CN102355181A - Double-channel redundant brushless direct current motor driver and relay protection method thereof - Google Patents
Double-channel redundant brushless direct current motor driver and relay protection method thereof Download PDFInfo
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Abstract
本发明涉及一种双通道冗余无刷直流电机驱动器及其继电器保护方法，该发明包括1个控制电路、2个功率放大电路、2个逆变桥主电路、4个相电流检测电路、2个过流保护电路、2个继电保护电路；其中控制电路协调各部分的工作以及控制电机的启动、停止、调速及反向等动作，控制对象是双余度无刷直流电机；相电流检测电路主要起实时检测电机相电流的作用，经过处理后输入到控制器，对电机转速进行反馈调节；过流保护电路是在系统发生故障时能及时的对故障进行诊断及保护；继电保护电路是系统的关键部分，它利用微弱的控制信号，起到控制大电流负载的作用，能在主电路发生故障时，第一时间切断供电，提高了系统整体的可靠性及安全性。
The invention relates to a dual-channel redundant brushless DC motor driver and its relay protection method. The invention includes 1 control circuit, 2 power amplifier circuits, 2 inverter bridge main circuits, 4 phase current detection circuits, 2 One overcurrent protection circuit and two relay protection circuits; the control circuit coordinates the work of various parts and controls the start, stop, speed regulation and reverse actions of the motor, and the control object is a dual-redundancy brushless DC motor; the phase current The detection circuit mainly plays the role of real-time detection of the phase current of the motor, which is input to the controller after processing to feedback and adjust the motor speed; the overcurrent protection circuit can diagnose and protect the fault in time when the system fails; the relay protection The circuit is the key part of the system. It uses a weak control signal to control the large current load. When the main circuit fails, the power supply can be cut off immediately, which improves the overall reliability and safety of the system.
Description
技术领域 technical field
本发明涉及一种舵机用双通道冗余无刷直流电机驱动器及其继电器保护方案，属于电机技术领域。The invention relates to a dual-channel redundant brushless DC motor driver for steering gear and a relay protection scheme thereof, belonging to the technical field of motors.
背景技术 Background technique
伺服作动器是飞行控制系统的执行机构，亦称舵机。它按照飞控计算机的输出指令对飞机的各操纵面进行直接(复合型舵机)或间接(轴助型舵机)控制。它由控制器，作动器等组成。按使用能源可分为：机电、电液和气动舵机三种；按被控物理量可分：位置、速度和力舵机三种。目前在飞控系统中常用的是位置式电液伺服舵机，电动式伺服舵机目前也得到迅速发展。但是电动式伺服舵机与传统的单纯机械式舵机相比，可靠性略低，当电路发生故障时，将会影响舵机的使用，危害航空安全，因此设计一个具有高可靠性的电机驱动系统是非常有必要的。The servo actuator is the executive mechanism of the flight control system, also known as the steering gear. It performs direct (compound steering gear) or indirect (shaft-assisted steering gear) control on the control surfaces of the aircraft according to the output instructions of the flight control computer. It consists of controllers, actuators, etc. According to the energy used, it can be divided into three types: electromechanical, electro-hydraulic and pneumatic steering gear; according to the controlled physical quantity, it can be divided into three types: position, speed and force steering gear. At present, the position type electro-hydraulic servo steering gear is commonly used in the flight control system, and the electric servo steering gear is also developing rapidly. However, compared with the traditional purely mechanical steering gear, the reliability of the electric servo steering gear is slightly lower. When the circuit fails, it will affect the use of the steering gear and endanger aviation safety. Therefore, a motor drive with high reliability is designed. system is very necessary.
目前，电动式伺服舵机主要采用无刷直流电机，无刷直流电机采用高性能的稀土永磁材料制造，具有高速度，高效率，高动态响应，高热容量和高可靠性等优点。同时还具有低噪声和长寿命等特点。是一种新发展起来的新型电机，目前已用于多种领域，尤其在航空舵机中应用广泛。At present, electric servo steering gear mainly adopts brushless DC motor, which is made of high-performance rare earth permanent magnet material, which has the advantages of high speed, high efficiency, high dynamic response, high heat capacity and high reliability. At the same time, it also has the characteristics of low noise and long life. It is a newly developed new type of motor, which has been used in many fields, especially in aviation steering gear.
