CN102158168A - Permanent magnet synchronous motor drive control system - Google Patents

Abstract

The invention relates to a permanent magnet synchronous motor drive control system, in particular to the permanent synchronous motor drive control system used for a servo system. The permanent synchronous motor drive control system belongs to the technical field of motor control. The permanent synchronous motor drive control system consists of a power module, a central control unit, two analogue signal processing units, two digital signal processing units, a current measurement module, a rotating speed measurement module, an overcurrent protection processing unit, an isolation unit and a power amplification unit. A drive strategy of the central control unit adopts a space vector pulse width modulation technology, and a speed loop controller with an integral time-varying sliding mode variable structure is designed in a digital signal processor (DSP) controller of the central control unit. Compared with the conventional control system, the permanent magnet synchronous motor drive control system has higher speed, enhanced anti-jamming capability and enhanced system parameter perturbation robustness; and the sliding mode of sliding mode variable structure control can be designed, and is insensitive to disturbance to the system and parameter variations, so the sliding mode variable structure control has the characteristics of high robustness, quick response, easily implemented comprehensive method and the like.

Description

A kind of permagnetic synchronous motor driving control system

Technical field

The present invention relates to a kind of permagnetic synchronous motor driving control system, particularly a kind of permagnetic synchronous motor driving control system that is used for the servo-actuated servo system belongs to the electric machines control technology field.

Background technology

Permagnetic synchronous motor is with its wide speed regulating range, torque fluctuations is little, response speed is fast, the peak torque height, overload capacity is strong, advantage such as reliable has been widely used in various speed governing and has driven occasions, especially is subjected to generally paying attention in occasion and field that the attitude control of Aero-Space inertia actuator, robot, turntable control etc. are had relatively high expectations to motor performance and control precision.

Typical servo-actuated servo system structure generally is made of electric current loop, speed ring and position ring.The current loop control that response speed is the highest is interior ring, secondly is speed ring and position ring.If servo system can realize the digital regulated control of electric current, speed, position three rings and promptly can be described as the full-digital servo drive system.The full-digital servo system is than analog servo system adjustable precision height, and control algolithm is easy to realize simultaneously, helps effective lifting of performance.The responsive bandwidth of electric current loop generally the highest (greater than 1KHz) in the servo system, therefore the sample frequency that generally requires electric current loop is greater than 10KHz, and this has proposed higher requirement to the digitial controller real-time.In the early stage servo system, because the performance of microcontroller is also very poor, can not satisfy the requirement of servo system to the controller high real-time, so the many employings of the adjusting of electric current loop is that analog circuit is realized, this causes systematic function to be subjected to the influence of temperature drift, component ageing factor bigger, and reliability is lower.In 20 end of the centurys, be that 8 of representative and 16 more early stage Z80 single board computers of single-chip microcomputer performance have had very big lifting with MC51 and MC196, yet still be difficult to satisfy for the current loop control of high real-time.In recent years, develop rapidly along with science and technology, DSP major companies such as TI, MOTOROLA, the AD Electric Machine Control special digital signal processing chip that all released one after another, as TMS320F2XXX series, DSP56F80X series etc., this class chip all is core with the dsp processor, use its instruction set efficiently, simultaneously chip integration become Digital Signal Processing commonly used add the multiplying unit, realize that the monocycle finishes multiplication operation, the chip disposal ability that has reaches 150MIPS.Electric Machine Control interface circuits such as some products also comprise A/D with the peripheral circuit of Electric Machine Control, PWM and DSP kernel are integrated in one, and have not only simplified the system hardware circuit, have also improved reliability and cost performance simultaneously.Just because of the develop rapidly of DSP technology, make position ring, speed ring, the electric current loop full-digital control of servo-drive be achieved.

The driven strategy works aspect, the general form that adopts the three-phase bridge inversion of power inverting part, in order to improve the response speed of permagnetic synchronous motor servo system, reduce torque pulsation, usually driver adopts pulse-width modulation (PWM) technology to come drive motors, and the PWM type of drive can realize the level and smooth control to inverter circuit.The shortcoming of this method is to adopt the PWM method can produce bigger electromagnetic interference, can bring bigger noise effect to the ground of upper control board and electric system.

