CN104467564A - Redundant brushless direct current motor control system - Google Patents
Redundant brushless direct current motor control system Download PDFInfo
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- CN104467564A CN104467564A CN201410850384.6A CN201410850384A CN104467564A CN 104467564 A CN104467564 A CN 104467564A CN 201410850384 A CN201410850384 A CN 201410850384A CN 104467564 A CN104467564 A CN 104467564A
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- control unit
- circuit
- control system
- direct current
- digital hall
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention provides a redundant brushless direct current motor control system and relates to brushless direct current motor control systems. The redundant brushless direct current motor control system aims to solve the problems that existing redundant brushless direct current motor control systems are large in size, heavy and complex in structure. The redundant brushless direct current motor control system mainly comprises a main control unit, a backup control unit, a brushless direct current motor with a single winding, and a three-phase digital Hall position sensor, the three-phase winding of the brushless direct current motor with the single winding is connected with the driving signal output end of the main control unit and the driving signal output end of the backup control unit simultaneously, the three-phase digital Hall position sensor is used for collecting rotor position information of the brushless direct current motor with the single winding and transmitting the rotor position information to the main control unit and the backup control unit simultaneously, the main control unit and the backup control unit have the same structure and each have an electrical isolation function, and the main control unit comprises a controller, a motor driving circuit, a switch isolation circuit, a digital Hall collecting circuit and a power circuit. The redundant brushless direct current motor control system is used for the motor control field.
Description
Technical field
The present invention relates to a kind of the control system for non-brush direct currunt electromotors.
Background technology
DC brushless motor is the class power take-off based on electromagnetic induction principle work, is generally made up of stator, rotor, three-phase symmetrical star winding and three-phase digital hall position sensor.There is the features such as volume is little, lightweight, output torque large, stepless speed regulation, speed adjustable range is wide, overload capacity is strong, be widely applied in the field such as spacecraft and robot for space.
Along with the raising required equipment dependability, system usually adopts redundancy design technique, and namely adopt two covers or two to overlap the identical element of above function in the key link of system, when certain a set of element breaks down, backup element still can ensure system worked well.Such as, when robot for space articular system designs, the basic machine in each joint correspondence devises the identical electric component of two covers and control system thereof, and every cover system can both all working of complete independently joint of robot motion control.In order to match with the control system of redundancy, DC brushless motor is that the power take-off unit in joint also needs to carry out Redundancy Design, so there is double-winding dc. brushless motor, namely there is identical double winding and corresponding Digital Hall position transducer in DC brushless motor inside, often overlap winding corresponding a set of joint control respectively.But the application of two cover independent winding adds the volume and weight of motor, and corresponding joint of robot installs DC brushless motor with regard to needing larger volume, and so for whole Space Robot System, the cost that volume and weight increases is huge.
DC brushless motor is a kind of driver part, it also needs drive circuit and signal acquisition circuit cooperating, and drive circuit and signal acquisition circuit are all made up of multiple components and parts, analyze from reliability perspectives, whether redundancy is not the key link restricting whole system reliability to the winding of DC brushless motor.
Therefore, the control system be made up of drive circuit and signal acquisition circuit etc. adopts Redundancy Design, and motor winding does not adopt Redundancy Design or adopts local redundancy design, just can form a kind of balance between system-level reliability and volume and weight.It should be noted that, the realization of this control structure needs to solve the interactional problem between two cover electronic circuits corresponding to a set of winding.
Summary of the invention
The present invention is that volume in order to solve existing redundant direct current brushless motor control system is large, Heavy Weight and baroque problem, the invention provides a kind of the control system for non-brush direct currunt electromotors of redundancy.