固态继电器工作可靠，寿命长，无噪声，无火花，无电磁干扰，开关速度快，抗干扰能力强，且体积小，耐冲击，耐振荡，防爆、防潮、防腐蚀、能与TTL、DTL、HTL等逻辑电路兼容，以微小的控制信号达到直接驱动大电流负载。主要不足是存在通态压降(需相应散热措施)，有断态漏电流，交直流不能通用，触点组数少，另外过电流、过电压及电压上升率、电流上升率等指标差。Solid state relays are reliable in operation, long in life, no noise, no spark, no electromagnetic interference, fast switching speed, strong anti-interference ability, small size, impact resistance, vibration resistance, explosion-proof, moisture-proof, corrosion-proof, and can be compatible with TTL, DTL, Compatible with logic circuits such as HTL, it can directly drive high-current loads with tiny control signals. The main disadvantages are the presence of on-state voltage drop (requires corresponding heat dissipation measures), off-state leakage current, AC and DC cannot be used universally, the number of contact groups is small, and indicators such as overcurrent, overvoltage, voltage rise rate, and current rise rate are poor.
发明内容 Contents of the invention
本发明主要针对舵机用无刷直流电机驱动器可靠性及继电保护等方面存在的问题，克服其不足之处，从提高舵机用无刷直流电机驱动器可靠性和安全性的角度出发，研制一种舵机用双通道冗余无刷直流电机驱动器及其继电器保护方案。The present invention mainly aims at the problems existing in the reliability and relay protection of the brushless DC motor driver for the steering gear, overcomes its shortcomings, and develops from the perspective of improving the reliability and safety of the brushless DC motor driver for the steering gear. A dual-channel redundant brushless DC motor driver for steering gear and its relay protection scheme.
本发明提供一种舵机用双通道冗余无刷直流电机驱动器，包括1个控制电路，2个功率放大电路即下述功率放大电路A、功率放大电路B，2个逆变桥主电路即下述逆变桥主电路A、逆变桥主电路B，4个相电流检测电路即下述第一电流检测电路、第二电流检测电路、第三电流检测电路、第四电流检测电路，2个过流保护电路即下述过流保护电路A、过流保护电路B，2个继电保护电路即下述继电保护电路A、继电保护电路B；The present invention provides a dual-channel redundant brushless DC motor driver for steering gear, which includes a control circuit, two power amplifier circuits, namely the following power amplifier circuit A and power amplifier circuit B, and two inverter bridge main circuits, namely The following inverter bridge main circuit A, inverter bridge main circuit B, 4 phase current detection circuits are the following first current detection circuit, second current detection circuit, third current detection circuit, fourth current detection circuit, 2 One overcurrent protection circuit is the following overcurrent protection circuit A and overcurrent protection circuit B, and two relay protection circuits are the following relay protection circuit A and relay protection circuit B;
其中，功率放大电路A和功率放大电路B的输入端分别与控制电路的控制端口相连；功率放大电路A的输出端与逆变桥主电路A的输入端相连，功率放大电路B的输出端与逆变桥主电路B的输入端相连；逆变桥主电路A和逆变桥主电路B的输出端分别连接到双余度无刷直流电机的两套绕组上即下述无刷直流电机A侧和B侧三相绕组；第一电流检测电路和第二电流检测电路的输入端连接无刷直流电机A侧三相中的任意两相上，输出端分别连接控制电路的控制端口；第三电流检测电路和第四电流检测电路的输入端连接无刷直流电机B侧三相中的任意两相上；输出端分别连接控制电路的控制端口；过流保护电路A的输入端连接无刷直流电机A侧三相中剩余的一相上，输出端连接控制电路的控制端口上；过流保护电路B的输入端连接无刷直流电机B侧三相中剩余的一相上，输出端连接控制电路的控制端口上；继电保护电路A串联到逆变桥主电路A的供电电路中，控制端连接到控制电路的控制端口上；继电保护电路B串联到逆变桥主电路B的供电电路中，控制端连接到控制电路的控制端口上；Wherein, the input terminals of the power amplifier circuit A and the power amplifier circuit B are respectively connected with the control ports of the control circuit; the output terminal of the power amplifier circuit A is connected with the input terminal of the inverter bridge main circuit A, and the output terminal of the power amplifier circuit B is connected with the The input terminals of the inverter bridge main circuit B are connected; the output