CN102291065A - Brushless direct current motor control device based on DSP (Digital Signal Processor) - Google Patents
Brushless direct current motor control device based on DSP (Digital Signal Processor) Download PDFInfo
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- CN102291065A CN102291065A CN2011102565991A CN201110256599A CN102291065A CN 102291065 A CN102291065 A CN 102291065A CN 2011102565991 A CN2011102565991 A CN 2011102565991A CN 201110256599 A CN201110256599 A CN 201110256599A CN 102291065 A CN102291065 A CN 102291065A
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Abstract
The invention discloses a brushless direct current motor control device based on DSP (Digital Signal Processor). The device comprises a position sensor, a DSP controller, and a drive and inverter circuit, wherein the position sensor is arranged on a stator of a brushless direct current motor for detecting position information of a rotor of the motor during operation and sending the position information to the DSP controller; the DSP controller is used for obtaining a real-time rotating sped of the motor according to the adjacent position information sent by the position sensor and the obtained time of the adjacent position information, and comparing the real-time rotating speed with the pre-set target rotating speed, and sending a control signal to the drive and inverter circuit according to the comparison result; and the drive and inverter circuit is used for controlling the rotating speed and the rotating direction of the motor according to the control signal of the DSP controller. The device disclosed by the invention realizes a set of rotating speed closed loop control system suitable for the brushless direct current motor based on the DSP by utilization of a high performance data processing capacity and abundant external interfaces of the DSP controller; and has good disturbance resistance performance and a stably worked system.
Description
Technical field
The present invention relates to the electric machines control technology field, particularly relate to control device for brushless direct current machine based on DSP.
Background technology
Compare with alternating current machine, direct current machine has advantages such as operational efficiency height and good speed adjustment features.But traditional direct current machine adopts brush-commutator structure, mechanically commutate, there are deadly defects such as noise, spark, radio interference and life-span weak point inevitably, add shortcomings such as manufacturing cost height and maintenance difficult, limited its range of application greatly.Brshless DC motor is to remove the mechanical type brush and the New-type electric machine that grows up on the basis of the good characteristic that keeps traditional direct current machine, is a kind of typical electromechanical integrated product.It mainly is made up of motor body, position transducer and electronic switch circuit three parts.Brshless DC motor control can be divided into dual mode substantially, promptly is with position transducer mode and position-sensor-free mode.Band position transducer control mode refers to the on-stream position of installation site sensor rotor on the brushless DC motor stator.The position Sensorless Control mode generally refers to no mechanical position transducer, i.e. direct installation site sensor rotor-position on the stator of brushless DC motor not.
But the control section interference free performance of brshless DC motor is relatively poor in the prior art, causes the system works instability.
Summary of the invention
The purpose of the embodiment of the invention provides the control device for brushless direct current machine based on DSP, and is relatively poor with the control section interference free performance that overcomes brshless DC motor in the prior art, causes the unsettled defective of system works.
For achieving the above object, the technical scheme of the embodiment of the invention provides the control device for brushless direct current machine based on DSP, described device comprises position transducer, DSP(Digital Signal Processor, digital signal processor) controller and driving and inverter circuit; Described position transducer is installed on the stator of brshless DC motor, is used to detect the on-stream positional information of rotor of described brshless DC motor, and described positional information is sent to described dsp controller; Described dsp controller is used for position adjacent information that sends according to described position transducer and the time of obtaining described adjacent position information, obtains the real-time rotating speed of described brshless DC motor; And described real-time rotating speed and predefined rotating speed of target compared, transmit control signal to described driving and inverter circuit according to comparative result; Described driving and inverter circuit are used for the control signal according to described dsp controller, and the rotating speed and the direction of rotation of described brshless DC motor are controlled.
Wherein, described device also comprises keyboard circuit, be used for the startup of described brshless DC motor and stop, the switching of direction of rotation and the setting of rotating speed; Described keyboard circuit comprises keyboard drive chip and a plurality of button, and described a plurality of buttons contain function button and common key-press.
Wherein, described device also comprises the charactron display circuit, is used for the real-time speed of display reminding information and described brshless DC motor on charactron; Described charactron display circuit comprises charactron that charactron chip for driving, a plurality of altogether cloudy formula connect and the current-limiting resistance of connecting with each charactron.
Wherein, described device also comprises testing circuit; be used to detect electric current and voltage that described driving and inverter circuit output to described brshless DC motor, described dsp controller carries out overvoltage protection and overcurrent protection according to detected electric current of described testing circuit and voltage to described brshless DC motor.
Wherein, described driving and inverter circuit comprise by six power tubes and constitute three-phase six arm fully controlled bridges, adopt step mode or three or three energising modes in twos, drive three phase windings of described brshless DC motor.
Wherein, described dsp controller comprises PWM(Pulse Width Modulation, pulse-width modulation) module, be used for generation and send pwm control signal to described driving and inverter circuit; And, the duty ratio of described pwm control signal is adjusted according to the real-time rotating speed of described brshless DC motor and the comparative result of predefined rotating speed of target.
