CN104320037A - Multi-loop power drive method and device for motor - Google Patents
Multi-loop power drive method and device for motor Download PDFInfo
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- CN104320037A CN104320037A CN201410554831.3A CN201410554831A CN104320037A CN 104320037 A CN104320037 A CN 104320037A CN 201410554831 A CN201410554831 A CN 201410554831A CN 104320037 A CN104320037 A CN 104320037A
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Abstract
Description
Technical field
The invention belongs to power of motor and drive field, time complicated in particular to environmental parameter change, the combination establishing method of loop feedback time constant and feedback gain and device, specifically be the high low degree of detection electric machine phase current and set associated feedback time constant, and be combined to form multiple feedback loop with corresponding feedback gain, both ensured that motor-driven phase current was steady in a long-term, and improved again the response speed of loop to sudden change environment and ensure that phase current real-time stabilization is to improve reliability.
Background technology
Along with the development of full-control type power electronic device, pulse width modulation (PWM) technology combines with switching power circuit, becomes the mainstream technology in Electric Machine Control and the field of driving gradually.In PWM technology, by changing the conducting of drive pulse signal and the time of shutoff of power device, change the size of the average voltage loading on motor coil two ends.In alternating-current electric transmission, PWM technology can be used for realizing single-phase or many phase alternating current and namely realizes inversion.According to the difference of modulation format, there are the multiple technologies such as DC PWM, sinusoidal wave PWM and space vector PWM.
But traditional power drive, often only controlled by the PWM mode of open loop, which can only have feedback to some special parameters (as motor rotor position, Hall element output etc.), thus controls the rotating speed of motor.But motor is complicated in environmental parameter change, when the fluctuation of change or the power voltage rapidly of such as load current, traditional power drive cannot respond and timely micro-whole effectively, thus causes the reliability decrease of motor and the loss of power.Especially the precision of motor and stability are had to the precision electric motor of high requirement, this problem is more serious.Many loop powers method and apparatus that the present invention proposes is by arranging suitable loop feedback time constant and the optimum organization of feedback gain, both ensured that the phase current that power of motor drives was steady in a long-term, and improved again the response speed of loop to sudden change environment and ensure that phase current real-time stabilization is to improve reliability.
Summary of the invention
Technical problem to be solved by this invention is the high low degree detecting electric machine phase current, suitable loop feedback time constant and the optimum organization of feedback gain are set accordingly, both ensured that the phase current that power of motor drives was steady in a long-term, and improved again the response speed of loop to sudden change environment and ensure that phase current real-time stabilization is to improve reliability.
The invention provides a kind of many loop powers drive unit of motor, comprising: motor phase current detection circuit, be configured to detect the direct of electric machine phase current and indirect parameter; Motor-drive circuit, completes the reliable driving to motor load; Motor-driven reponse system, be configured to multichannel closed loop composition, every road close-loop driven is configured to time constant and arranges circuit and gain unit has combined; One end ground connection of described motor phase current detection circuit, motor-drive circuit described in the test side that the other end connects described reponse system respectively.
Further, the different feedback gains of described close-loop driven have the difference of order of magnitude level, to ensure the stable of loop.
Further, the different feedback time constant of described close-loop driven have the difference of order of magnitude level, to ensure the stable of loop.
Further, the high feedback time constant of described close-loop driven and high feedback gain combine.
Further, the low feedback time constant of described close-loop driven and low feedback gain combine.
The present invention also provides a kind of many loop powers driving method using described device, detects the direct of electric machine phase current and indirect parameter, and arranges feedback time constant and the feedback gain of many loops.
Further, the feedback time constant of described many loops order of magnitude difference sign from low to high.
Further, the feedback gain of described many loops order of magnitude difference sign from high to low.
Further, the highest-gain coefficient in described many feedback control loops and the highest time constant combine, and lowest gain coefficient and minimum time constant combine, and medium gain coefficient and Median Time constant combination characterize.
When electric machine phase current change is steady, the feedback control loop of higher time constant and higher gain coefficient plays a leading role, and improves feedback and drives precision; Electric machine phase current change fluctuation time, lower time constant with play a leading role compared with the feedback control loop of low gain coefficient, improve feedback actuating speed.Motor-driven many loops coexist due to the difference of time constant on the order of magnitude, and the loop that the feedback contradiction of each loop can not be caused to cause is unstable.
When motor drive feedback loop combines leading by higher time constant and higher gain coefficient, insensitive to short-term interference, improve loop precision, it is constant that motor runs average power; Motor drive feedback loop is by lower time constant with when comparatively low gain coefficient combines leading, and to short-term environmental parameter sensitive, improve loop speed, it is constant that motor runs instantaneous power.
The invention has the beneficial effects as follows that motor is when environmental parameter change is complicated, power of motor drive feedback loop time constant and gain coefficient optimum organization, thus ensure motor long-time running stable and uniform, short-term operation response rapidly.The present invention detects electric machine phase current, and the associated feedback control loop time constant of setting and gain coefficient combine automatically, and export balanced with guaranteed output, motor is reliable.The present invention can be widely used in measurement and the variable power drive of motor.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme of the embodiment of the present invention, below the accompanying drawing used required in describing embodiment is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the schematic diagram of many loop powers drive unit.
Fig. 2 is that many loop powers drive unit realizes case.
Fig. 3 is many loop times constant setting example.