terminals of the inverter bridge main circuit A and the inverter bridge main circuit B are respectively connected to the two sets of windings of the double-redundancy brushless DC motor, that is, the following brushless DC motor A side and B-side three-phase windings; the input terminals of the first current detection circuit and the second current detection circuit are connected to any two phases of the three phases on the A side of the brushless DC motor, and the output terminals are respectively connected to the control ports of the control circuit; the third The input terminals of the current detection circuit and the fourth current detection circuit are connected to any two phases of the three phases on the side B of the brushless DC motor; the output terminals are respectively connected to the control ports of the control circuit; the input terminals of the overcurrent protection circuit A are connected to the brushless DC motor Connect the output end to the control port of the control circuit on the remaining one of the three phases on the motor A side; connect the input end of the overcurrent protection circuit B to the remaining one of the three phases on the B side of the brushless DC motor, and connect the output end to the control port. The control port of the circuit; the relay protection circuit A is connected in series to the power supply circuit of the inverter bridge main circuit A, and the control terminal is connected to the control port of the control circuit; the relay protection circuit B is connected in series to the power supply circuit of the inverter bridge main circuit B In the circuit, the control terminal is connected to the control port of the control circuit;
控制电路是整个系统的指挥控制中心，协调各部分的工作以及控制电机的启动、停止、调速及反向等动作，控制对象是双余度无刷直流电机，即在一个电机定子内嵌放两套绕组，起到提高可靠性的目的；功率放大电路的作用是将控制器输出的控制信号隔离、放大，增加其驱动能力；逆变桥主电路主要包含功率开关器件，按顺序导通保证电机的正常工作；相电流检测电路主要起实时检测电机相电流的作用，经过处理后输入到控制器，对电机转速进行反馈调节；过流保护电路是在系统发生故障时能及时的对故障进行诊断及保护；继电保护电路是系统的关键部分，它利用微弱的控制信号，起到控制大电流负载的作用，能在主电路发生故障时，第一时间切断供电，以防对系统造成更大程度的损害，提高了系统整体的可靠性及安全性。The control circuit is the command and control center of the entire system, coordinating the work of various parts and controlling the start, stop, speed regulation and reverse actions of the motor. The control object is a double-redundant brushless DC motor, that is, a Two sets of windings serve the purpose of improving reliability; the function of the power amplifier circuit is to isolate and amplify the control signal output by the controller to increase its driving capability; the main circuit of the inverter bridge mainly includes power switching devices, which are turned on in sequence to ensure The normal operation of the motor; the phase current detection circuit mainly plays the role of real-time detection of the phase current of the motor, which is input to the controller after processing, and feedback and adjusts the motor speed; the overcurrent protection circuit can timely detect the fault when the system fails. Diagnosis and protection: The relay protection circuit is a key part of the system. It uses a weak control signal to control the large current load. When the main circuit fails, it can cut off the power supply at the first time to prevent further damage to the system. The damage to a large extent improves the overall reliability and security of the system.
