CN102158168B - 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 drive control system of permanent magnet synchronous motor

Technical field

The present invention relates to a kind of drive control system of permanent magnet synchronous motor, particularly a kind of drive control system of permanent magnet synchronous motor for 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, fast response time, peak torque is high, overload capacity is strong, the advantage such as reliable has been widely used in various speed governing and has driven occasions, is especially generally paid 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 adjustment and control of electric current, speed, position three rings and namely can be described as the full-digital servo drive system.MPU Controlled All Digital Servo System is high than the analog servo system adjustable precision, and control algolithm is easy to realize simultaneously, is conducive to effective lifting of performance.The responsive bandwidth of electric current loop generally the highest (greater than 1KHz) in the servo system, so the sample frequency of General Requirements electric current loop is greater than 10KHz, 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 servo system to the requirement of 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 impact of temperature drift, component ageing factor larger, and reliability is lower.In 20 end of the centurys, take MC51 and MC196 as representative 8 and 16 more early stage Z80 single board computers of single-chip microcomputer performance have had very large lifting, yet still are difficult to satisfy for the current loop control of high real-time.In recent years, develop rapidly along with science and technology, the DSP major companies such as TI, MOTOROLA, the AD Electric Machine Control special digital signal processing chip that all released one after another, such as TMS320F2XXX series, DSP56F80X series etc., this class chip is all take dsp processor as core, use its efficient instruction set, simultaneously at Embedded Digital Signal Processing commonly used add the multiplying unit, realize that the monocycle finishes multiplication operation, the chip disposal ability that has reaches 150MIPS.The 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, so that the position ring of servo-drive, speed ring, electric current loop full-digital control are achieved.

Drive tactful aspect, the general form that adopts the three-phase bridge inversion of power inverting part, in order to improve the response speed of PMSM Servo System, torque ripple reduction, 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 larger electromagnetic interference, can bring to the ground of upper control plate and electric system larger noise effect.

The controller algorithm aspect, the PID controller is the controller that is most widely used in permanent magnet synchronous electric motor speed and the position closed loop control system, but permagnetic synchronous motor is a kind of nonlinear motor, has multivariable, the 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 in order to overcome the defective of prior art, can realize effective isolation of numerical portion and power section simultaneously, propose a kind of drive control system of permanent magnet synchronous motor.

The present invention is achieved by the following technical solutions.

A kind of drive control system of permanent magnet synchronous motor of the present invention, its ancillary equipment is controlled motor and host computer, is comprised of power module, central control unit, 2 analogy signal processing units, 2 digital signal processing units, current measurement module, rotation speed measuring 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 gathers external information by analogy signal processing unit and digital signal processing unit, the rear pwm signal that generates is integrated, calculated to information, 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, speed preset signal or given value of current signal are passed to CPU by the first analogy signal processing unit, to start enable signal and pass to CPU by the first digital signal processing unit, also connect by serial ports between host computer and the CPU, receive speed or the given value of current signal 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 isolation;

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 the second analogy signal processing unit;

The critical piece of above-mentioned rotation speed measuring module is photoelectric encoder, and photoelectric encoder is installed on the motor shaft, and in the electric machine 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, the 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 simultaneously inverter bridge and drive enable signal, so that only still be not output to control three-phase inverter bridge circuit by the reception of converter bridge switching parts tube drive circuit from the control signal of CPU, thereby so that three-phase inverter bridge circuit is 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 driving strategy of above-mentioned central control unit adopts space vector pulse width modulation;

In order to realize the high-performance SERVO CONTROL, strengthen the robustness of system, when having designed a kind of integration in the dsp controller of central control unit, the present invention becomes sliding moding structure speed ring controller, 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 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 differential operator, ψ _FdBe the coupling magnetic linkage of rotor flux on the d axle, T _eBe electromagnetic torque, J is 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 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 be further converted to

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

For ease of the design of Sliding Mode Controller, definition status variable x=ω ^*-ω, wherein ω ^*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 is simplified

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

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 global robustness of sliding formwork control, 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 system has when sliding-mode surface slides

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.

For Sliding mode variable structure control rate set forth above, the below will prove that the system that consists of 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, namely

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

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

This control law energy is so that system's Asymptotic Stability as can be known by the Lyapunov stability theorem, and steady state error is zero.

Beneficial effect

A kind of drive control system of permanent magnet synchronous motor 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 the characteristics such as robustness is good, speed responsive is fast, the easy realization of integrated approach.

Description of drawings

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

Fig. 2 is 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 drive control system of permanent magnet synchronous motor, its ancillary equipment is controlled motor and host computer, is comprised of power module, central control unit, 2 analogy signal processing units, 2 digital signal processing units, current measurement module, rotation speed measuring 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 isolation, and the high speed photo coupling model is 6N137;

The driving chip 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 consisted of a window comparator, when the motor current signal that represents 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, simultaneously overcurrent protection signal control circuit 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. drive control system of permanent magnet synchronous motor, its ancillary equipment is controlled motor and host computer, it is characterized in that: be comprised of power module, CPU, 2 analogy signal processing units, 2 digital signal processing units, current measurement module, rotation speed measuring 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 gathers external information by analogy signal processing unit and digital signal processing unit, the rear pwm signal that generates is integrated, calculated to information, 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, speed preset signal or given value of current signal are passed to CPU by the first analogy signal processing unit, to start enable signal and pass to CPU by the first digital signal processing unit, also connect by serial ports between host computer and the CPU, receive speed or the given value of current signal that host computer sends by the serial ports CPU, and system variable is uploaded to host computer;

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

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

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 CPU through the second analogy signal processing unit;

The critical piece of above-mentioned rotation speed measuring module is photoelectric encoder, and photoelectric encoder is installed on the motor shaft, and in the electric machine rotation process, photoelectric encoder produces rotational speed pulse signal and sends into CPU;

When above-mentioned power amplification unit makes a mistake, the 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 simultaneously inverter bridge and drive enable signal, so that only still be not output to control three-phase inverter bridge circuit by the reception of converter bridge switching parts tube drive circuit from the control signal of CPU, thereby so that three-phase inverter bridge circuit is 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 drive control system of permanent magnet synchronous motor according to claim 1 is characterized in that: the driving strategy employing space vector pulse width modulation of described CPU.

3. a kind of drive control system of permanent magnet synchronous motor according to claim 2 is characterized in that: become sliding moding structure speed ring controller during with a kind of integration in the dsp controller of described CPU, the sliding-mode surface function of this controller is

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

In the following formula, x=ω ^*-ω, wherein ω ^*Be rotational speed setup, ω is 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, $A=-\frac{B}{J},$ $b=\frac{p_m{\mathrm{\ψ}}_{\mathrm{fd}}}{J},$ $d=\frac{T_L}{J}+\frac{B}{J}{\mathrm{\ω}}^{*},$ J is 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 drive control system of permanent magnet synchronous motor according to claim 1 is characterized in that: described power module employing insulating power supply; The main control chip of described CPU adopts the dsp chip of TI company, and model is TMS320F2812; Described isolated location adopts high speed photo coupling to realize isolation, and the high speed photo coupling model is 6N137; The driving chip of converter bridge switching parts tube drive circuit is IR2136 in the described power amplification unit.

5. a kind of drive control system of permanent magnet synchronous motor according to claim 1, it 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 consisted of a window comparator, when the motor current signal that represents 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, simultaneously overcurrent protection signal control circuit protection indicator light is lighted;

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