Embodiment
Below in conjunction with accompanying drawing, the embodiment of the present invention is described in detail.Should be clear and definite, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
In order to ensure motor when environmental parameter change is complicated, long-time running stable and uniform, rapidly, many loop powers drive unit schematic diagram that the present invention proposes as shown in Figure 1 in short-term operation response.This device comprises motor phase current detection circuit, detects the direct of electric machine phase current and indirect parameter; Motor-drive circuit, completes the reliable driving to motor load; Motor-driven reponse system, is made up of multichannel closed loop, and every road close-loop driven is configured to time constant and arranges circuit and gain unit has combined.By detecting the direct of electric machine phase current and indirect parameter, and then the feedback time constant of many loops and the optimum organization of feedback gain being set, realizing power of motor and exporting balanced object.
Fig. 2 is a kind of implementation of many loop powers drive unit.Current sense resistor is used for detecting the phase current parameter of motor, and the signal of this resistance detection is made comparisons with reference signal in reponse system, and final adjustment drive circuit exports.Reponse system in Fig. 2 (is used for setting feedback time constant by 3 grades of A/B/C filters, there is the difference on the order of magnitude in the time constant of A/B/C, C is minimum, and A is the highest) and 3 grades of A/B/C gain unit (being used for setting feedback gain) compositions.The output of reponse system can be represented by formula (1).G (C) L (C) is lower time constant and lower feedback oscillator loop, and G (A) G (B) G (C) L (A) L (B) L (C) is higher time constant and higher feedback oscillator loop.
Vo＝Vref·G(A)·G(B)·G(C)-Vsen·G(C)·L(C)
-VsenG (B) G (C) L (B) L (C)---formula (1)
-Vsen·G(A)·G(B)·G(C)·L(A)·L(B)·L(C)
Wherein, G (A), G (B), G (C) is the gain of three stage gain unit; L (A), L (B), L (C) is three grades of filter transfer function.
When the phase current change of motor is steady, the loop of higher time constant can play a major role, and namely detection signal can respectively through C/B/A tri-grades of filters.The loop of higher time constant simultaneously, its feedback oscillator is also higher, namely exports after A/B/C tri-stage gain is amplified.Now, the loop of low time constant also can work, and just its feedback oscillator is also lower, contributes also lower.Therefore, when electric machine phase current change is steady, the loop of higher time constant and higher feedback oscillator plays a major role, and improves loop precision, and it is constant that motor runs average power.Under high time constant, electric machine phase current exports as shown in Fig. 3 (a), and curent change is steady, and its average current equals peak current I and is multiplied by PWM regulation coefficient.
When the phase current change fluctuation of motor, the loop of lower time constant can play a major role, and namely detection signal is by filter C and gain stage C.Now detection signal also can by high time constant loop, because phase current fluctuation is comparatively large, detection signal is by after high time constant filter, and amplitude can be attenuated to relatively large extent, and the contribution that high time constant loop has been exported in feedback is lower.Therefore lower time constant loop plays a major role, and improves loop speed, and it is constant that motor runs instantaneous power.Under low time constant, electric machine phase current exports as shown in Fig. 3 (b), and its transient current equals peak current I.
The foregoing is only embodiments of the invention, be not limited to the present invention.The present invention can have various suitable change and change.All any amendments done within the spirit and principles in the present invention, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (9)
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| CN201410554831.3A CN104320037A (en) | 2014-10-17 | 2014-10-17 | Multi-loop power drive method and device for motor |
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| CN201410554831.3A CN104320037A (en) | 2014-10-17 | 2014-10-17 | Multi-loop power drive method and device for motor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106357174A (en) * | 2016-11-03 | 2017-01-25 | 广州中国科学院先进技术研究所 | Current control system of electro-mechanical converter |
Citations (4)
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| JPH11136991A (en) * | 1997-10-28 | 1999-05-21 | Tamagawa Seiki Co Ltd | Servo motor driving method |
| CN101860297A (en) * | 2010-05-25 | 2010-10-13 | 东南大学 | Permanent-magnet synchronous machine control system based on DSP (digital signal processor) control and method |
| CN103451998A (en) * | 2013-09-18 | 2013-12-18 | 潍坊恒联铜版纸有限公司 | Surface sizing and dyeing process of color airlaid paper |
| CN204119101U (en) * | 2014-10-17 | 2015-01-21 | 金学成 | A kind of many loop powers drive unit of motor |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11136991A (en) * | 1997-10-28 | 1999-05-21 | Tamagawa Seiki Co Ltd | Servo motor driving method |
| US6020707A (en) * | 1997-10-28 | 2000-02-01 | Tamagawa Seiki Kabushiki Kaisha | Servo-motor driving method |
| CN101860297A (en) * | 2010-05-25 | 2010-10-13 | 东南大学 | Permanent-magnet synchronous machine control system based on DSP (digital signal processor) control and method |
| CN103451998A (en) * | 2013-09-18 | 2013-12-18 | 潍坊恒联铜版纸有限公司 | Surface sizing and dyeing process of color airlaid paper |
| CN204119101U (en) * | 2014-10-17 | 2015-01-21 | 金学成 | A kind of many loop powers drive unit of motor |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106357174A (en) * | 2016-11-03 | 2017-01-25 | 广州中国科学院先进技术研究所 | Current control system of electro-mechanical converter |
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