所述的双通道冗余无刷直流电机驱动器的继电器保护方法，其特征在于：The relay protection method of the dual-channel redundant brushless DC motor driver is characterized in that:
共有3种运行方式；第一种是余度A单独运行方式，即控制电路发出控制指令，经输出到功率放大电路A，功率放大电路将信号放大后送给逆变桥主电路A，然后连接双余度无刷直流电机的A侧三相绕组，控制电机的运行；第一电流检测电路和第二电流检测电路分别采集A侧余度三相中任意两相的相电流，然后输送回控制电路，经过转换后起到控制电机转速的目的；过流保护电路A则采集A侧余度三相中剩余一相的相电流，然后输送到控制单元，起到过流保护的作用；继电保护电路A起开关的作用，当逆变桥主电路发生故障时，能将供电电源切断，防止进一步损坏；当A余度发生故障时，控制电路发出指令，切断A余度电路，同时启动B余度电路，保证系统的正常运行；There are 3 operation modes in total; the first is the single operation mode of redundancy A, that is, the control circuit sends a control command, which is output to the power amplifier circuit A, and the power amplifier circuit amplifies the signal and sends it to the inverter bridge main circuit A, and then connects The A-side three-phase winding of the dual-redundancy brushless DC motor controls the operation of the motor; the first current detection circuit and the second current detection circuit respectively collect the phase currents of any two phases in the A-side redundancy three-phase, and then send them back to the control The circuit, after conversion, plays the purpose of controlling the motor speed; the overcurrent protection circuit A collects the phase current of the remaining one of the three redundant phases on the A side, and then sends it to the control unit to play the role of overcurrent protection; the relay The protection circuit A acts as a switch. When the main circuit of the inverter bridge fails, it can cut off the power supply to prevent further damage; when the A redundancy fails, the control circuit sends an instruction to cut off the A redundancy circuit and start the B at the same time. Redundant circuits to ensure the normal operation of the system;
第二种是余度B单独运行方式，即控制电路发出控制指令，经IO2输出到功率放大电路B，功率放大电路将信号放大后送给逆变桥主电路B，然后连接双余度无刷直流电机的B侧三相绕组，控制电机的运行；第三电流检测电路和第四电流检测电路分别采集B侧余度三相中任意两相的相电流，然后输送回控制电路，经过转换后起到控制电机转速的目的；过流保护电路B则采集B侧余度三相中剩余一相的相电流，然后输送到控制单元，起到过流保护的作用；继电保护电路B起开关的作用，当逆变桥主电路发生故障时，能将供电电源切断，防止进一步损坏；当B余度发生故障时，控制电路发出指令，切断B余度电路，同时启动A余度电路，保证系统的正常运行；The second is the independent operation mode of redundancy B, that is, the control circuit sends a control command, which is output to the power amplifier circuit B through IO2, and the power amplifier circuit amplifies the signal and sends it to the main circuit B of the inverter bridge, and then connects the dual redundancy brushless The B-side three-phase winding of the DC motor controls the operation of the motor; the third current detection circuit and the fourth current detection circuit respectively collect the phase currents of any two phases in the B-side redundant three-phase, and then send them back to the control circuit, after conversion It plays the purpose of controlling the motor speed; the overcurrent protection circuit B collects the phase current of the remaining one of the three redundant phases on the B side, and then sends it to the control unit to play the role of overcurrent protection; the relay protection circuit B acts as a switch When the main circuit of the inverter bridge fails, the power supply can be cut off to prevent further damage; when the B redundancy fails, the control circuit sends an instruction to cut off the B redundancy circuit and start the A redundancy circuit at the same time to ensure the normal operation of the system;
第三种是双余度共同运行方式，即上面所提到的两种运行方式同时运行，每一余度承担电机一半的负载，当其中任意一个余度发生故障时，控制电路自动切断该余度电路，另一余度电路不受影响，承担整个电机的负载。The third is the dual-redundancy joint operation mode, that is, the above-mentioned two operation modes operate at the same time, and each redundancy bears half of the load of the motor. When any one of the redundancy fails, the control circuit automatically cuts off the redundancy. One degree circuit, the other degree circuit is not affected, and bears the load of the entire motor.
本发明提高了舵机用无刷直流电机驱动器可靠性和安全性。The invention improves the reliability and safety of the brushless DC motor driver for steering gear.
附图说明 Description of drawings
图1是本发明的整体结构框图。Fig. 1 is the overall structural block diagram of the present invention.
图2是A余度继电保护电路。Figure 2 is the A redundancy relay protection circuit.
图3是B余度继电保护电路。Figure 3 is a B redundancy relay protection circuit.
图4是A余度单独运行结构图。Fig. 4 is a structure diagram of the independent operation of A redundancy.
图5是B余度单独运行结构图。Fig. 5 is a structure diagram of independent operation of B redundancy.
图6是双余度同时工作结构图。Figure 6 is a structural diagram of dual redundant simultaneous work.
