CN102158156B - Controlled and monitored width-adjusting servo system of brushless torque motor - Google Patents

Controlled and monitored width-adjusting servo system of brushless torque motor Download PDF

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CN102158156B
CN102158156B CN2011100693548A CN201110069354A CN102158156B CN 102158156 B CN102158156 B CN 102158156B CN 2011100693548 A CN2011100693548 A CN 2011100693548A CN 201110069354 A CN201110069354 A CN 201110069354A CN 102158156 B CN102158156 B CN 102158156B
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China
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pin
motor
termination
circuit
resistance
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CN2011100693548A
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CN102158156A (en
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岳辉
严小军
赵晓萍
徐长智
王小辉
孙璐
李庆溥
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北京航天控制仪器研究所
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Abstract

The invention provides a controlled and monitored width-adjusting servo system of a brushless torque motor, which is used for controlling positions of an accelerometer and a rotary table and comprises a signal processing circuit, a comparator and optocoupler isolated circuit, a triangular wave circuit, a motor drive circuit, a Hall switch, a bus control interface circuit, an I2C (Inter-IC) monitoring interface circuit, a microsyn and a brushless torque motor. An alternating-current signal output by the microsyn is proportional to an angle; and a drive motor outputs a corresponding torque by the signal processing circuit, the triangular wave circuit, the comparator and optocoupler isolated circuit and the motor drive circuit, thus avoiding loading torques and friction torques. The servo system is provided with the bus interface circuit and the I2C monitoring interface circuit, thus computer buses can be utilized to control and monitor the connection/disconnection of the system, thus realizing a bus controlling and monitoring function and remotely controlling and monitoring the system. A special motor driver is utilized in the system, thus the system has the advantages of simple design, reliability in operation and small volume. A three-phase brushless torque motor is adopted in the system, and the Hall switch is embedded into a motor body, so the volume is small and the operation is reliable.

Description

A kind of controlled brushless torque motor of monitoring is transferred wide servo system
Technical field
The present invention relates to a kind of circuit, a kind of controlled brushless torque motor of monitoring is transferred wide servo system, is used for the control system of small-power three-phase brushless torque motor, can realize total line traffic control and I 2The C bus monitoring.
Background technology
The three-phase brushless torque motor has high reliability, is widely used in the control fields such as Meter Test, turntable test.Along with the development of modern electronic technology, system takes different control strategies to pursue the advantages such as low-power consumption, miniaturization, high reliability, but can run into different difficulties in the implementation of scheme.
" compact internal combustion engine and motorcycle ", introduce Hall switch in the 5th phase of the 37th volume " engine with Hall element electromagnetic interference mechanism and experimental study " and in the electromagnetism environment for use, can be interfered and break down, but do not proposed the concrete solution of this interference fault for concrete system.
Use motor special control integration circuit L6235 can greatly improve reliability and the antijamming capability of electric machine controller, shorten the construction cycle of new product, but this chip generally is applied in the speed-adjusting and control system, such as Master's thesis " based on the brshless DC motor Fuzzy Adaptive PID Control research of LabVIEW ".The application that drives low speed stall state torque motor for L6235 is seldom introduced.
Traditional servo system does not have the ability with bus interface, and test process too relies on the tester, and automaticity is low.
Summary of the invention
The technical problem that the present invention solves is: overcome the deficiencies in the prior art, provide a kind of controlled brushless torque motor of monitoring to transfer wide servo system.
The technical problem that the present invention further solves is: adopt motor special driver L6235 to drive the three-phase brushless torque motor and be operated in low speed stall state, improve the electromagnetic environment that Hall switch uses by improving operating frequency and increasing measures such as mating inductance, eliminate the interference fault of Hall switch, have advantages of low-power consumption, miniaturization.
Technical solution of the present invention is: a kind of brushless torque motor is transferred wide servo system, comprises signal processing circuit, comparator and optical coupling isolation circuit, triangle wave circuit, motor-drive circuit, Hall switch, bus control interface circuit, I 2C monitoring interface circuit, microsyn, brushless torque motor; The AC signal that microsyn output is directly proportional with angle, this AC signal is exported direct current signal to comparator and optical coupling isolation circuit after signal processing circuit exchanges amplification, phase demodulation, low-pass filtering, direct current amplification; Triangle wave circuit is processed into the sine wave of signal source output triangular wave and inputs to comparator and optical coupling isolation circuit; Comparator and optical coupling isolation circuit compare direct current signal and the triangular wave of input, isolate, and the accent bandwidth signals that output pulse width is directly proportional with direct current signal is the pulse width control signal, and this pulse width control signal is inputed to motor-drive circuit; The control signal that the bus control interface circuit sends according to bus enables to control signal to motor-drive circuit through the light-coupled isolation output driver; Three Hall switch are embedded in motor body, responsive magnetic field intensity, and the output relevant voltage inputs to motor-drive circuit; Be that high level is when effective when driver enables control signal, the motor winding conduction position signal definite according to three Hall switch, motor-drive circuit output pulse width signal is to brushless torque motor, drive motors is exported corresponding moment, overcome loading moment and moment of friction, torque motor is low speed stall operating state; The driver of motor-drive circuit enables control signal and export I to after light-coupled isolation 2C monitors interface circuit, I 2C monitoring interface circuit is exported 8 bit binary number to I 2The C monitoring bus is when driver enables control signal when being low level, the motor no-output.