The controller algorithm aspect, the PID controller is the controller that is most widely used in permagnetic synchronous motor speed and the position closed loop control system, but permagnetic synchronous motor is a kind of nonlinear motor, has multivariable, characteristics such as close coupling, the parameter of electric machine is subject to ectocine and perturbs, and therefore require system to have certain robustness, and traditional PID controller can't satisfy this requirement.

Summary of the invention

The objective of the invention is to realize the full-digital control of servo system, can realize effective isolation of numerical portion and power section simultaneously, propose a kind of permagnetic synchronous motor driving control system in order to overcome the defective of prior art.

The present invention is achieved by the following technical solutions.

A kind of permagnetic synchronous motor driving control system of the present invention, its ancillary equipment is controlled motor and host computer, is made up of power module, central control unit, 2 analogy signal processing units, 2 digital signal processing units, current measurement module, tachometric survey module, overcurrent protection processing unit, isolated location and power amplification units;

Above-mentioned power module is responsible for providing power supply to other ones;

Above-mentioned CPU is gathered external information by analogy signal processing unit and digital signal processing unit, information integrated, calculating back are generated pwm signal, pwm signal DC bus-bar voltage to motor behind isolated location and power amplification unit is carried out pulse-width modulation, thereby realizes the control to motor;

Host computer provides control signal for CPU, velocity setting signal or the given signal of electric current are passed to CPU by first analogy signal processing unit, to start enable signal and pass to CPU by first digital signal processing unit, also connect between host computer and the CPU by serial ports, receive speed or the given signal of electric current that host computer sends by the serial ports CPU, and system variable is uploaded to host computer;

The main control chip of above-mentioned central control unit adopts the dsp controller chip;

Above-mentioned isolated location adopts high speed photo coupling to realize isolating;

Above-mentioned power amplification unit comprises three-phase inverter bridge circuit and converter bridge switching parts tube drive circuit;

Above-mentioned current measurement module comprises Hall element and signal conditioning circuit, and after the phase current of motor entered into current measurement module, generation can reflect the voltage analog signal of current feedback signal, entered central control unit through second analogy signal processing unit;

The critical piece of above-mentioned tachometric survey module is a photoelectric encoder, and photoelectric encoder is installed on the motor shaft, and in the motor rotation process, photoelectric encoder produces rotational speed pulse signal and sends into central control unit;

It is above-mentioned when power amplification unit makes a mistake, second digital signal processing unit receives the rub-out signal that is provided by power amplification unit, comprise excess temperature signal and over-current signal, and this signal passed to CPU, disconnect inverter bridge simultaneously and drive enable signal, but feasible control signal from CPU is only received is not output by the converter bridge switching parts tube drive circuit and is used for controlling three-phase inverter bridge circuit, thereby make three-phase inverter bridge circuit be in blocked styate, the protection motor;

The feedback current value of Hall element output in the above-mentioned overcurrent protection processing unit received current measurement module, and it is judged, if this feedback current exceeds the limit of setting then the output overcurrent fault-signal, and control overcurrent protection processing unit repeat circuit action, disconnect the motor bus power supply in the power amplification unit, play the effect of over current of motor protection;

The driven strategy works of above-mentioned central control unit adopts the space vector pulse width modulation technology;

In order to realize the high-performance SERVO CONTROL, the robustness of enhanced system becomes sliding moding structure speed ring controller when the present invention has designed a kind of integration in the dsp controller of central control unit, and its sliding-mode surface function is

The controlled quentity controlled variable of sliding mode controller output is u _c=u _Eq+ u _Sw, it is specifically derived and proof procedure is:

Permagnetic synchronous motor is at the Mathematical Modeling and the equation of motion of d, q axle:

$\left\{\begin{array}{c}{u}_d=R_s{i}_d+L_d{\mathrm{pi}}_d-{\mathrm{\ω}}_e{L}_q{i}_q\\ u_q={\mathrm{\ω}}_e{L}_d{i}_d+R_s{i}_q+L_q{\mathrm{pi}}_q+{\mathrm{\ψ}}_{\mathrm{fd}}{\mathrm{\ω}}_e\\ T_e=T_L+\mathrm{Jd\ω}/\mathrm{dt}+\mathrm{B\ω}\end{array}\right.---\left(1\right)$