图中具体标号如下：The specific labels in the figure are as follows:
1.过流保护电路A1. Overcurrent protection circuit A
2.过流保护电路B2. Overcurrent protection circuit B
3.双余度无刷直流电机3. Double redundancy brushless DC motor
4.逆变桥主电路A4. Inverter bridge main circuit A
5.逆变桥主电路B5. Inverter bridge main circuit B
6.功率放大电路A6. Power amplifier circuit A
7.功率放大电路B7. Power amplifier circuit B
8.控制电路8. Control circuit
9.第一电流检测电路9. The first current detection circuit
10.第二电流检测电路10. The second current detection circuit
11.继电保护电路A11. Relay protection circuit A
12.继电保护电路B12. Relay protection circuit B
13.第三电流检测电路13. The third current detection circuit
14.第四电流检测电路14. The fourth current detection circuit
15.余度A15. Redundancy A
16.余度B16. Redundancy B
17.光伏隔离器PVI1050NS U1开关电路17. Photovoltaic isolator PVI1050NS U1 switch circuit
18.光伏隔离器PVI1050NS U118. Photovoltaic isolator PVI1050NS U1
19.逆变桥主电路A19. Inverter bridge main circuit A
20.光伏隔离器PVI1050NS U2开关电路20. Photovoltaic isolator PVI1050NS U2 switch circuit
21.光伏隔离器PVI1050NS U221. Photovoltaic isolator PVI1050NS U2
22.逆变桥主电路B22. Inverter bridge main circuit B
K1、K2.继电保护电路的控制端K 1 , K 2 . The control terminal of the relay protection circuit
DC1、DC3.光伏隔离器PVI1050NS的输入端DC1, DC3. Input terminal of photovoltaic isolator PVI1050NS
DC2、DC4.逆变桥主电路A、B的供电电源DC2, DC4. The power supply of inverter bridge main circuit A, B
Q2、Q4.N沟道POWER mos管Q 2 , Q 4 . N channel POWER mos tube
Q1、Q3.NPN型三极管Q 1 , Q 3 .NPN transistor
R1、R2、R3、R4、R5、R6.电阻R 1 , R 2 , R 3 , R 4 , R 5 , R 6 . Resistance
U1、U2.光伏隔离器PVI1050NSU1, U2. Photovoltaic isolator PVI1050NS
具体实施方式 Detailed ways
根据附图叙述本发明的具体实施方式。本发明的一种舵机用双通道冗余无刷直流电机驱动器及其继电器保护方案较佳的实施方式包括1个控制电路、2个功率放大电路(功率放大电路A、功率放大电路B)、2个逆变桥主电路(逆变桥主电路A、逆变桥主电路B)、4个相电流检测电路(第一电流检测电路、第二电流检测电路、第三电流检测电路、第四电流检测电路)、2个过流保护电路(过流保护电路A、过流保护电路B)、2个继电保护电路(继电保护电路A、继电保护电路B)；其中，功率放大电路A和功率放大电路B的输入端分别与控制电路的控制端口IO1和IO2相连；功率放大电路A的输出端与逆变桥主电路A的输入端相连，功率放大电路B的输出端与逆变桥主电路B的输入端相连；逆变桥主电路A和逆变桥主电路B的输出端分别连接到双余度无刷直流电机的两套绕组上；第一电流检测电路和第二电流检测电路的输入端连接无刷直流电机A侧三相中的任意两相上，输出端分别连接控制电路的控制端口IO3和IO4；第三电流检测电路和第四电流检测电路的输入端连接无刷直流电机B侧三相中的任意两相上；输出端分别连接控制电路的控制端口IO5和IO6；过流保护电路A的输入端连接无刷直流电机A侧三相中剩余的一相上，输出端连接控制电路的控制端口IO7上；过流保护电路B的输入端连接无刷直流电机B侧三相中剩余的一相上，输出端连接控制电路的控制端口IO8上；继电保护电路A串联到逆变桥主电路A的供电电路中，控制端连接到控制电路的控制端口IO9上；继电保护电路B串联到逆变桥主电路B的供电电路中，控制端连接到控制电路的控制端口IO10上。如图一连接所示。The specific embodiment of the present invention will be described according to the accompanying drawings. A preferred embodiment of a dual-channel redundant brushless DC motor driver for steering gear and its relay protection scheme of the present invention includes 1 control circuit, 2 power amplifier circuits (power amplifier circuit A, power amplifier circuit B), 2 inverter bridge main circuits (inverter bridge main circuit A, inverter bridge main circuit B), 4 phase current detection circuits (first current detection circuit, second current detection circuit, third current detection circuit, fourth current detection circuit current detection circuit), 2 overcurrent protection circuits (overcurrent protection circuit A, overcurrent protection circuit B), 2 relay protection circuits (relay protection circuit A, relay protection circuit B); among them, the power amplifier circuit The input terminals of A and power amplifying circuit B are connected with the control ports IO1 and IO2 of the control circuit respectively; the output terminal of power amplifying circuit A is connected with the input terminal of inverter bridge main circuit A, and the output terminal of power amplifying circuit B is connected with the inverter The