The three-phase brushless torque motor comprises stator, rotor and Hall switch three parts, and rotor is permanent magnet, and stator comprises stator core, stator skeleton and motor winding.At uniform 36 grooves of circumference 360 degree stator skeletons, motor winding, stator core, Hall switch all are installed on the stator skeleton.In order to guarantee that motor correctly commutates, fix the installation site of 3 Hall switch in structural design.The motor 3 phase stator winding 120 degree electrical degrees of being separated by are distributed on the stator, and 3 Hall switch, the 120 degree electrical degrees of also being separated by are installed on the stator, and Hall switch position and stator winding starting vessel be electrical degree fixedly, are generally 60 and spend or 120 spend.Corresponding high-low level is exported in the responsive rotor of Hall switch magnetic field, outputs to motor driver, through logical process, to corresponding two phase windings energising on the motor stator, produce the stator magnetic potential, rotor field and stator magnetic potential interact, and produce electromagnetic torque and make the rotor rotation.
Described motor-drive circuit comprises motor driver L6235, resistance R 1~R13, resistance R X1, capacitor C 1~C8, inductance L 1~L3, diode V1, V2; Resistance R 1, R2, R3, R4 one terminal shortcircuit meet the anodal VD5 of logic power, resistance R 1, R2, the other end of R3 connects respectively Hall switch, the BRAKE pin of another termination L6235 of resistance R 4; Resistance R 5 one terminator actuator enable control, the ENA pin of another termination L6235; The ENA pin of capacitor C 5 one termination L6235, another termination logic power negative pole SGND; The DIAG pin of L6235 and ENA pin short circuit; The F/R pin of L6235 connects the pulse width control signal; The TACKO pin of L6235 and RCP pin short circuit; The TACKO pin of resistance R 6 one termination L6235, another termination SGND; Resistance R 7 and the capacitor C 1 afterwards RCOFF pin of a termination L6235 in parallel, another termination SGND; The VCP pin of resistance R 8 one termination L6235, other end series capacitance C4; The negative electrode of another terminating diode V2 of capacitor C 4; In parallel with capacitor C 3 after diode V2 connects with the V1 anode and cathode, the VS2 pin of the anode termination L6235 of diode V2, the anodal VD28 of access power power supply behind the VS1 pin of L6235 and the VS2 pin short circuit; The BOOT pin of the negative electrode termination L6235 of diode V1; The VS2 pin of capacitor C 2 one termination L6235, another termination SGND; Access SGND behind four G pin short circuits of L6235, resistance R 9 is with after resistance R 10 is connected, one of them G pin of a termination L6235 of resistance R 9, and a termination VD5 of resistance R 10 is between the REF pin access resistance R 9 and R10 of L6235; Series resistance RX1 behind the ISEN1 pin of L6235 and the ISEN2 pin short circuit, another termination Power Groud PG of resistance R X1, the OUT1 of L6235, OUT2, the OUT3 pin connects respectively inductance L 1, L2, L3, inductance L 1, L2, the other end of L3 is divided into respectively two-way, the A phase of the road coupling torque motor of L1, another road series capacitance C6, resistance R 11 rear access PG; The B phase of the road coupling torque motor of L2, another road series capacitance C7, resistance R 12 rear access PG; The C phase of the road coupling torque motor of L3, another road series capacitance C8, resistance R 13 rear access PG.When driver enables control signal when being high level, any time, the OUT1 of motor driver, OUT2, the one tunnel is high level among the OUT3, and one the tunnel is low level, and one the tunnel is high resistant, driving moment motor output torque; When driver enables control signal when being low level, any time, the OUT1 of motor driver, OUT2, OUT3 is high resistant, the output of torque motor non-moment.