A control system for non-brush direct currunt electromotors for redundancy, it comprises main part control unit, Standby control unit and has DC brushless motor and the three-phase digital hall position sensor of simplex winding,
The described three-phase windings with the DC brushless motor of simplex winding is connected with the drive singal output of main part control unit and the drive singal output of Standby control unit simultaneously, three-phase digital hall position sensor is for gathering the rotor position information of the DC brushless motor with simplex winding, and this rotor position information is delivered to main part control unit and Standby control unit simultaneously, it is characterized in that
Main part control unit is identical with Standby control cellular construction, and main part control unit, Standby control unit all have electrical isolation function,
Main part control unit comprises controller, motor-drive circuit, switch isolation circuit, Digital Hall Acquisition Circuit and power circuit,
The power output end of power circuit is connected by the power input of diode with three-phase digital hall position sensor, the three-phase data signal output part of three-phase digital hall position sensor is connected with the data signal input of Digital Hall Acquisition Circuit respectively by 3 diodes, Digital Hall Acquisition Circuit is used for the signal of collection to deliver to controller, controller sends control signal according to the data-signal received by No. 1 control port of controller and controls motor-drive circuit, the drive singal output of motor-drive circuit is connected by the three-phase windings of switch isolation circuit with the DC brushless motor with simplex winding, No. 2 control ports of controller are connected with the control signal input of switch isolation circuit.
Described three windings with the DC brushless motor of simplex winding have identical electric parameter, and three windings differ 120 ° of electrical degrees.
Three-phase digital hall position sensor is made up of the Hall-effect position sensors of three differences, 120 ° of electrical degrees.
Work when described main part control unit is different with Standby control unit.
Described Hall-effect position sensors adopts open collector export structure to realize.
Existing redundant direct current brushless motor control system comprises two control units and two motors (or having two cover independent winding in a motor body), a control unit correspondence is made to control a motor (or a set of independently winding), and this invention simplifies the structure of redundant direct current brushless motor control system, decrease a motor (or decreasing a set of winding), make two control units control same motor winding respectively, and improve the reliability of redundant system.
The beneficial effect that the present invention brings is, the invention provides a kind of the control system for non-brush direct currunt electromotors of redundancy, and can separate work, effectively can reduce the volume and weight of the control system for non-brush direct currunt electromotors, structure is simple, and on the reliability of system substantially without affecting.
Accompanying drawing explanation
Fig. 1 is the principle schematic of the control system for non-brush direct currunt electromotors of described a kind of redundancy of the present invention.
Embodiment
Embodiment one: present embodiment is described see Fig. 1, the control system for non-brush direct currunt electromotors of a kind of redundancy described in present embodiment, it comprises main part control unit 1, Standby control unit 2 and has DC brushless motor 3 and the three-phase digital hall position sensor 3-2 of simplex winding
The three-phase windings of the described DC brushless motor 3 with simplex winding is connected with the drive singal output of main part control unit 1 and the drive singal output of Standby control unit 2 simultaneously, three-phase digital hall position sensor 3-2 is for gathering the rotor position information of the DC brushless motor 3 with simplex winding, and this rotor position information is delivered to main part control unit 1 and Standby control unit 2 simultaneously, main part control unit 1 is identical with Standby control unit 2 structure, and main part control unit 1, Standby control unit 2 all have electrical isolation function
Main part control unit 1 comprises controller 1-1, motor-drive circuit 1-2, switch isolation circuit 1-3, Digital Hall Acquisition Circuit 1-4 and power circuit 1-5,
The power output end of power circuit 1-5 is connected by the power input of diode with three-phase digital hall position sensor 3-2, the three-phase data signal output part of three-phase digital hall position sensor 3-2 is connected with the data signal input of Digital Hall Acquisition Circuit 1-4 respectively by 3 diodes, Digital Hall Acquisition Circuit 1-4 is used for the signal of collection to deliver to controller 1-1, controller 1-1 sends control signal according to the data-signal received by No. 1 control port of controller 1-1 and controls motor-drive circuit 1-2, the drive singal output of motor-drive circuit 1-2 is connected with the three-phase windings of the DC brushless motor 3 with simplex winding by switch isolation circuit 1-3, No. 2 control ports of controller 1-1 are connected with the control signal input of switch isolation circuit 1-3.