input ends of the bridge main circuit B are connected; the output ends of the inverter bridge main circuit A and the inverter bridge main circuit B are respectively connected to the two sets of windings of the double-redundancy brushless DC motor; the first current detection circuit and the second current detection circuit The input end of the detection circuit is connected to any two phases of the three phases on the A side of the brushless DC motor, and the output end is respectively connected to the control ports IO3 and IO4 of the control circuit; the input ends of the third current detection circuit and the fourth current detection circuit are connected to Any two of the three phases on the B side of the brushed DC motor; the output terminals are connected to the control ports IO5 and IO6 of the control circuit; the input terminal of the overcurrent protection circuit A is connected to the remaining one of the three phases on the A side of the brushless DC motor , the output end is connected to the control port IO7 of the control circuit; the input end of the overcurrent protection circuit B is connected to the remaining one of the three phases on the side B of the brushless DC motor, and the output end is connected to the control port IO8 of the control circuit; the relay protection The circuit A is connected in series to the power supply circuit of the inverter bridge main circuit A, and the control terminal is connected to the control port IO9 of the control circuit; the relay protection circuit B is connected in series to the power supply circuit of the inverter bridge main circuit B, and the control terminal is connected to the control port On the control port IO10 of the circuit. As shown in Figure 1 connection.
本发明的较佳实施方式中，所述的A余度继电保护电路包括光伏生打隔离器PVI1050NS、N沟道POWER mos管及其附属电路，直流电源DC1接电阻R1后，作为光伏生打隔离器PVI1050NS U1的输入，Q1为NPN型三极管，与R2、R3一起组成开关电路，K1为开关电路控制端口，接控制电路；因为PVI1050NS为两个独立的光伏隔离器的集成，所以为了提高驱动后续mos管的能力，将两个独立的光伏隔离器串联起来，这样可以将输出电压升至10V左右，大大提高了驱动能力，然后接N沟道POWER mos管，起到控制N沟道POWER mos管开断的目的。当系统正常运行时，控制电路发出高电平信号K1，K1为高电平，所以三极管Q1导通，U1的输入端有电流流过，输出端输出10V左右电压，Q2导通；反之当系统非正常运行时，Q2截止，切断逆变桥主电路A供电。如图2连接所示。In a preferred embodiment of the present invention, the A-redundancy relay protection circuit includes a photovoltaic power supply isolator PVI1050NS, an N-channel POWER mos tube and its auxiliary circuits. After the DC power supply DC1 is connected to a resistor R1, it acts as a photovoltaic power supply The input of the isolator PVI1050NS U1, Q1 is an NPN transistor, and together with R2 and R3 form a switch circuit, K1 is the control port of the switch circuit, connected to the control circuit; because the PVI1050NS is an integration of two independent photovoltaic isolators, in order to improve the drive The ability of the follow-up mos tube, connect two independent photovoltaic isolators in series, so that the output voltage can be raised to about 10V, which greatly improves the driving ability, and then connected to the N-channel POWER mos tube to control the N-channel POWER mos The purpose of pipe breaking. When the system is running normally, the control circuit sends a high-level signal K1, and K1 is high-level, so the transistor Q1 is turned on, the input terminal of U1 has a current flowing, the output terminal outputs a voltage of about 10V, and Q2 is turned on; otherwise, when the system During abnormal operation, Q2 is cut off, and the power supply of main circuit A of the inverter bridge is cut off. The connections are shown in Figure 2.