The present invention compared with prior art advantage is:
(1) the present invention uses embedded Hall switch torque motor, solves emphatically Hall switch electromagnetic interference fault in use.Hall switch is magnet-sensitive element, when responsive N pole field, and the output high level, during responsive S pole field, output low level.When circuit adopt to be transferred wide control mode, the pulsating current in the armature winding can produce AC magnetic field, and when AC magnetic field intensity during greater than the magnetic susceptibility threshold value of Hall switch, the output of Hall switch will be interfered, and affects the motor normal commutation.The present invention proposes the solution that the Hall switch commutation is disturbed in a kind of motor; by improving the promoting or transferring broadband; increase the coupling inductance; reduce the AC magnetic field of armature winding; make AC magnetic field intensity less than the magnetic susceptibility threshold value of Hall switch; guarantee that Hall switch is not subject to electromagnetic interference, the torque motor normal commutation.
(2) the invention provides the application example that a kind of L6235 of employing drives low speed stall state torque motor, L6235 is the motor special driver, has designed special-purpose velocity feedback loop, so how the designer is used for governing system with L6235.The present invention utilizes the advantages such as the height integration of compact, simplicity of design of L6235, by the particular design to individual parameters, makes it be applied to the control of low speed stalling torque motor.
(3) the motor feels hot and the way of power device heating contradiction to the invention provides solution small power electric machine servo system.During common little electric current input, adopt the linear analogue control mode, the power device pressure drop is large, and heating power is large; Transfer wide control mode, supply voltage all is added on the motor winding, low-power machine electrical time constant little (less than 0.1ms), and AC impedance is little, and the motor body heating is large, has reduced the efficient of power supply.The present invention utilizes the advantage of its conducting resistance little (0.3 ohm) by adopting the motor special driver, has reduced the heating of motor driver; Under the prerequisite that does not change the motor body structure, increase the motor electrical time constant, improve and transfer broadband, increase the AC impedance of motor, can reduce the heating of torque motor.By these two measures, Effective Raise the efficient of power supply, reduced the useless heating of motor and driver, reduced the power consumption of system.
(4) the present invention uses the three-phase brushless torque motor, and embedded 3 Hall switch have advantages of that volume is little, reliability is high.3 Hall switch guarantee that in structural design motor correctly commutates, and the Hall switch integrated level is high, and design and use are simple, and reliability is high.The use two-phase brush motor that conventional motors has, the metallic conduction brush that its motor commutation uses, in long-time use procedure, the phenomenon of loose contact appears in brush owing to sparking, the reason such as aging, affect the normal commutation of motor, the reliability reduction of motor; Existing three-phase brushless torque motor, the variable-reluctance transducer of employing and grating sensor are arranged as commutation sensors, they are outside motor body, volume is large, the use debug difficulties, and need the special direction identification circuit guarantee motor of design correctly to commutate, system and debugging are complicated, are unfavorable for miniaturization and the high reliability of system.
(5) the present invention includes bus interface circuit and I 2C monitors interface circuit, possesses the function with bus communication.By this interface circuit, computer bus can be controlled and the monitoring circuit operating state in real time, when system breaks down, monitoring system is sent request, bus control system can be made corresponding judgement according to the monitoring situation, control system work or disconnection realize automation control, realize Long-distance Control and the remote monitoring of system.Avoid system testing too to rely on operating personnel, the shortcoming such as response speed is slow, and automaticity is low.
Description of drawings
Fig. 1 is system block diagram of the present invention;
Fig. 2 is signal processing circuit figure of the present invention;
Fig. 3 is triangle wave circuit figure of the present invention;
Fig. 4 is comparator of the present invention and optical coupling isolation circuit figure;
Fig. 5 is motor-drive circuit figure of the present invention;
Fig. 6 is bus control interface circuit diagram of the present invention;
Fig. 7 is I of the present invention 2C monitoring interface circuit figure.
Embodiment
This system power supply comprises ± (code name is ± EC) signal power source to 12V; + 5V (code name is VD5) is logic power ,+28V (code name is VD28) power power-supply; The total line traffic control power supply of+5V (code name is VCC); + 5V (code name is M05) I 2C monitors power supply.Mutually isolation between each power supply.
Below in conjunction with description of drawings system embodiment.Fig. 1 is that a kind of controlled brushless torque motor of monitoring is transferred wide servo system block diagram, comprises signal processing circuit 1, comparator and optical coupling isolation circuit 2, triangle wave circuit 3, motor-drive circuit 4, Hall switch 5, bus control interface circuit 6, I 2C monitoring interface circuit 7, microsyn 8, brushless torque motor 9.The AC signal that microsyn output is directly proportional with angle, through signal processing circuit, triangle wave circuit, comparator and optical coupling isolation circuit, motor-drive circuit, drive motors is exported corresponding moment, overcomes loading moment and moment of friction.By the control system for computer bus break-make, pass through I simultaneously 2C bus monitoring system switching state is realized system bus control and bus monitoring, also can be used for Long-distance Control and the monitoring of the system that realizes.