Wherein, u _d, u _qBe respectively stator voltage d, q axle component, i _d, i _qBe respectively stator current d, q axle component; L _d, L _qBe respectively winding phase inductance d, q axle component, R _sBe stator resistance, p is a differential operator, ψ _FdBe the coupling magnetic linkage of rotor flux on the d axle, T _eBe electromagnetic torque, J is a moment of inertia, and B is the coefficient of viscosity of bearing, T _LBe load torque;

In the following formula, ω _e=p _mω, wherein p _mBe the number of pole-pairs of motor, ω is a mechanical angle speed; Set L _d=L _q=L, then permagnetic synchronous motor at the state equation of d, q axle is

$\left\{\begin{array}{c}{\stackrel{g}{i}}_q=\frac{1}{L}{u}_q-\frac{R_s}{L}{i}_q-p_m\mathrm{\ω}{i}_d-\frac{p_m{\mathrm{\ψ}}_{\mathrm{fd}}}{L}\\ {\stackrel{g}{i}}_d=\frac{1}{L}{u}_d-\frac{R_s}{L}{i}_d+p_m{\mathrm{\ωi}}_q\\ \stackrel{g}{\mathrm{\ω}}=\frac{p_m{\mathrm{\ψ}}_{\mathrm{fd}}}{J}{i}_q-\frac{B}{J}\mathrm{\ω}-\frac{1}{J}{T}_L\end{array}\right.---\left(2\right)$

Native system adopts i _d=0 vector control mode, following formula can further be converted into

$\left\{\begin{array}{c}{\stackrel{g}{i}}_q=\frac{1}{L}{u}_q-\frac{R_s}{L}{i}_q-\frac{p_m{\mathrm{\ψ}}_{\mathrm{fd}}}{L}\mathrm{\ω}\\ \stackrel{g}{\mathrm{\ω}}=\frac{p_m{\mathrm{\ψ}}_{\mathrm{fd}}}{J}{i}_q-\frac{B}{J}\mathrm{\ω}-\frac{1}{J}{T}_L\end{array}\right.---\left(3\right)$

For ease of the design of Sliding mode variable structure control device, definition status variable x=ω ^*-ω, wherein ω ^*Be rotational speed setup, controller output controlled quentity controlled variable u=i _q, obtain state equation and be

$\stackrel{g}{x}=-\frac{B}{J}x-\frac{p_m{\mathrm{\ψ}}_{\mathrm{fd}}}{J}u+\frac{T_L}{J}+\frac{B}{J}{\mathrm{\ω}}^{*}---\left(4\right)$

Order

The state equation that obtains simplifying

$\stackrel{g}{x}=\mathrm{Ax}-\mathrm{bu}+d---\left(5\right)$

Selection have exponential convergence character the time become sliding-mode surface

$(c-{\mathrm{me}}^{-\mathrm{gt}}){\∫}_0^{t}x\left(\mathrm{\τ}\right)\mathrm{d\τ}+{\mathrm{ne}}^{-\mathrm{ht}}---\left(6\right)$

Wherein c, m, n, g, h are the adjusting parameter greater than zero;

In order to realize the overall robustness of Sliding-Mode Control Based, when need being in, initial time system phase path becomes on the sliding-mode surface, make S=0, can get

n＝-(1+c-m)x(0) (7)

When sliding on sliding-mode surface, system has

The equivalent control amount that is obtained by formula (5) and (8) is

$u_{\mathrm{eq}}=[(A+c-{\mathrm{me}}^{-\mathrm{gt}})x+d+{\mathrm{gme}}^{-\mathrm{gt}}{\∫}_0^{t}x\left(\mathrm{\τ}\right)\mathrm{d\τ}-{\mathrm{hne}}^{-\mathrm{ht}}]/b---\left(9\right)$

Then the controlled quentity controlled variable of sliding mode controller output is

u _c＝u _eq+u _sw (10)

Wherein, definition u _Sw=η sgn (S) | S|=η S, wherein η＞0, and η is the switching controls flow gain.

At Sliding mode variable structure control rate set forth above, will prove that below the system that constitutes thus is progressive stable.

