulator simulation hardware platform, wherein:
Described emulator simulation hardware platform comprises linear electric motors emulator that is connected on the described Ethernet and the first high-speed figure capture card and the high speed analog output card that links to each other with this linear electric motors emulator;
Described controller simulation hardware platform comprises the linear electric motors controller that is connected on the described Ethernet and the second high-speed figure capture card that links to each other with this linear electric motors controller, the first analog acquisition card, the second analog acquisition card;
The described second high-speed figure capture card outputs signal to the described first high-speed figure capture card;
The signal of described high speed analog output card output is received in the described first analog acquisition clamping;
The signal of described high speed analog output card output is received in the described second analog acquisition clamping.
2. permanent magnetic linear synchronous motor hardware according to claim 1 the ring real-time simulation platform, it is characterized in that,
Described linear electric motors emulator comprises continuous a RT controller and first fpga chip;
Described linear electric motors controller comprises continuous the 2nd RT controller and second fpga chip.
3. permanent magnetic linear synchronous motor hardware according to claim 2 the ring real-time simulation platform, it is characterized in that,
Described first fpga chip comprises a straight line motor model emulation module, adopt the linear electric motors mathematical model and the equation of motion to simulate the running status of actual linear electric motors, the every service data of the linear electric motors that obtain is delivered to the first analog acquisition card and the second analog acquisition card in the emulator simulation hardware platform by the high speed analog output card;
Described second fpga chip comprises a straight line electric machine controller emulation module, this linear electric motors controller simulation module realizes position ring, speed ring, electric current loop three rings and speed ring, electric current loop two ring closed-loop controls, linear electric motors to simulation carry out the closed-loop control of speed or position, it receives the every service data of linear electric motors of described high speed analog output card output by the first analog acquisition card and the second analog acquisition clamping, and sends data to the first high-speed figure capture card in the described controller simulation hardware platform by the second high-speed figure capture card;
A described RT controller comprises that first parameter that links to each other with described linear electric motors model emulation module is provided with module, first image display module and first data recording and analysis module;
Described the 2nd RT controller comprises that second parameter that links to each other with described linear electric motors controller simulation module is provided with module, second graph display module and second data recording and analysis module;
Described first parameter is provided with module linear electric motors parameter, load factor, sticking coefficient of friction, the DC bus-bar voltage grown is set;
Described second parameter is provided with module Dead Time in initial controller parameter, triangular carrier frequency and amplitude, the PWM module is set;
Described first image display module and second graph display module are realized the data in real time exchange of first fpga chip and a RT controller, second fpga chip and the 2nd RT controller respectively, and real-time and dynamic shows displacement, speed, three-phase phase current, position angle and the PWM squiggle of linear electric motors;
The displacement of described first, second data recording and analysis module access linear electric motors, speed, three-phase phase current, position angle and PWM Wave data are analyzed linear electric motors electric current, voltage harmonic distribution.
4. permanent magnetic linear synchronous motor hardware according to claim 3 is at the ring real-time simulation platform, it is characterized in that, the every service data of linear electric motors of described linear electric motors model emulation module output comprises 2 road phase currents, speed, displacement, electrical angle, wherein, 2 road phase currents, displacement and electrical angle data input in the first analog acquisition card, and speed data inputs in the second analog acquisition card.
5. encircling real-time simulation platform according to claim 3 or 4 described permanent magnetic linear synchronous motor hardware, it is characterized in that described linear electric motors controller simulation module is handled back positive and negative 6 road pwm signals of output to the described first high-speed figure capture card with the signal that obtains.
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102436184A (en) * | 2011-10-08 | 2012-05-02 | 厦门大学 | EMP (embedded microprocessor)-based double-target machine control real-time simulation system |
| CN102902263A (en) * | 2012-09-28 | 2013-01-30 | 北京智行鸿远汽车技术有限公司 | Hardware-in-the-loop testing device and testing method of new energy vehicle motor controller |
| CN103699013A (en) * | 2013-09-28 | 2014-04-02 | 北京工业大学 | Method for effectively improving speed and precision of in-loop real-time simulation of motor hardware |
| CN104536807A (en) * | 2014-12-30 | 2015-04-22 | 武汉理工大学 | DC/DC real-time simulator based on FPGA and method |
| CN106164788A (en) * | 2014-04-28 | 2016-11-23 | 帝斯贝思数字信号处理和控制工程有限公司 | For the method imitating three-phase brushless dc motor by means of loads simulator |
| CN106814638A (en) * | 2017-03-23 | 2017-06-09 | 北京润科通用技术有限公司 | A kind of HIL emulation test methods and system |
| CN108008640A (en) * | 2016-10-27 | 2018-05-08 | 帝斯贝思数字信号处理和控制工程有限公司 | With the method and loads simulator of loads simulator simulation three phase electric machine |
| CN108109506A (en) * | 2018-01-16 | 2018-06-01 | 长沙理工大学 | A kind of real-time control virtual emulation machine teaching platform of hardware in loop |
| CN110032088A (en) * | 2019-05-08 | 2019-07-19 | 渤海大学 | The three-phase alternating-current motor Virtual simulation lab system and experimental method of hardware in loop |
| DE102020131260A1 (en) | 2020-11-25 | 2022-05-25 | AVL SET GmbH | Procedure for performing a test run with a test object |
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- 2009-12-29 CN CN2009102474317A patent/CN102110010A/en active Pending
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102436184A (en) * | 2011-10-08 | 2012-05-02 | 厦门大学 | EMP (embedded microprocessor)-based double-target machine control real-time simulation system |
| CN102902263A (en) * | 2012-09-28 | 2013-01-30 | 北京智行鸿远汽车技术有限公司 | Hardware-in-the-loop testing device and testing method of new energy vehicle motor controller |
| CN103699013A (en) * | 2013-09-28 | 2014-04-02 | 北京工业大学 | Method for effectively improving speed and precision of in-loop real-time simulation of motor hardware |
| CN103699013B (en) * | 2013-09-28 | 2017-02-08 | 北京工业大学 | Method for effectively improving speed and precision of in-loop real-time simulation of motor hardware |
| CN106164788A (en) * | 2014-04-28 | 2016-11-23 | 帝斯贝思数字信号处理和控制工程有限公司 | For the method imitating three-phase brushless dc motor by means of loads simulator |
| CN104536807A (en) * | 2014-12-30 | 2015-04-22 | 武汉理工大学 | DC/DC real-time simulator based on FPGA and method |
| CN104536807B (en) * | 2014-12-30 | 2018-05-18 | 武汉理工大学 | DC/DC real-time simulators and method based on FPGA |
| CN108008640A (en) * | 2016-10-27 | 2018-05-08 | 帝斯贝思数字信号处理和控制工程有限公司 | With the method and loads simulator of loads simulator simulation three phase electric machine |
| CN106814638A (en) * | 2017-03-23 | 2017-06-09 | 北京润科通用技术有限公司 | A kind of HIL emulation test methods and system |
| CN108109506A (en) * | 2018-01-16 | 2018-06-01 | 长沙理工大学 | A kind of real-time control virtual emulation machine teaching platform of hardware in loop |
| CN110032088A (en) * | 2019-05-08 | 2019-07-19 | 渤海大学 | The three-phase alternating-current motor Virtual simulation lab system and experimental method of hardware in loop |
| DE102020131260A1 (en) | 2020-11-25 | 2022-05-25 | AVL SET GmbH | Procedure for performing a test run with a test object |
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Application publication date: 20110629 |