Fig. 2 is signal processing circuit figure, and the excitatory and output of input microsyn 8kHz is output as direct current signal through exchanging amplification, phase demodulation, low-pass filtering, dc amplification circuit.By 5 partial function the electric circuit constitutes, R0, C0 are the matched load of microsyn, determine occurrence according to transducer debugging situation; U1A, R1, R2, R3 are homophase input AC amplifying circuit, and multiplication factor is about 10 times, is output as the 8kHz AC signal, and U1A is the LF412A dual operational amplifier, R1=10k Ω, R2=91k Ω, R3=10k Ω; U2, R10, C10, CB1, CB2 are the all-wave phase-sensitive demodulating circuits, multiplication factor is that 0.9, U2 is all-wave phase-sensitive demodulator LZX2, is the 16kHz AC signal after the demodulation, R10, C10 is phase-shift circuit, after the phase shift, synchronizer excitatory with the microsyn output homophase, CB1=CB2=100nF is power filtering capacitor; U1B, R4, R5, R6, R7, C2, C3 are second-order low-pass filter, and corner frequency is 530Hz, and prime 16kHz AC signal is filtered into direct current signal, and this grade multiplication factor is 2, U1B is the LF412A dual operational amplifier, R4=R5=30k Ω, R6=R7=120k Ω, C2=C3=10nF; U2A, R8, R9, R10 are homophase input direct-current amplifier, multiplication factor is that 2, U2A is the LF158 dual operational amplifier, R8=10k Ω, R9=R10=20k Ω.The concrete layout of circuit is as follows: R0, a termination signal ground after the C0 parallel connection, a termination microsyn output; R3 one termination microsyn output, the pin 3 of a termination U1; R1 one termination signal ground, the pin two of a termination U1; The pin two of R2 one termination U1, the pin one of a termination U1; The U1 pin one connects U2 pin 7; U1 pin 4 connects-EC, and pin 8 connects+EC; CB1 one termination U2 pin two, a termination U2 pin 8; CB2 one termination U2 pin 5, one termination U2 pins 4; U2 pin 5 connects+EC, and pin two connects-EC, and pin 4 and 8 connects signal ground; R10 one termination synchronizer is excitatory, the pin 3 of a termination U2; C10 one termination signal ground, the pin 3 of a termination U2; R4 one termination U2 pin 6, one termination R5; R5 one termination U1 pin 5, one termination R4; C2 one termination signal ground, a termination U1 pin 5; C3 one end R5, a termination U1 pin 7; R6 one end signal ground, a termination U1 pin 6; R7 one end U1 pin 7, one termination U1 pins 6; R8 one end U1 pin 7, one termination U2 pins 3; R9 one termination signal ground, a termination U2 pin two; R10 one end U2 pin one, a termination U2 pin two; U2 pin 4 connects-EC, and pin 8 connects+EC; The U2 pin one connects direct current output.
Fig. 3 is triangle wave circuit figure, is input as 16kHz, and peak-to-peak value is the sine wave of 4V, through triangle wave circuit, is output as peak-to-peak value 19V, and frequency is the triangular wave of 16kHz.U1A, R1, R2, R3 are comparator circuit, convert the sine wave of inputting to square wave, and U1A is the LM193 comparator, and R1=R2=R3=10k Ω, C1=100nF are capacitance; U2A, R4, R5, R6, C2 are differential circuit, and the square wave differential that prime is inputted is triangular wave, and U2A is the LF412A dual operational amplifier, R4=R5=39k Ω, R6=1M Ω, C2=470pF; C3, R7 play the effect of isolated DC voltage, C3=10nF, R7=10k Ω.The concrete layout of circuit is as follows: the sinusoidal input of R1 one termination signal source 16kHz, the pin 3 of a termination U1; R2 one termination signal ground, the pin two of a termination U1; R3 one termination+EC, the pin one of a termination U1; The pin 4 of U1 connects-EC, and pin 8 connects+EC; The pin one of C1 one termination U1, a termination R5; R4 one termination signal ground, a termination U2 pin 3; R5 one termination C1, a termination U2 pin two; C2 and R6 are in parallel, a termination U2 pin two, a termination U2 pin one; U2 pin 4 connects-EC, and pin 8 connects+EC; The pin one of C3 one termination U1, termination 16kHz triangular wave output; The output of R7 one termination 16kHz triangular wave, a termination signal ground.