In present embodiment, main part control unit 1, Standby control unit 2 all have electrical isolation function and mainly embody from the diode of access.
Embodiment two: the difference of the control system for non-brush direct currunt electromotors of present embodiment and a kind of redundancy described in embodiment one is, three windings of the described DC brushless motor 3 with simplex winding have identical electric parameter, and three windings differ 120 ° of electrical degrees.
Embodiment three: the difference of the control system for non-brush direct currunt electromotors of present embodiment and a kind of redundancy described in embodiment one is, three-phase digital hall position sensor 3-2 is made up of the Hall-effect position sensors of three differences, 120 ° of electrical degrees.
Embodiment four: the difference of the control system for non-brush direct currunt electromotors of present embodiment and a kind of redundancy described in embodiment one is, work when described main part control unit 1 is different with Standby control unit 2.
Embodiment five: the difference of the control system for non-brush direct currunt electromotors of present embodiment and a kind of redundancy described in embodiment three is, described Hall-effect position sensors adopts open collector export structure to realize.
Embodiment six: the difference of the control system for non-brush direct currunt electromotors of present embodiment and a kind of redundancy described in embodiment three is, Digital Hall Acquisition Circuit 1-4 adopts pull-up structure on circuit.
Claims (6)
1. the control system for non-brush direct currunt electromotors of a redundancy, it comprises main part control unit (1), Standby control unit (2) and has DC brushless motor (3) and the three-phase digital hall position sensor (3-2) of simplex winding
The three-phase windings of the described DC brushless motor (3) with simplex winding is connected with the drive singal output of main part control unit (1) and the drive singal output of Standby control unit (2) simultaneously, three-phase digital hall position sensor (3-2) is for gathering the rotor position information of the DC brushless motor (3) with simplex winding, and this rotor position information is delivered to simultaneously main part control unit (1) and Standby control unit (2), it is characterized in that
Main part control unit (1) is identical with Standby control unit (2) structure, and main part control unit (1), Standby control unit (2) all have electrical isolation function,
Main part control unit (1) comprises controller (1-1), motor-drive circuit (1-2), switch isolation circuit (1-3), Digital Hall Acquisition Circuit (1-4) and power circuit (1-5)
The power output end of power circuit (1-5) is connected by the power input of diode with three-phase digital hall position sensor (3-2), the three-phase data signal output part of three-phase digital hall position sensor (3-2) is connected respectively by the data signal input of 3 diodes with Digital Hall Acquisition Circuit (1-4), Digital Hall Acquisition Circuit (1-4) is for delivering to controller (1-1) by the signal of collection, controller (1-1) sends control signal according to the data-signal received by No. 1 control port of controller (1-1) and controls motor-drive circuit (1-2), the drive singal output of motor-drive circuit (1-2) is connected with the three-phase windings of the DC brushless motor (3) with simplex winding by switch isolation circuit (1-3), No. 2 control ports of controller (1-1) are connected with the control signal input of switch isolation circuit (1-3).
2. the control system for non-brush direct currunt electromotors of a kind of redundancy according to claim 1, is characterized in that, three windings of the described DC brushless motor (3) with simplex winding have identical electric parameter, and three windings differ 120 ° of electrical degrees.
3. the control system for non-brush direct currunt electromotors of a kind of redundancy according to claim 1, is characterized in that, three-phase digital hall position sensor (3-2) is made up of the Hall-effect position sensors of three differences, 120 ° of electrical degrees.
4. the control system for non-brush direct currunt electromotors of a kind of redundancy according to claim 1, is characterized in that, work when described main part control unit (1) is different with Standby control unit (2).
5. the control system for non-brush direct currunt electromotors of a kind of redundancy according to claim 3, is characterized in that, described Hall-effect position sensors adopts open collector export structure to realize.