Wherein, described device also comprises buffer circuit, and described buffer circuit comprises a plurality of photoelectrical couplers, is arranged between described PWM module and described driving and the inverter circuit, is used for that described PWM module and described driving and inverter circuit are carried out electricity and isolates.
Compared with prior art, technical scheme of the present invention has following advantage:
Control device for brushless direct current machine based on DSP of the present invention utilizes the high-performance data disposal ability and the abundant Peripheral Interface of dsp controller, has realized that a cover is applicable to the speed closed loop control system of brshless DC motor based on DSP.This device interference free performance is better, and system works is stable.
Description of drawings
Fig. 1 is the structural representation of the control device for brushless direct current machine based on DSP of the present invention.
Fig. 2 is the schematic diagram based on the control device for brushless direct current machine of DSP of the embodiment of the invention.
Fig. 3 is the DSP control system schematic diagram of the brshless DC motor of the embodiment of the invention.
Fig. 4 is the EEPROM memory space expansion schematic diagram of the embodiment of the invention.
Fig. 5 is the X1226 of the embodiment of the invention and the circuit connection diagram of F2812.
Fig. 6 is button, toggle switch and the LED lamp catenation principle figure of the embodiment of the invention.
Fig. 7 is the JTAG emulator interface schematic diagram of the embodiment of the invention.
Fig. 8 is the general purpose I/O interface principle figure of the embodiment of the invention.
Fig. 9 is the memory expansion schematic diagram of the embodiment of the invention.
Figure 10 is the PWM and the AD part schematic diagram of the embodiment of the invention.
Figure 11 is the serial port circuit schematic diagram of the embodiment of the invention.
Figure 12 is the power-switching circuit schematic diagram of the embodiment of the invention.
Figure 13 is the schematic diagram of the brshless DC motor speed-adjusting and control system of the embodiment of the invention.
Figure 14 is the three phase full bridge inverter circuit schematic diagram of the embodiment of the invention.
Figure 15 is the buffer circuit schematic diagram of the embodiment of the invention.
Figure 16 is that the IR2136 of the embodiment of the invention drives three-phase six arm bridge circuit connection layouts.
Figure 17 is the schematic diagram to Hall output carrying out capacitance-resistance filter of the embodiment of the invention.
Figure 18 is the current detection circuit schematic diagram of the embodiment of the invention.
Figure 19 is the DC bus-bar voltage testing circuit schematic diagram of the embodiment of the invention.
Figure 20 is the keyboard and the charactron display circuit schematic diagram of the embodiment of the invention.
Figure 21 is the keyboard flow for displaying figure of the embodiment of the invention.
Figure 22 is the main program flow chart of the embodiment of the invention.
Figure 23 is the oscillogram of motor hall signal when the setting rotating speed is 1500r/min of the embodiment of the invention.
Figure 24 is the time measurement oscillogram of carrying out after Figure 23 waveform is amplified.
Embodiment
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.Following examples are used to illustrate the present invention, but are not used for limiting the scope of the invention.
The structure of the control device for brushless direct current machine based on DSP of the present invention comprises position transducer, dsp controller, driving and inverter circuit, keyboard circuit, charactron display circuit, testing circuit and buffer circuit as shown in Figure 1.Wherein, described dsp controller is connected with testing circuit with described position transducer, buffer circuit driving and inverter circuit, keyboard circuit, charactron display circuit respectively, described driving and inverter circuit are connected with brshless DC motor with buffer circuit respectively, and described brshless DC motor is connected with testing circuit with position transducer respectively.
Described position transducer is installed on the stator of brshless DC motor, is used to detect the on-stream positional information of rotor of described brshless DC motor, and described positional information is sent to described dsp controller.
Described dsp controller is used for position adjacent information that sends according to described position transducer and the time of obtaining described adjacent position information, obtains the real-time rotating speed of described brshless DC motor; And described real-time rotating speed and predefined rotating speed of target compared, transmit control signal to described driving and inverter circuit according to comparative result.
Described driving and inverter circuit are used for the control signal according to described dsp controller, and the rotating speed and the direction of rotation of described brshless DC motor are controlled.Described driving and inverter circuit comprise by six power tubes and constitute three-phase six arm fully controlled bridges, adopt step mode or three or three energising modes in twos, drive three phase windings of described brshless DC motor.Described dsp controller comprises the PWM module, is used for generation and sends pwm control signal to described driving and inverter circuit; And, the duty ratio of described pwm control signal is adjusted according to the real-time rotating speed of described brshless DC motor and the comparative result of predefined rotating speed of target.
Described buffer circuit comprises a plurality of photoelectrical couplers, is arranged between described PWM module and described driving and the inverter circuit, is used for that described PWM module and described driving and inverter circuit are carried out electricity and isolates.
Described keyboard circuit, be used for the startup of described brshless DC motor and stop, the switching of direction of rotation and the setting of rotating speed; Described keyboard circuit comprises keyboard drive chip and a plurality of button, and described a plurality of buttons contain function button and common key-press.