Fig. 4 is comparator and optical coupling isolation circuit figure, and circuit function is with direct current input and 16kHz triangular wave input ratio, isolation, and output pulse width and direct current are entered as the accent bandwidth signals of direct ratio, the use of power supply machine driver.U1A, R1 are comparator circuit, and U1A is the LM193 dual comparator, R1=10k Ω; U2, R2, R3, C1 are optical coupling isolation circuit, before the light-coupled isolation voltage be 0~-12V, after the isolation voltage be 0~+ 5V.U2 is high-speed photoelectric coupler GH1205Z, is OC output, pull-up resistor R3=360 Ω, and R2=1k Ω, C1 are the U2 power filtering capacitor, C1=100nF.The concrete layout of circuit is as follows: the input of R1 one termination direct current, the pin 3 of a termination U1; The pin two of U1 connects the input of 16kHz triangular wave, and pin 4 connects-EC, and pin 8 connects+EC, and pin one meets R2; The pin one of R2 one termination U1, the pin 3 of a termination U2; The pin two of U2 connects signal ground, and pin 5 meets logically SGND, and pin 7 is received VD5 with pin 8 short circuits; The pin 6 of pin 7, the one termination U2 of R3 one termination U2; The pin 6 of U2 connects the pulse width control signal; Pin 7, one terminations of C1 one termination U2 are SGND logically.
Fig. 5 is motor-drive circuit figure, is input as pulse width control signal, driver and enables control, Hall switch A, B, C, is output as torque motor A, B, C.The concrete layout of circuit is as follows: R1, and R2, R3, R4 one terminal shortcircuit meets VD5, another termination Hall switch of R1 C, another termination Hall switch of R2 B, another termination Hall switch of R3 A, another termination of R4 U1 pin one 4; R5 one terminator actuator enables control, a termination U1 pin one 2; C5 one termination U1 pin one 2, one termination SGND; U1 pin two and pin one 2 short circuits; U1 pin one 1 connects the pulse width control signal; U1 pin 8 and pin 9 short circuits; R6 one termination U1 pin 8, one termination SGND; R7 is in parallel with C1, a termination U1 pin 4, one termination SGND; R8 one termination U1 pin two 2, one termination C4; C4, V1, V2 one end short circuit, another termination of C4 R8, another termination of V2 U1 pin one 7, another termination of V1 U1 pin one 5; C3 one termination U1 pin one 7, one termination U1 pin ones 5; C2 one termination U1 pin one 7, one termination SGND; U1 pin one 7 and pin two 0 short circuit meet VD28; U1 pin 6,7,18,19 short circuits meet SGND; R9 one termination U1 pin one 9, one termination U1 pin ones 3; R10 one termination U1 pin one 3, one termination VD5; RX1 one termination Power Groud PG, a termination U1 pin one 0; U1 pin one 0 and pin 3 short circuits; Pin 5, the one termination torque motor A phases of L1 one termination U1; C6 one termination torque motor A phase, a termination R11; R11 one termination C6, a termination PG; Pin two 1, the one termination torque motor B phase of L2 one termination U1; C7 one termination torque motor B phase, a termination R12; R12 one termination C7, a termination PG; Pin one 6, the one termination torque motor C phases of L3 one termination U1; C8 one termination torque motor C phase, a termination R13; R13 one termination C8, a termination PG.U1 is three phase electric machine driver L6235, comprises driver and enables control end (pin one 2), control moment motor A, B, C output.It is effective that driver enables to control high level.
The pulse width control signal is that the forward duty ratio is 0~100% square wave.Duty ratio greater than 50% the time, motor output forward moment, duty ratio less than 50% the time, output negative sense moment.When duty ratio is 100%, the maximum average moment of output forward; When duty ratio is 50%, moment output 0 average moment; When duty ratio is 0%, the maximum average moment of moment output negative sense, so pulse width control signal control motor moment output size and direction.
U1 comprises logic control circuit and DMOS power driving circuit two parts, and Hall switch is 120 degree electrical degree working methods, and U1 logic control and power drive relation see Table 1, table 2.The DMOS power tube conducting resistance of U1 is less than 0.3 ohm, and output current is greater than 2.8A, and maximum operation frequency 100kHz has a logic control simple, low in energy consumption, the operating frequency advantages of higher.