本发明的较佳实施方式中，所述的B余度继电保护电路包括光伏生打隔离器PVI1050NS、N沟道POWER mos管及其附属电路，直流电源DC3接电阻R4后，作为光伏生打隔离器PVI1050NS U2的输入，Q3为NPN型三极管，与R5、R6一起组成开关电路，K2为开关电路控制端口，接控制电路；因为PVI1050NS为两个独立的光伏隔离器的集成，所以为了提高驱动后续mos管的能力，将两个独立的光伏隔离器串联起来，这样可以将输出电压升至10V左右，大大提高了驱动能力，然后接N沟道POWER mos管，起到控制N沟道POWER mos管开断的目的。当系统正常运行时，控制电路发出高电平信号K2，K2为高电平，所以三极管Q3导通，U2的输入端有电流流过，输出端输出10V左右电压，Q4导通；反之当系统非正常运行时，Q4截止，切断逆变桥主电路B供电。如图3连接所示。In a preferred embodiment of the present invention, the B redundancy relay protection circuit includes a photovoltaic power isolator PVI1050NS, an N-channel POWER mos tube and its auxiliary circuits. After the DC power supply DC3 is connected to a resistor R4, it serves as a photovoltaic power supply The input of the isolator PVI1050NS U2, Q3 is an NPN transistor, which together with R5 and R6 forms a switch circuit, and K2 is the control port of the switch circuit, connected to the control circuit; because PVI1050NS is an integration of two independent photovoltaic isolators, in order to improve the drive The ability of the follow-up mos tube, connect two independent photovoltaic isolators in series, so that the output voltage can be raised to about 10V, which greatly improves the driving ability, and then connected to the N-channel POWER mos tube to control the N-channel POWER mos The purpose of pipe breaking. When the system is running normally, the control circuit sends a high-level signal K2, and K2 is high-level, so the transistor Q3 is turned on, the input terminal of U2 has a current flowing, the output terminal outputs a voltage of about 10V, and Q4 is turned on; otherwise, when the system During abnormal operation, Q4 is cut off, and the power supply of main circuit B of the inverter bridge is cut off. As shown in Figure 3 connection.
实例一：Example one:
余度A单独运行，控制电路可采用DSP控制，DSP只通过IO1输出控制信号，输出的小功率PWM控制信号通过功率放大器件后，输出给逆变桥主电路A，然后控制电路给K1高电平，继电器保护电路A工作，给逆变桥主电路供电，第一电流检测电路和第二电流检测电路实时检测双余度无刷直流电机A侧余度三相中的任意两相电流，过流保护电路A则检测剩余一相的电流，起过流保护作用。当系统发生故障时，例如，逆变桥主电路A发生直通危险时，电机三相电流瞬间增大，过流保护电路和继电器保护电路起作用，将逆变桥主电路A供电切断，同时DSP切断IO1输出，同时启动IO2输出，系统自动切换到余度B，系统正常运行。The redundancy A operates independently, and the control circuit can be controlled by DSP. The DSP only outputs the control signal through IO1, and the output low-power PWM control signal is output to the main circuit A of the inverter bridge after passing through the power amplifier device, and then the control circuit sends high power to K1. Ping, the relay protection circuit A works, and supplies power to the main circuit of the inverter bridge. The first current detection circuit and the second current detection circuit detect any two-phase current in the three-phase redundancy of the dual-redundancy brushless DC motor A side in real time. The current protection circuit A detects the current of the remaining phase and plays the role of over-current protection. When the system fails, for example, when the main circuit A of the inverter bridge is in danger of being cut through, the three-phase current of the motor increases instantaneously, the overcurrent protection circuit and the relay protection circuit work to cut off the power supply of the main circuit A of the inverter bridge, and at the same time the DSP Cut off the IO1 output and start the IO2 output at the same time, the system automatically switches to the redundancy B, and the system runs normally.