Described charactron display circuit is used for the real-time speed of display reminding information and described brshless DC motor on charactron; Described charactron display circuit comprises charactron that charactron chip for driving, a plurality of altogether cloudy formula connect and the current-limiting resistance of connecting with each charactron.
Described testing circuit; be used to detect electric current and voltage that described driving and inverter circuit output to described brshless DC motor; described dsp controller carries out overvoltage protection and overcurrent protection according to detected electric current of described testing circuit and voltage to described brshless DC motor.
The fast operation of dsp controller, operational precision height, the digital signal processor DSP that has more peripheral hardware resource are one and well select.In the present embodiment, dsp controller adopts the TMS320C28x chip of TI company, and it not only has advanced processor, and integrated many peripheral hardwares on the sheet.Adopt Harvard structure in the sheet, have the system bus that independently is used for accesses data memory or program storage, improved the disposal ability and the processing speed of data.Because DSP has stronger computing capability and good real-time performance, makes that the advanced control theory of algorithm complexity can well be used in practice, particularly the exigent system of real-time.DSP has the hardware multiplier of machine cycle, pile line operation, special use fast etc.These unique characteristics make in various at home and abroad control system researchs of DSP and the algorithm application is more and more widely favored.TMS320C28x is the upgrading products of motor Digital Control.Can carry out the exploitation of DSP with high-level language.The research of the design of brshless DC motor and control at present is very active, and design realizes that a cover has extremely profound significance based on the brushless DC motor control system of DSP platform.Select the high-performance treatments chip TMS 320 F 2812 of TI company for use, be applicable to the brshless DC motor control of position sensor, adopt speed closed loop control simultaneously, make system controlled within the specific limits.
The present invention utilizes DSP as the control core, and design DSP master control system, brushless direct current motor drive circuit and charactron display circuit are write C language application software, brshless DC motor is realized the speed closed loop control of position sensor.Mainly comprise:
(1) selects suitable dsp chip, chip for driving, keyboard managing chip;
(2) design DSP master control borad comprises circuit such as outer extension memory, real-time clock, serial ports, button, indicator light;
(3) the design motor-drive circuit comprises circuit such as power source conversion, power tube inversion, electric current and voltage detection, hall signal shaping;
(4) design keyboard and display circuit comprises functions such as the external and charactron demonstration of keyboard;
(5) the DSP master control borad is realized that four laminates, motor-driven plate and keyboard and display circuit realization two-ply PCB make;
(6) make DSP master control borad, motor-driven plate and keyboard and display circuit material object;
(7) write motor speed closed-loop control program, realize the motor closed-loop control;
(8) three circuit boards are connected, coding can be set motor realization given rotating speed, and direction of rotation can be set, and can realize that to motor the people is functions such as start and stop, real-time speed demonstration.
Systemic-function of the present invention is controlling object with the brshless DC motor, uses the digitized processing of DSP technology realization to Electric Machine Control.Finish functions such as A/D conversion, digital PID (proportional-integral-differential) control, software commutation, PWM generation, capture interrupt.By regulating the operation of the pwm pulse control motor that DSP produced, change motor speed, direction of motor rotation etc. according to motor operating state.On charactron, show motor speed in real time, set given rotating speed, show information such as motor operating state.
The present invention proposes a kind of is the brushless DC motor control system scheme of main control chip based on DSP, select the high-performance treatments chip TMS 320 F 2812 of TI company for use, be applicable to the brshless DC motor control of position sensor, adopt traditional PID speed closed loop control simultaneously, make system controlled within the specific limits.
Hardware components has mainly designed DSP master control borad, brshless DC motor drive plate and keyboard and charactron display circuit.Wherein the DSP master control borad comprises modules such as memory extends out, button, indicator light, serial ports.The motor-driven plate comprises modules such as power tube driving, electric current and voltage detecting, hall signal collection, driving protection.Software section then adopts pid algorithm to realize the rotating speed of motor closed-loop control.Realized that button and keyboard switch, set functions such as motor speed to motor start and stop, rotation direction, and can be on charactron display reminding information and motor real-time speed
Below the present invention is specifically described:
1. the basic composition of brshless DC motor and operation principle
The embodiment of the invention based on the control device for brushless direct current machine of DSP as shown in Figure 2.It mainly is made up of motor body, position transducer and electronic switching circuit controller three parts.
(1) motor body
Motor body is structurally similar to permanent magnet synchronous motor, but does not have cage modle winding and other starting drive, and its stator winding is made generally in heterogeneous (three-phase, four phases, five do not wait mutually), and motor stator winding is three-phase.Rotor is made up of by certain number of pole-pairs permanent-magnet steel.
(2) rotor-position sensor
In brshless DC motor BLDCM, position transducer plays the mensuration rotor-position, and the effect of correct commutation information is provided for inverter.When stator winding a certain switched on mutually, the magnetic field interaction that the magnetic pole of this electric current and rotor permanent-magnet steel produced and produce torque, the rotation of driving rotor, by position transducer the rotor magnetic steel evolution is become the signal of telecommunication again, remove to control electronic switching circuit, thereby make each phase winding of stator by a graded conducting.