Logic control and DMOS power drive relation during table 1 motor positive direction output torque
State 1 State 2 State 3 State 4 State 5 State 6
Hall switch A ??H ??H ??L ??L ??L ??H
Hall switch B ??L ??H ??H ??H ??L ??L
Hall switch C ??L ??L ??L ??H ??H ??H
Torque motor A ??VD28 ??HIGH ??PG ??PG ??HIGH ??VD28
Torque motor B ??HIGH ??VD28 ??VD28 ??HIGH ??PG ??PG
Torque motor C ??PG ??PG ??HIGH ??VD28 ??VD28 ??HIGH
Annotate: H voltage is VD5 in the table, and L voltage is SGND, and HIGH is high resistant
Logic control and DMOS power drive relation during table 2 motor opposite direction output torque
State 1 State 2 State 3 State 4 State 5 State 6
Hall switch A ??H ??H ??L ??L ??L ??H
Hall switch B ??L ??H ??H ??H ??L ??L
Hall switch C ??L ??L ??L ??H ??H ??H
Torque motor A ??PG ??HIGH ??VD28 ??VD28 ??HIGH ??PG
Torque motor B ??HIGH ??PG ??PG ??HIGH ??VD28 ??VD28
Torque motor C ??VD28 ??VD28 ??HIGH ??PG ??PG ??HIGH
The three-phase brushless torque motor is in twos conducting working methods of three-phase six states, at any time, only has two to be conducted, another phase high resistant.Embedded three Hall switch of motor, power supply is VD5, adopts the OC way of output, by pull-up resistor R1=R2=R3=10k Ω output high-low level, circuit design is simple.When the responsive N pole field of Hall switch intensity output high level during greater than threshold value, responsive S pole field intensity output low level during greater than threshold value keeps the output of previous state level in threshold value.
In order to improve electromagnetic environment in the motor, guarantee that Hall switch is not subjected to electromagnetic interference, should guarantee that in design the electromagnetic interference magnetic field intensity is less than Hall switch threshold value (the Hall switch threshold value of different model is different).Be mainly derived from pulsating current on the armature winding by the disturbing magnetic field of analyzing Hall switch in the motor, pulsating current is large, AC magnetic field intensity is large, pulsating current is little, AC magnetic field intensity is little, the AC magnetic field intensity that produces when pulsating current just can guarantee that Hall switch works during less than the Hall switch threshold value.
Bipolar pulse transfers the pulsating current formula of wide control system to be Wherein Us is supply voltage, and f is for transferring broadband, and L is the control loop inductance.Small-power brushless electric machine electrical time constant is little, and the armature winding inductance is little, in order to reduce the pulsating current of armature winding, can take to reduce supply voltage, increases the control loop inductance, improves measures such as transferring broadband.System for supply voltage has been determined can only reduce pulsating current by improving the measure of transferring broadband and increasing loop inductance, reduces that the motor feels hot, improves power work efficient and functional reliability.This programme determines that transferring broadband is 16kHz, coupling inductance L 1=L2=L3=1mH.Can require design loop inductance parameter and transfer broadband according to the actual pulsating current of system, satisfy the requirement of Hall switch sensitivity threshold and the motor feels hot requirement.
The L6235 motor driver has designed special velocity feedback loop, and is multiplex in Design of Speed.What relate to design of speed feedback has pin 8,9,10,13.This programme drives the low speed stalling torque with L6235, at design parameter some special designs is arranged.Be that the speed feedback arranges such as the pin 8 of U1 and 9, in this programme need not, pin 8 and pin 9 are met fixed resistance R6, receive logically, can improve the antijamming capability of element.The pin one 0 and 13 of U1 is used for system's overcurrent protection control in this programme, protective current is 1A.Concrete parameter designing is seen the R7 of Fig. 5, R9, R10, RX1, C1.RX1 and torque motor windings in series, the torque motor electric current increases, and RX1 voltage increases (increase of U1 pin one 0 voltage).U1 pin one 3 is reference voltage, and it is 1V that this point voltage is set.When the voltage of U1 pin one 0 during greater than the voltage of U1 pin one 3, power tube turn-offs all lower bridge 12us, freewheel current (less than 1A) is arranged in bridge and the armature winding on power tube, after turn-offing 12us, again conducting of bridge under the power tube, electric current increases gradually in the armature winding, when the voltage of U1 pin one 0 during greater than the voltage of U1 pin one 3, power tube turn-offs all lower bridges again, guarantee that the interior electric current of armature winding is less than 1A, because the turn-off time that arranges is short, the pulsating current of armature winding is little, is conducive to improve the system works reliability.
R4=R5=R6=10k Ω among Fig. 5, C5=5.6nF, R4 is the braking pull-up resistor, R5, C5 is for enabling the Input matching capacitance-resistance.R7=20k Ω, R9=10k Ω, R10=39k Ω, C1=1nF, overcurrent protection arranges element, this circuit overcurrent protection 1A, RX1=1 Ω is sensitive resistance.V1, V2, C3, C4, R8 are that bootstrap voltage mode arranges element, work as V1, V2 is 1N4148, C3=220nF, C4=10nF, during R8=100 Ω, pin two 2 (VCP) output amplitude is 10V, frequency is the square wave of 600kHz.R11, R12, R13, C6, C7, C8 are the weakening circuit, are used for reducing " ring " of pulse signal, reduce to disturb.R11=R12=R13=470 Ω, C6=C7=C8=10nF, C2 are power filtering capacitor, C2=100nF.