6. the control system for non-brush direct currunt electromotors of a kind of redundancy according to claim 1, is characterized in that, Digital Hall Acquisition Circuit (1-4) adopts pull-up structure on circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201410850384.6A CN104467564A (en) | 2014-12-31 | 2014-12-31 | Redundant brushless direct current motor control system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410850384.6A CN104467564A (en) | 2014-12-31 | 2014-12-31 | Redundant brushless direct current motor control system |
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| CN201410850384.6A Pending CN104467564A (en) | 2014-12-31 | 2014-12-31 | Redundant brushless direct current motor control system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105207542A (en) * | 2015-10-27 | 2015-12-30 | 合肥工业大学 | Double-winding direct-current brushless motor redundancy control system and control method thereof |
| CN106982015A (en) * | 2017-05-16 | 2017-07-25 | 兰州理工大学 | A kind of multiprocessor permanent-magnet brushless DC electric machine joint governing system and method |
| WO2021051193A1 (en) * | 2019-09-16 | 2021-03-25 | Neutron Automotive Controls Inc. | Redundant brushless direct current motor control system and related methods |
| CN117302341A (en) * | 2023-11-28 | 2023-12-29 | 上海同驭汽车科技有限公司 | Electric power steering system and diagnosis protection method |
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| CN101017366A (en) * | 2006-12-08 | 2007-08-15 | 清华大学 | Double generator redundancy control system |
| US20090008999A1 (en) * | 2007-07-06 | 2009-01-08 | Thales | Device making it possible to switch from one electric source to another |
| CN201904751U (en) * | 2010-12-28 | 2011-07-20 | 广州精益汽车空调有限公司 | Brushless fan controller with position sensor |
| CN102355181A (en) * | 2011-09-19 | 2012-02-15 | 北京工业大学 | Double-channel redundant brushless direct current motor driver and relay protection method thereof |
| CN202276306U (en) * | 2011-09-19 | 2012-06-13 | 北京工业大学 | Binary-channel redundancy brushless direct current motor driver |
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- 2014-12-31 CN CN201410850384.6A patent/CN104467564A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101017366A (en) * | 2006-12-08 | 2007-08-15 | 清华大学 | Double generator redundancy control system |
| US20090008999A1 (en) * | 2007-07-06 | 2009-01-08 | Thales | Device making it possible to switch from one electric source to another |
| CN201904751U (en) * | 2010-12-28 | 2011-07-20 | 广州精益汽车空调有限公司 | Brushless fan controller with position sensor |
| CN102355181A (en) * | 2011-09-19 | 2012-02-15 | 北京工业大学 | Double-channel redundant brushless direct current motor driver and relay protection method thereof |
| CN202276306U (en) * | 2011-09-19 | 2012-06-13 | 北京工业大学 | Binary-channel redundancy brushless direct current motor driver |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105207542A (en) * | 2015-10-27 | 2015-12-30 | 合肥工业大学 | Double-winding direct-current brushless motor redundancy control system and control method thereof |
| CN106982015A (en) * | 2017-05-16 | 2017-07-25 | 兰州理工大学 | A kind of multiprocessor permanent-magnet brushless DC electric machine joint governing system and method |
| CN106982015B (en) * | 2017-05-16 | 2019-11-26 | 兰州理工大学 | A kind of multiprocessor permanent-magnet brushless DC electric machine joint speed-regulating system and method |
| WO2021051193A1 (en) * | 2019-09-16 | 2021-03-25 | Neutron Automotive Controls Inc. | Redundant brushless direct current motor control system and related methods |
| CN117302341A (en) * | 2023-11-28 | 2023-12-29 | 上海同驭汽车科技有限公司 | Electric power steering system and diagnosis protection method |
| CN117302341B (en) * | 2023-11-28 | 2024-02-13 | 上海同驭汽车科技有限公司 | Electric power steering system and diagnosis protection method |
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