实例二：Example two:
余度B单独运行，控制电路可采用DSP控制，DSP只通过IO2输出控制信号，输出的小功率PWM控制信号通过功率放大器件后，输出给逆变桥主电路B，然后控制电路给K2高电平，继电器保护电路B工作，给逆变桥主电路供电，第三电流检测电路和第四电流检测电路实时检测双余度无刷直流电机B侧余度三相中的任意两相电流，过流保护电路B则检测剩余一相的电流，起过流保护作用。当系统发生故障时，例如，逆变桥主电路B发生直通危险时，电机三相电流瞬间增大，过流保护电路和继电器保护电路起作用，将逆变桥主电路B供电切断，同时DSP切断IO2输出，同时启动IO1输出，系统自动切换到余度A，系统正常运行。The redundancy B operates independently, and the control circuit can be controlled by DSP. The DSP only outputs the control signal through IO2. After the output low-power PWM control signal passes through the power amplifier device, it is output to the main circuit B of the inverter bridge, and then the control circuit sends high power to K2. Ping, the relay protection circuit B works to supply power to the main circuit of the inverter bridge, the third current detection circuit and the fourth current detection circuit detect in real time any two-phase current of the three-phase redundancy on the side B of the dual-redundancy brushless DC motor. The current protection circuit B detects the current of the remaining phase and plays the role of over-current protection. When the system fails, for example, when the main circuit B of the inverter bridge is in danger of being cut through, the three-phase current of the motor increases instantaneously, the overcurrent protection circuit and the relay protection circuit work, and the power supply of the main circuit B of the inverter bridge is cut off. At the same time, the DSP Cut off the IO2 output and start the IO1 output at the same time, the system automatically switches to redundancy A, and the system runs normally.
实例三：Example three:
余度A、B同时运行，即系统运行在双余度状态下，控制电路可采用DSP控制，DSP通过IO1、IO2输出控制信号，输出的小功率PWM控制信号通过功率放大电路A、B后，输出给逆变桥主电路A、B，然后控制电路给K1、K2高电平，继电器保护电路A、B工作，给逆变桥主电路A、B供电，两个余度各自负担一半的负载；第一电流检测电路和第二电流检测电路实时检测双余度无刷直流电机A侧余度三相中的任意两相电流，过流保护电路A则检测剩余一相的电流；第三电流检测电路和第四电流检测电路实时检测双余度无刷直流电机B侧余度三相中的任意两相电流，过流保护电路B则检测剩余一相的电流，起过流保护作用。当系统发生故障时，例如，逆变桥主电路A发生直通危险时，电机A侧绕组电流瞬间增大，过流保护电路和继电器保护电路起作用，将逆变桥主电路A供电切断，同时DSP切断IO1输出，IO2输出不受影响，余度B正常工作，承担整个系统的负载。Redundancy A and B operate at the same time, that is, the system runs in a dual redundancy state. The control circuit can be controlled by DSP. DSP outputs control signals through IO1 and IO2. After the output low-power PWM control signal passes through power amplifier circuits A and B, Output to the inverter bridge main circuit A, B, then the control circuit gives high level to K1, K2, the relay protection circuit A, B work, supply power to the inverter bridge main circuit A, B, each of the two redundancy bears half of the load ; The first current detection circuit and the second current detection circuit detect in real time any two-phase current in the three-phase redundancy on the A side of the dual-redundancy brushless DC motor, and the overcurrent protection circuit A detects the current of the remaining one phase; the third current The detection circuit and the fourth current detection circuit detect the current of any two phases in the redundant three phases of the side B of the double-redundancy brushless DC motor in real time, and the overcurrent protection circuit B detects the current of the remaining one phase to play the role of overcurrent protection. When the system fails, for example, when the main circuit A of the inverter bridge is in danger of being cut through, the winding current on the motor A side increases instantaneously, the overcurrent protection circuit and the relay protection circuit work to cut off the power supply of the main circuit A of the inverter bridge, and at the same time DSP cuts off IO1 output, IO2 output is not affected, redundancy B works normally, and bears the load of the entire system.
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| CN110995111A (en) * | 2019-12-18 | 2020-04-10 | 四川航天烽火伺服控制技术有限公司 | Steering engine control system |
| CN111371349A (en) * | 2020-02-18 | 2020-07-03 | 深圳联合飞机科技有限公司 | a servo control system |
| CN118971728A (en) * | 2024-10-17 | 2024-11-15 | 杭州智仝科技有限公司 | Fault-tolerant distributed electric drive system and high-low voltage switching method thereof |
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Application publication date: 20120215 |