Fig. 6 is the bus control interface circuit diagram, and circuit is input as bus control signal, is output as driver and enables control.Optocoupler U1 is GH3202Z, and On current is 1~50mA, and forward voltage is 1.2~1.4V, and saturation voltage is 0.1~0.4V.Pull-up resistor R1=360 Ω, on draw power supply VCC to be+5V, actually use On current to be 10mA, light-coupled isolation power vd 5 is+5V R2=10k Ω.The concrete layout of circuit is as follows:
R1 one termination VCC, a termination U1 pin one; The U1 pin two connects bus control signal, and pin 4 meets VD5, and pin 3 driver connected enabling are controlled; R2 one termination U1 pin 3, one terminations are SGND logically.
When computer sends bus control signal when low by bus, the U1 conducting, R2 voltage is about VD5, and driver enables to be controlled to be high level, driving moment machine operation, system's conducting; When to send bus control signal be high, the U1 cut-off, R2 voltage is about 0V, and driver enables to be controlled to be low level, and torque motor is not worked, and system disconnects.Use optocoupler, effectively isolation computer bus power source and power power-supply improve the system works reliability.
Fig. 7 is I 2C monitoring interface circuit figure is input as driver and enables control, is output as I 2C Monitoring Data and monitoring clock.Optocoupler U1 is GH3202Z, and light-coupled isolation power supply M05 is+5V, and triode Q1 is 3DE111, and integrated circuit U2 is PCF8574, resistance R 1=10k Ω, R2=12k Ω, R3=1k Ω, R4=10k Ω.The concrete layout of circuit is as follows:
R1 one terminator actuator enables control, the base stage of a termination Q1; The emitter of Q1 meets logically SGND, and collector electrode connects the U1 pin two; R2 one termination VD5, a termination U1 pin two; R3 one termination VD5, a termination U1 pin one; U1 pin 3 meets monitoring ground MG; R4 one termination M05, a termination U1 pin 4; U1 pin 4 connects U2 pin 4; U2 pin 5, pin 6, pin 7, pin 9, pin one 0, pin one 1, pin one 2 short circuits meet MG; U2 pin one 6 meets M05, and pin 8 meets MG; U2 pin one and pin two short circuit meet M05; U2 pin 3 meets MG, and pin one 4 connects the monitoring clock line, and pin one 5 connects the Monitoring Data line.
When driver enables to be controlled to be high level, the Q1 saturation conduction, the U1 conducting, the P0 of U2 is low level, I 2The C Monitoring Data is output as 0, the representative system normal operation; When driver enables to be controlled to be low level, the Q1 cut-off, the U1 cut-off, the P0 of U2 is high level, I 2The C Monitoring Data is output as 1, and representative system disconnects.Use optocoupler, can effectively isolate I 2C monitoring power supply and power power-supply improve the system works reliability.
The unspecified part of the present invention belongs to general knowledge as well known to those skilled in the art.

Claims (3)

1. a controlled brushless torque motor of monitoring is transferred wide servo system, it is characterized in that: comprise signal processing circuit (1), comparator and optical coupling isolation circuit (2), triangle wave circuit (3), motor-drive circuit (4), Hall switch (5), bus control interface circuit (6), I 2C monitoring interface circuit (7), microsyn (8), brushless torque motor (9); The AC signal that microsyn (8) output is directly proportional with angle, this AC signal is exported direct current signal to comparator and optical coupling isolation circuit (2) after signal processing circuit (1) exchanges amplification, phase demodulation, low-pass filtering, direct current amplification; Triangle wave circuit (3) is processed into the sine wave of signal source output triangular wave and inputs to comparator and optical coupling isolation circuit (2); Comparator and optical coupling isolation circuit (2) compare direct current signal and the triangular wave of input, isolate, the accent bandwidth signals that output pulse width is directly proportional with direct current signal is the pulse width control signal, and this pulse width control signal is inputed to motor-drive circuit (4); The control signal that bus control interface circuit (6) sends according to bus enables to control signal to motor-drive circuit (4) through the light-coupled isolation output driver; Three Hall switch (5) are embedded in motor body, responsive magnetic field intensity, and the output relevant voltage inputs to motor-drive circuit (4); Be that high level is when effective when driver enables control signal, the motor winding conduction position signal definite according to three Hall switch (5), motor-drive circuit (4) output pulse width signal is to brushless torque motor (9), drive motors is exported corresponding moment, overcome loading moment and moment of friction, torque motor is low speed stall operating state; The driver of motor-drive circuit (4) enables control signal and export I to after light-coupled isolation 2C monitors interface circuit (7), I 2C monitoring interface circuit (7) output 8 bit binary number are to I 2The C monitoring bus is when driver enables control signal when being low level, the motor no-output.