(3) controller
Controller comprises inversion/rectifier and driving thereof, control circuit.When doing the motor operation, inversion/rectifier will convert alternating current to and power to motor from the direct current of power supply, and the ac frequency of its output is controlled by rotor-position signal, keep synchronously with motor speed, therefore can not produce vibration or step-out.
2. the DSP control system of brushless DC motor
Control brshless DC motor and move according to given speed, the most direct method is exactly to introduce negative velocity feedback at input, utilizes the deviation of given speed and actual speed to control, and motor is operated under the given speed situation.
The DSP control system of the brshless DC motor of inventive embodiments of the present invention as shown in Figure 3, wherein, three hall signals of brshless DC motor are connected respectively to CAP1, CAP2 and the CAP3 port of DSP.System judges according to detected position signalling situation which interval motor is in, and calculates the motor speed of service according to the time difference that captures for twice.This speed after regulating through rotating speed PI then, is regulated the duty ratio that PWM exports as the negative feedback of velocity setting, and the ON time that can regulate inverter MOSFET like this according to motor ruuning situation makes the speed of motor satisfy the requirement of setting.In order to obtain good static and dynamic performance, adjuster generally adopts pi regulator, and the output of adjuster has amplitude limit, the maximum of power-limiting pipe output voltage.
3. PWM ripple control strategy
The present invention adopts PWM ripple control mode, by the duty cycle adjustment winding voltage mean value of adjustment PWM ripple, and then the size that can limit and regulate winding current indirectly, realize the adjusting of rotating speed.Adopt the PWM wave frequency to fix in the system, the mode that duty ratio is regulated according to velocity error is regulated the winding average voltage.
System inverter is the three-phase fully-controlled circuit, adopts step mode in twos, and any time manages up and down all respectively a conducting, gets final product so PWM only need control down the conducting of three power tubes of brachium pontis (or going up brachium pontis).
The PWM wave frequency is high more, and the average voltage that copped wave obtains is even more, and the pulsation of electric current is more little, but the raising of frequency increases circuit loss, and is also high more to the requirement of power tube, so the PWM frequency should be according to the suitable scope of actual selection.
4. DSP master control system design
(1) memory and DSP basic circuit design
Design+5V commentaries on classics+3.3V circuit, clock circuit uses the 30MHz external crystal to provide clock to F2812.The 30MHz incoming frequency is carried out 5 frequencys multiplication, the highest 150MHz dominant frequency that is operated in of the CPU of F2812.The expanded circuit of memory utilizes the IS61LV51216 chip to carry out the external SRAM expansion, and its capacity is 512K
16.
Carried out the expansion of EEPROM memory space with the 24LC16B chip.24LC16B is the eeprom chip that meets the I2C agreement of a 16K.EEPROM memory space expansion schematic diagram such as Fig. 4 of the embodiment of the invention.
(2) real-time clock
X1226 is RTC real-time clock+serial EEPROM, adopts serial i IC and Microprocessor Interface.Pass through I
2The C bus, F2812 can visit inner two parts of X1226: a part is clock/control register CCR, and another part is 512 * 8 memory cell of EEPROM.CCR comprises 29 eight bit registers, carries out addressing with 0x00 ~ 0x3F address; EEPROM then has 512
8 memory cell are carried out addressing with 0x000 ~ 0x1FF address.
X1226 is by CANTXA and two pin Simulation with I of CANRXA
2C sequential and F2812 carry out data communication.XNMI_XINT13 interrupts input as reporting to the police.The X1226 of the embodiment of the invention and the circuit connection diagram of F2812 are as shown in Figure 5.
Y2 is that frequency is the crystal of 32.768K among the figure.According to I
2C agreement regulation, data wire and clock line must on draw.As scheme R001 and R002.In actual applications, when needing real-time clock information, in the drawings 1N4148 not link connect the button battery of one+3V over the ground, to guarantee that behind system cut-off clock can continue operation, when the assurance system powered on once more, clock information was real-time.
(3) serial communication interface
Used a DB9 male connector, the SCI A of F2812 is configured to RS232 communication protocol by level transferring chip ICL3232EIBN-T, SCI B is configured to RS485 communication protocol by level transferring chip ISL83072EIBZA.Through being connected on the DB9 male by current-limiting resistance after the level conversion.
ICL3232EIBN-T is technical grade RS-232 signal transmission, receiving chip, operating voltage+3.0V～+ 5.5V.By external four bootstrap capacitors with the input Transistor-Transistor Logic level convert to-3V～-15V is a logical one ,+3V～+ 15V is the negative logic level of logical zero.ISL83072EIBZA is technical grade RS-485 and RS-422 differential data transmission chip, operating voltage is+and 3.0V～+ 3.6V.It uses a pair of twisted-pair feeder, and wherein a line is defined as A, and another line is defined as B.Generally, send positive level between driver A, the B+2 ~+6V, be a logic state, negative level-2V～-6V, be another logic state.