Proof: definition Lyapunov function is

$V=\frac{1}{2}{S}^2---\left(11\right)$

, can get the time differentiate following formula (11) both sides

Formula (10) substitution formula (12) can be got

So when t → ∞, S=0, promptly

$S=x+(c-{\mathrm{me}}^{-\mathrm{gt}}){\∫}_0^{t}x\left(\mathrm{\τ}\right)\mathrm{d\τ}+{\mathrm{ne}}^{-\mathrm{ht}}=x+c{\∫}_0^{t}x\left(\mathrm{\τ}\right)\mathrm{d\τ}=0---\left(14\right)$

Separating the differential equation gets: and x (t → ∞)=e ^-ct=0,

By the Lyapunov stability theorem as can be known this control law can make system asymptotic stable, and steady state error is zero.

Beneficial effect

A kind of permagnetic synchronous motor driving control system of the present invention, the rapidity of system and antijamming capability and the robustness of system parameters perturbation all strengthened to some extent with respect to traditional control system; Sliding mode variable structure control can design owing to its sliding mode, and is insensitive to the disturbance and the parameter variation that add to system, therefore has characteristics such as robustness is good, speed responsive is fast, the easy realization of integrated approach.

Description of drawings

Fig. 1 is a system principle diagram of the present invention;

Fig. 2 is an over-current signal treatment circuit theory diagram of the present invention.

Embodiment

The present invention will be further described below in conjunction with drawings and Examples.

Embodiment

A kind of permagnetic synchronous motor driving control system, its ancillary equipment is controlled motor and host computer, is made up of power module, central control unit, 2 analogy signal processing units, 2 digital signal processing units, current measurement module, tachometric survey module, isolated location and power amplification units;

Above-mentioned power module adopts insulating power supply, and being responsible for provides power supply to other ones;

The main control chip of above-mentioned central control unit adopts the dsp chip of TI company, and model is TMS320F2812;

Above-mentioned isolated location adopts high speed photo coupling to realize isolating, and the high speed photo coupling model is 6N137;

The chip for driving of converter bridge switching parts tube drive circuit is IR2136 in the above-mentioned power amplification unit;

Above-mentioned overcurrent protection processing unit theory diagram comprises comparison circuit, NAND gate circuit, not circuit, relay and circuit protection indicator light as shown in Figure 2; Comparison circuit is made of two LM393, two LM393 have constituted a window comparator, when the motor current signal of representing with voltage form of Hall element output is in high and low two reference values, illustrate that motor is in normal operating conditions, do not export fault-signal; During when the high reference voltage level of input voltage or less than low reference voltage level, illustrate that current of electric has exceeded limit, then comparison circuit is through NAND gate circuit output overcurrent guard signal, the overcurrent protection signal disconnects electromagnetic relay as control signal after having improved current driving ability through not gate, thereby disconnect the busbar voltage of inverter bridge, realize protection, the signal control circuit of overcurrent protection simultaneously protection indicator light is lighted; High and low reference voltage level can be regulated by corresponding variable resistance; The master chip of above-mentioned NAND gate circuit is 74LS20, and the not circuit master chip is MC1413.

The above is preferred embodiment of the present invention, and the present invention should not be confined to the disclosed content of this embodiment and accompanying drawing.Everyly do not break away from the equivalence of finishing under the spirit disclosed in this invention or revise, all fall into the scope of protection of the invention.

Claims (5)

1. permagnetic synchronous motor driving control system, its ancillary equipment is controlled motor and host computer, it is characterized in that: be made up of power module, central control unit, 2 analogy signal processing units, 2 digital signal processing units, current measurement module, tachometric survey module, overcurrent protection processing unit, isolated location and power amplification units;

Above-mentioned power module is responsible for providing power supply to other ones;

Above-mentioned CPU is gathered external information by analogy signal processing unit and digital signal processing unit, information integrated, calculating back are generated pwm signal, pwm signal DC bus-bar voltage to motor behind isolated location and power amplification unit is carried out pulse-width modulation, and then the control motor;

Host computer provides control signal for CPU, velocity setting signal or the given signal of electric current are passed to CPU by first analogy signal processing unit, to start enable signal and pass to CPU by first digital signal processing unit, also connect between host computer and the CPU by serial ports, receive speed or the given signal of electric current that host computer sends by the serial ports CPU, and system variable is uploaded to host computer;

The main control chip of above-mentioned central control unit adopts dsp controller;