2. a kind of controlled brushless torque motor of monitoring according to claim 1 is transferred wide servo system, it is characterized in that: described three Hall switch (5) be separated by 120 the degree electrical degrees be installed on the three-phase brushless torque motor stator, motor threephase stator winding be separated by 120 the degree electrical degrees be distributed on the stator, Hall switch position and stator winding starting vessel be electrical degree fixedly.
3. a kind of controlled brushless torque motor of monitoring according to claim 1 is transferred wide servo system, and it is characterized in that: described motor-drive circuit comprises motor driver L6235, resistance R 1~R13, resistance R X1, capacitor C 1~C8, inductance L 1~L3, diode V1, V2; Resistance R 1, R2, R3, R4 one terminal shortcircuit meet the anodal VD5 of logic power, resistance R 1, R2, the other end of R3 connects respectively Hall switch, the BRAKE pin of another termination L6235 of resistance R 4; Resistance R 5 one terminator actuator enable control, the ENA pin of another termination L6235; The ENA pin of capacitor C 5 one termination L6235, another termination logic power negative pole SGND; The DIAG pin of L6235 and ENA pin short circuit; The F/R pin of L6235 connects the pulse width control signal; The TACKO pin of L6235 and RCP pin short circuit; The TACKO pin of resistance R 6 one termination L6235, another termination SGND; Resistance R 7 and the capacitor C 1 afterwards RCOFF pin of a termination L6235 in parallel, another termination SGND; The VCP pin of resistance R 8 one termination L6235, other end series capacitance C4; The negative electrode of another terminating diode V2 of capacitor C 4; In parallel with capacitor C 3 after diode V2 connects with the V1 anode and cathode, the VS2 pin of the anode termination L6235 of diode V2, the anodal VD28 of access power power supply behind the VS1 pin of L6235 and the VS2 pin short circuit; The BOOT pin of the negative electrode termination L6235 of diode V1; The VS2 pin of capacitor C 2 one termination L6235, another termination SGND; Access SGND behind four G pin short circuits of L6235, resistance R 9 is with after resistance R 10 is connected, one of them G pin of a termination L6235 of resistance R 9, and a termination VD5 of resistance R 10 is between the REF pin access resistance R 9 and R10 of L6235; Series resistance RX1 behind the ISEN1 pin of L6235 and the ISEN2 pin short circuit, another termination Power Groud PG of resistance R X1, the OUT1 of L6235, OUT2, the OUT3 pin connects respectively inductance L 1, L2, L3, inductance L 1, L2, the other end of L3 is divided into respectively two-way, the A phase of the road coupling torque motor of L1, another road series capacitance C6, resistance R 11 rear access PG; The B phase of the road coupling torque motor of L2, another road series capacitance C7, resistance R 12 rear access PG; The C phase of the road coupling torque motor of L3, another road series capacitance C8, resistance R 13 rear access PG.
CN2011100693548A 2011-03-22 2011-03-22 Controlled and monitored width-adjusting servo system of brushless torque motor CN102158156B (en)

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CN103869803B (en) * 2014-02-24 2017-05-10 北京航天控制仪器研究所 Programmable control servo loop test system

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CN101008839A (en) * 2007-01-16 2007-08-01 北京航空航天大学 Finite angle driving controller of direct-drive triple redundant brushless DC torque motor
CN101068103A (en) * 2007-03-28 2007-11-07 哈尔滨工程大学 Diesel engine linear electric motor speed regulating actuator
CN101174783A (en) * 2007-10-31 2008-05-07 中国科学院国家天文台南京天文光学技术研究所 Arc driving heavy caliber astronomical telescope
CN101515778A (en) * 2009-04-03 2009-08-26 哈尔滨工程大学 Self-adapting compensation method for friction moment of non-brush DC moment motor position server system
CN101867339A (en) * 2010-04-09 2010-10-20 奇瑞汽车股份有限公司 Motor control method of electronic mechanical braking system

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Publication number Priority date Publication date Assignee Title
CN101008839A (en) * 2007-01-16 2007-08-01 北京航空航天大学 Finite angle driving controller of direct-drive triple redundant brushless DC torque motor
CN101068103A (en) * 2007-03-28 2007-11-07 哈尔滨工程大学 Diesel engine linear electric motor speed regulating actuator
CN101174783A (en) * 2007-10-31 2008-05-07 中国科学院国家天文台南京天文光学技术研究所 Arc driving heavy caliber astronomical telescope
CN101515778A (en) * 2009-04-03 2009-08-26 哈尔滨工程大学 Self-adapting compensation method for friction moment of non-brush DC moment motor position server system
CN101867339A (en) * 2010-04-09 2010-10-20 奇瑞汽车股份有限公司 Motor control method of electronic mechanical braking system

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