(4) button, toggle switch and LED lamp are connected
Be the practicality of enhanced system, specially operation and indicating devices such as button, toggle switch and LED lamp have been reserved in design.The button of the embodiment of the invention, toggle switch and LED lamp catenation principle figure be as shown in Figure 6:
Wherein, when button was pressed, key value was ' 0 ', was ' 1 ' when button unclamps.When toggle switch is allocated to ON, is worth and is ' 0 ', otherwise be ' 1 '.Light the LED lamp when being connected when the GPIO mouth exports ' 0 ', extinguish when exporting ' 1 ' with DSP.Wherein LED1 ~ LED4 is connected respectively on C6TPIP, C5TPIP, C4TPIP and four pins of TCLKINB of DSP.
(5) JTAG emulator interface
In the design with a spacing 2.54mm, the double contact pin connector J1 of 14 cores, as with the connector of standard JTAG simulator, by this interface F2812 is carried out the simulation hardware debugging.The interface definition of JTAG simulator is as shown in table 1:
Table 1
| |
1 | 2 |
 |
| |
3 | 4 | |
| 3P3 | |||
| 5 | 6 | – | |
| |
7 | 8 | |
| TCK | |||
| 9 | 10 | | |
| TCK | |||
| 11 | 12 | GND | |
| |
13 | 14 | EMU1 |
The JTAG emulator interface schematic diagram of the embodiment of the invention as shown in Figure 7.
(6) Electric Machine Control interface
TMS320F2812 is the Electric Machine Control optimal design specially, and two task managers are arranged, and can realize the control of two motors simultaneously.Characteristics according to designing requirement and Electric Machine Control, signal about Electric Machine Control among the task manager A is connected with drive plate with two connectors, one connects the Electric Machine Control power driving device to realize PWM output and state feedback, and another connects coding disk to realize motor speed measuring.
(a1) PWM1 ~ PWM6 on the F2812, T1PWEM_T1CMP, T2PWM_T2CMP, T1CTRIP_PDPINTA, T2CTRIP/EVASOC, TDIRA, TCLKINA, C1TRIP ~ C3TRIP, ADCINA0 ~ ADCINA7, ADCLO form a connector J4, CAP1_QEP1, CAP2_QEP2, CAP3_QEPI1,5V, GND form another connector J2, and both are used for controlling one 3 phase motor jointly.
J4 is the 2.54mm spacing, the double contact pin connector of 26 cores, and its interface definition is as shown in table 2:
Table 2
| PWM1(O) | 1 | 2 | PWM2(O) |
| PWM3(O) | 3 | 4 | PWM4(O) |
| PWM5(O) | 5 | 6 | PWM6(O) |
| T1PWM_T1CMP(O) | 7 | 8 | T2PWM_T2CMP(O) |
| T1CTRIP_PDPINTA(I) | 9 | 10 | T2CTRIP/EVASOC(I) |
| TDIRA(I) | 11 | 12 | TCLKINA(I) |
| C1TRIP(I) | 13 | 14 | C2TRIP(I) |
| C3TRIP(I) | 15 | 16 | GND |
| ADCLO(I) | 17 | 18 | ADCLO(I) |
| ADCINA7(I) | 19 | 20 | ADCINA6(I) |
| ADCINA5(I) | 21 | 22 | ADCINA4(I) |
| ADCINA3(I) | 23 | 24 | ADCINA2(I) |
| ADCINA1(I) | 25 | 26 | ADCINA0(I) |
Wherein: ADCLO is simulation ground, and GND is for digitally.
(a2) J2 is that hall signal is caught a mouthful definition, adopts the 2mm spacing, the single contact pin connector of 5 cores, and its definition is as shown in table 3:
Table 3
| 1 | 2 | 3 | 4 | 5 |
| +5V | CAP1_QEP1 | CAP2_QEP2 | CAP3_QEPI1 | GND |
(a3) keyboard and charactron display interface definition
Use a keyboard and the display management chip with IIC agreement to come supervisory keyboard and Presentation Function in the design, mainboard uses a 2mm spacing, and the single contact pin connector J6 of 5 cores carries out transfer of data with it, and its definition is as shown in table 4:
Table 4
| 1 | 2 | 3 | 4 | 5 |
| +3.3V | CAP6_QEP2 | CAP5_QEP4 | CAP4_QEP3 | GND |
The design document of DSP master control system comprises following two parts:
(a1) circuit theory
DSP master control system schematic diagram divides five parts to form, and is respectively general purpose I/O interface, memory expansion, PWM and AD part, serial port circuit and power-switching circuit, and its schematic diagram is respectively shown in Fig. 8 ~ 12.
(a2) printed circuit board diagram
Because the DSP operating frequency is 150MHz, belongs to high speed signal, is the antijamming capability of intensifier circuit, for DSP master control borad PCB has realized the design of four laminates.Each layer definition is respectively from top to bottom: signals layer, bus plane, stratum, signals layer.