Above-mentioned isolated location adopts high speed photo coupling to realize isolating;

Above-mentioned power amplification unit comprises three-phase inverter bridge circuit and converter bridge switching parts tube drive circuit;

Above-mentioned current measurement module comprises Hall element and signal conditioning circuit, and after the phase current of motor entered into current measurement module, generation can reflect the voltage analog signal of current feedback signal, entered central control unit through second analogy signal processing unit;

The critical piece of above-mentioned tachometric survey module is a photoelectric encoder, and photoelectric encoder is installed on the motor shaft, and in the motor rotation process, photoelectric encoder produces rotational speed pulse signal and sends into central control unit;

It is above-mentioned when power amplification unit makes a mistake, second digital signal processing unit receives the rub-out signal that is provided by power amplification unit, comprise excess temperature signal and over-current signal, and this signal passed to CPU, disconnect inverter bridge simultaneously and drive enable signal, but feasible control signal from CPU is only received is not output by the converter bridge switching parts tube drive circuit and is used for controlling three-phase inverter bridge circuit, thereby make three-phase inverter bridge circuit be in blocked styate, the protection motor;

The feedback current value of Hall element output in the above-mentioned overcurrent protection processing unit received current measurement module; and it is judged; if this feedback current exceeds the limit of setting then the output overcurrent fault-signal; and control overcurrent protection processing unit repeat circuit action; disconnect the motor bus power supply in the power amplification unit, play the effect of over current of motor protection.

2. a kind of permagnetic synchronous motor driving control system according to claim 1 is characterized in that: the driven strategy works of described central control unit adopts the space vector pulse width modulation technology.

3. a kind of permagnetic synchronous motor driving control system according to claim 2 is characterized in that: become sliding moding structure speed ring controller when having a kind of integration in the dsp controller of affiliated central control unit, the sliding-mode surface function of this controller is

$(c-{\mathrm{me}}^{-\mathrm{gt}}){\∫}_0^{t}x\left(\mathrm{\τ}\right)\mathrm{d\τ}+{\mathrm{ne}}^{-\mathrm{ht}}$

In the following formula, x=ω ^*-ω, wherein ω ^*Be rotational speed setup, ω is a mechanical angle speed, and wherein c, m, n, g, h are the adjusting parameter greater than zero;

The controlled quentity controlled variable of controller output is

u _c＝u _eq+u _sw

In the following formula

$u_{\mathrm{eq}}=[(A+c-{\mathrm{me}}^{-\mathrm{gt}})x+d+{\mathrm{gme}}^{-\mathrm{gt}}{\∫}_0^{t}x\left(\mathrm{\τ}\right)\mathrm{d\τ}-{\mathrm{hne}}^{-\mathrm{ht}}]/b$

u _sw＝η·S

Wherein,

J is a moment of inertia, and B is the coefficient of viscosity of bearing, p _mBe the number of pole-pairs of motor, ψ _FdBe the coupling magnetic linkage of rotor flux on motor d axle, T _LBe load torque, η＞0 and η are the switching controls flow gain.

4. a kind of permagnetic synchronous motor driving control system according to claim 1 is characterized in that: described power module adopts insulating power supply; The main control chip of described central control unit adopts the dsp chip of TI company, and model is TMS320F2812; Described isolated location adopts high speed photo coupling to realize isolating, and the high speed photo coupling model is 6N137; The chip for driving of converter bridge switching parts tube drive circuit is IR2136 in the described power amplification unit.

5. a kind of permagnetic synchronous motor driving control system according to claim 1 is characterized in that: described overcurrent protection processing unit comprises comparison circuit, NAND gate circuit, not circuit, relay and circuit protection indicator light;

Wherein comparison circuit is made of two LM393, and two LM393 have constituted a window comparator, when the motor current signal of representing with voltage form of Hall element output is in high and low two reference values, does not export fault-signal; When input voltage during greater than high reference voltage level or less than low reference voltage level, comparison circuit is through NAND gate circuit output overcurrent fault-signal, the over current fault signal disconnects electromagnetic relay as control signal behind the door through non-, thereby disconnect the busbar voltage of inverter bridge, the signal control circuit of overcurrent protection simultaneously protection indicator light is lighted;

Above-mentioned high and low reference voltage level is realized regulating by corresponding variable resistance.

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