5. brushless direct current motor drive circuit
The embodiment of the invention selects for use the brshless DC motor of 45ZWN24-25 model as controlled motor, has designed the brshless DC motor speed-adjusting and control system of a cover based on the speed closed loop position sensor of DSP.The schematic diagram of the brshless DC motor speed-adjusting and control system of the embodiment of the invention as shown in figure 13.
Control system mainly partly is made up of power tube drive circuit, three phase full bridge inverter circuit, current/voltage testing circuit, position detecting circuit, DSP and peripheral circuit thereof etc.System adopts conducting in twos, the PWM modulation system of three-phase six states, by the rotor-position signal that position transducer obtains, send into the seizure port of DSP after the processing such as process filtering, shaping, according to the commutation rule, judge by program, the correct pwm signal of control PWM module output, after drive circuit amplifies, corresponding power tube break-make in the control three phase full bridge inverter circuit, realization is to the correct electricity of giving of motor, the normal operation of control motor.The current signal of electric current, voltage detecting circuit feedback is judged overcurrent, overvoltage condition by program after the A/D conversion, and makes the protection action.Programming is by changing the duty ratio of PWM ripple, and the electric current of real-time regulated stator winding reaches the purpose that speed closed loop is regulated.
Three phase full bridge in the present embodiment drives and constitutes three-phase six arm fully controlled bridges by six power tubes, the three phase full bridge inverter circuit schematic diagram of the embodiment of the invention as shown in figure 14, adopt in twos step mode or three or three energising modes to work, drive three phase windings, though the three phase full bridge inversion drives the quantity that has increased switching tube, but increased torque output, and torque ripple is significantly less than the three-phase half-bridge driven, and starting characteristic and low-speed stability are all better, and three phase full bridge can be realized the four quadrant running of motor, be more satisfactory drive scheme, so the design select this scheme for use.
VT1-VT6 among Figure 14 represents six power field effect pipes (MOSFET) respectively.The gate pole triggering signal of six MOSFET is subjected to TMS320F2812(DSP) six road PWM ripples control of chip output, break-make is that the square wave alternating-current electricity is given the power supply of brshless DC motor three phase windings with dc inverter according to certain rules.But the PWM triggering signal that dsp chip provided is weak (maximum output voltage is 3.3V), be not enough to the reliable break-make of guaranteed output pipe, consider the needs that strong and weak electricity is isolated in addition, therefore must between the grid of the PWM of dsp chip module output port and power tube, isolation, drive circuit be set.The buffer circuit schematic diagram of the embodiment of the invention as shown in figure 15.
Used 4 HCPL-063A type photoelectrical couplers, carried out the isolation of DSP and drive circuit, wherein 3 are used for PWM1 ~ PWM6 is isolated, and 1 is used for isolating driving guard signal input DSP.Chip for driving is selected the IR2136 of International Rectifier company for use, this chip is the three-phase inverter driver IC, is applicable to that the IR2136 of the variable speed electric motors, particularly driver series embodiment of the invention drives three-phase six arm bridge circuit connection layouts as shown in figure 16.
The motor speed testing circuit comprises following a few part:
Use is equipped with the permanent-magnet brushless DC electric machine of position transducer, the Hall element that directly adopts the motor outfit is as position transducer, can handle calculating to the position pulse signal that Hall element produces, draw the rotating speed of current brshless DC motor, can also draw it simultaneously and turn to.Relatively Chang Yong pulse velocimetry has M method, T method and M/T method.The M method is our usually said frequency measurement method, and its basic principle is to measure the coded pulse number in special time, relatively is applicable to the tachometric survey that motor speed is higher; And the T method usually said survey periodic method that is us, its basic principle is the cycle of pulse of locating, relatively be applicable to the tachometric survey that motor speed is lower, the tachometric survey scope of these two kinds of tachometric survey schemes is not very big, will produce bigger error when exceeding its measuring range.The M/T method combines the advantage of M method and T method, and its basic principle is sometime
In, respectively to the tachometer pulse number
With the clock pulse number
Advance
The row counting, thus can obtain motor speed.That is:
Its
In,
Be the frequency of clock pulse,
Be the motor pulse number that the tachometer pulse generator sends that rotates a circle.In conjunction with above-mentioned analysis,, after handling through suitable shaping, its rotor-position sensor output pulse can be used as the tachometer pulse (the low speed occasion can be passed through process of frequency multiplication earlier to improve its rate accuracy) of M/T method for the brshless DC motor drive system.Therefore, adopt the M/T method to realize that the brshless DC motor Digital Speed Testing is feasible.The design adopts the T method to test the speed because speed is lower.The schematic diagram that capacitance-resistance filter is carried out in Hall output of the embodiment of the invention as shown in figure 17.
The sampling of electric current is mainly used to functions such as overcurrent protection in the design, the current detection circuit schematic diagram of the embodiment of the invention as shown in figure 18:
The mode of AD sampling is adopted in the detection of DC bus-bar voltage, and DC bus-bar voltage is sent into AD then by electric resistance partial pressure after isolating, and just can know the size of busbar voltage at this moment by the AD sampling, is used for carrying out overvoltage or under-voltage detection etc.The DC bus-bar voltage testing circuit schematic diagram of the embodiment of the invention as shown in figure 19.
PV+ is input direct current 24V positive pole among the figure, and promptly DC bus-bar voltage behind linear isolation amplifier HCNR200, is sent into the AD conversion mouth of DSP.Its computing formula is as follows:
AD0=K3
(formula 5.1)
AD0=1 will be got in each device parameters substitution formula 5.1
,
Be external motor power supply+24V.
For the driving of motor, system's input voltage is 24V, and the voltage that uses in the driving also has+5V ,+15V ,-15V.These power supplys can obtain through power supply chip, utilize the TPS5430 power supply chip in the design, can be input as+5.5V ~+voltage transition of 36V is the voltage of+5V.Utilize the TPS65130 power supply chip, can with obtain+the 5V power source transition for+15V and-15V voltage.
6. keyboard and display circuit design
6.1 keyboard and charactron displaying principle figure
The keyboard of the embodiment of the invention and charactron display circuit schematic diagram are as shown in figure 20.In Figure 20, U1 is the ZLG7290B chip.In order to make power supply more stable, at the electrochemical capacitor C1 of Vcc to access 100uF between the GND.J1 is the interface of ZLG7290B and DSP, according to I
2The requirement of C bus protocol must add pull-up resistor respectively on holding wire SCL and the SDA, and its representative value is 10K Ω.The common value 4MHz of crystal oscillator Y1, the common value of matching capacitance C4 and C5 is about 10pF, and value is 12PF in the design.Reset signal is that low level is effective, and external simple RC reset circuit also can be by directly dragging down
The method of pin resets.The charactron that chip require to use must be common cloudy formula, can not directly use common positive formula, and selecting model for use is two 4 combined charactrons of LG5641AH, forms complete 8 jointly.Because charactron will consume bigger electric current when work, the use resistance is that R4～R11 current-limiting resistance of 270 Ω carries out current limliting.
The ZLG7290B chip can be supported maximum 64 buttons, and wherein 56 buttons are common key-press, and 8 is function key.The resistance of keyboard resistance R12～R19 is selected 3.3K Ω for use.Charactron scan line and keyboard scan line are shared, take place in order to prevent the situation that button disturbs charactron to show, have used diode D1～D8 in the design.Also be 4 specially
4 keyboards have increased a 8PIN interface J4.
6.2 keyboard and display routine design
When button, start the button interrupt routine, the button interrupt service routine is responsible for key flag bit is carried out mark.CAP4 with task manager EVB in the program is configured to interrupt mode, interrupts receiving as button, and GPIOB9 is as the I2C data wire, and GPIOB10 is as I
2The C clock line.The keyboard flow for displaying of the embodiment of the invention as shown in figure 21.
For example: adopt 8 charactrons of ZLG7290B chip drives scanning in the programming, write the numeral that will show, show numeral 0 ~ 7 to the corresponding data buffering area of each charactron.Programming is as follows.
#define DpRam 0x10 // display buffer register address
void?main(void)
{ char?xs;
int?k;
InitSysCtrl (); // phase-locked loop and house dog definition enable the peripheral hardware clock
DINT; // forbid that CPU interrupts
InitPieCtrl (); // initialization PIE register, the PIE interrupt inhibit,
Flag bit is removed
IER=0x0000; // interruption enabler flags is 0
IFR=0x0000; // removing CPU interrupt identification
InitPieVectTable (); // initialization PIE vector table
Init_xint1 (); 1 initialization of // external interrupt
asm("?nop?");
Iopb_init (); // initialization GPIOB
asm("?nop?");
Send7290(0x70,0x0d,0x07);
//ZLG7290 is 70H from the address, and the scan bits number register is 0DH, and figure place showing is 1～8
for(k=0;k<=7;k++)
{xs=shuzi[k];
Send7290(0x70,DpRam+k,xs);
}
PieCtrlRegs.PIEIER1.all?=?M_INT4;
IER?|=?M_INT1?;
EINT;
ERTM;
while(1);
}
7. brushless DC motor control system
7.1 main program design
The Control Software of system mainly is made of two parts: main program and interrupt service routine.Main program comprises the initialization of system and each register and interrupt logic is set.Wherein the setting of each control register of system clock, house dog, I/O port, system break, task manager and interruption etc., the setting of the initialization of A/D modular converter and the initialization of each variable and background register are mainly finished in initialization.Whether the monitoring button is effective in real time in the main program, if button is effective, carries out the motion state that function is switched, changed motor according to effective button.The main program flow of the embodiment of the invention as shown in figure 22.
7.2 the hall signal waveform during the motor operation
When the motor of the embodiment of the invention operates in and sets rotating speed and be 1500r/min, record its hall signal waveform as shown in figure 23 with oscilloscope.Figure 24 is the time measurement waveform that carries out after Figure 23 waveform is amplified.
As Figure 24 is when setting rotating speed and be 1500r/min, records the waveform of CAP1, CAP2, CAP3 mouth with oscilloscope, and time delay is about 3.35ms between two CAP mouths as can be seen from Figure, and promptly motor carries out a commutation every 3.35ms.
Can draw motor speed thus is Speed=60*1000/(3.35*6*2)=1493r/min.Error is (1500-1493)/1500=0.5%, meets substantially.
7.3 different operating result during the motor operation
When program was normally moved, the operation result under different operating was as follows:
For example, display system preset rotation speed when program begins, preset rotation speed is 1500 in the present embodiment; Press S4 button on the DSP master control borad this moment, can starter motor, in the motor rotary course, charactron shows the real-time speed value of motor rotation, is 1533 in the present embodiment.
In the motor operation course, press the S4 button, stop motor and rotate, charactron shows " stop " printed words of flicker.Press the S5 button on the DSP master control borad, can enter the speed setting state, charactron shows " set " printed words.
After entering set condition, can carry out motor speed by keyboard and set, for example this setting rotating speed is 1000.Set the rotating speed input and finish, press " F " letter on the lower keyboard, confirm speed setting, set successfully after, charactron demonstration " set-1000 " printed words.
After the speed setting success, press the S3 button on the DSP master control borad, can check, the new rotating speed of setting shows when for example checking " 1000 ".Press the S4 button on the DSP master control borad, starter motor moves under the rotating speed of new settings.
The control device for brushless direct current machine based on DSP of the embodiment of the invention utilizes the high-performance data disposal ability and the abundant Peripheral Interface of TMS320F2812 chip, has realized that a cover is applicable to the speed closed loop control system of brshless DC motor based on DSP.Designed brshless DC motor closed-loop drive program and keyboard hypervisor, can be by pressing the key assignments rotating speed.This device interference free performance is better, and system works is stable.
Claims (7)
1. based on the control device for brushless direct current machine of DSP, it is characterized in that described device comprises position transducer, dsp controller and driving and inverter circuit;
Described position transducer is installed on the stator of brshless DC motor, is used to detect the on-stream positional information of rotor of described brshless DC motor, and described positional information is sent to described dsp controller;
Described dsp controller is used for position adjacent information that sends according to described position transducer and the time of obtaining described adjacent position information, obtains the real-time rotating speed of described brshless DC motor; And described real-time rotating speed and predefined rotating speed of target compared, transmit control signal to described driving and inverter circuit according to comparative result;
Described driving and inverter circuit are used for the control signal according to described dsp controller, and the rotating speed and the direction of rotation of described brshless DC motor are controlled.
2. the control device for brushless direct current machine based on DSP as claimed in claim 1 is characterized in that described device also comprises keyboard circuit, be used for the startup of described brshless DC motor and stop, the switching of direction of rotation and the setting of rotating speed; Described keyboard circuit comprises keyboard drive chip and a plurality of button, and described a plurality of buttons contain function button and common key-press.
3. the control device for brushless direct current machine based on DSP as claimed in claim 2 is characterized in that described device also comprises the charactron display circuit, is used for the real-time speed of display reminding information and described brshless DC motor on charactron; Described charactron display circuit comprises charactron that charactron chip for driving, a plurality of altogether cloudy formula connect and the current-limiting resistance of connecting with each charactron.
4. the control device for brushless direct current machine based on DSP as claimed in claim 3; it is characterized in that; described device also comprises testing circuit; be used to detect electric current and voltage that described driving and inverter circuit output to described brshless DC motor; described dsp controller carries out overvoltage protection and overcurrent protection according to detected electric current of described testing circuit and voltage to described brshless DC motor.
5. the control device for brushless direct current machine based on DSP as claimed in claim 4, it is characterized in that, described driving and inverter circuit comprise by six power tubes and constitute three-phase six arm fully controlled bridges, adopt step mode or three or three energising modes in twos, drive three phase windings of described brshless DC motor.
6. as each described control device for brushless direct current machine of claim 1 to 5, it is characterized in that described dsp controller comprises the PWM module, be used for generation and send pwm control signal to described driving and inverter circuit based on DSP; And, the duty ratio of described pwm control signal is adjusted according to the real-time rotating speed of described brshless DC motor and the comparative result of predefined rotating speed of target.
7. the control device for brushless direct current machine based on DSP as claimed in claim 6, it is characterized in that, described device also comprises buffer circuit, described buffer circuit comprises a plurality of photoelectrical couplers, be arranged between described PWM module and described driving and the inverter circuit, be used for that described PWM module and described driving and inverter circuit are carried out electricity and isolate.
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| CN2011102565991A CN102291065A (en) | 2011-09-01 | 2011-09-01 | Brushless direct current motor control device based on DSP (Digital Signal Processor) |
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Application publication date: 20111221 |