CN104506093A - Multifunctional motor driver - Google Patents
Multifunctional motor driver Download PDFInfo
- Publication number
- CN104506093A CN104506093A CN201410459716.8A CN201410459716A CN104506093A CN 104506093 A CN104506093 A CN 104506093A CN 201410459716 A CN201410459716 A CN 201410459716A CN 104506093 A CN104506093 A CN 104506093A
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- CN
- China
- Prior art keywords
- unit
- motor
- driver
- data storage
- dsp
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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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
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
Abstract
The invention discloses a multifunctional motor driver, comprising an intelligent control and processing unit based on a DSP, an intelligent driving unit, a data acquisition unit, a data storage unit, a power supply management unit, and a human-computer interface unit. Through an efficient and advanced processor, the driver realizes can drive a DC brushless motor with a position sensor, a DC brushless motor without a position sensor, and an AC servo motor through software. The driver can determine rotor positions by using a back electromotive force method under the condition that the position sensor is damaged. The driver has functions of nominal voltage setting, nominal current setting, nominal power setting, and display. The driver is stable and reliable in operation, large in speed adjustable range, accurate in position control, simple in hardware circuit, and low in cost.
Description
Technical field
The invention belongs to motor-drive technique field, particularly a kind of multifunctional motor driver.
Background technology
Along with the develop rapidly of novel power transistor and large-scale application-specific integrated circuit, driver develops into digital control and computer control by analogue enlargement, and systemic-function is more and more strong, and structure simplifies day by day.Servomotor controller in the market can only drive AC servomotor or DC servo-motor, some specific need for environment changes different type of drive or education experiment uses dissimilar driver, only buy a kind of controller can not meet the demands, buy two kinds of controller prices again costly.Some DC Brushless Motor position transducer breaks down, and maintenance cost is very high, changes and causes waste again.
Therefore be necessary to improve servo motor drives, enable to realize a kind of driver drives two kinds of different size servomotors, realize three kinds of mode of operations.
Summary of the invention
Instant invention overcomes in prior art not enough, a kind of multifunctional servo motor controller is provided.This controller has and drives position sensor DC Brushless Motor and position-sensor-free DC Brushless Motor and AC servomotor function, there is rated voltage, electric current and power setting and Presentation Function, it can make motor running steady, and adjustable speed scope is large.
In order to solve the technical problem of above-mentioned existence, the present invention is achieved by the following technical solutions:
A kind of multifunctional motor driver, it comprises Based Intelligent Control based on DSP and processing unit, intelligent drives unit, data acquisition unit, data storage cell, Power Management Unit and human and machine interface unit;
The described Based Intelligent Control based on DSP and processing unit obtain the type of current institute drive motor by man-machine interface or data storage cell, whether location transducer, position signalling is detected, voltage and electric current are detected, external control signal is processed, sending control signal to Intelligent Power Module makes motor rotate, and sends drive singal control charactron and detect key-press status human and machine interface unit;
Described intelligent drives unit is described based on the Based Intelligent Control of DSP and the control command of processing unit for receiving, and carries out control and send alarm signal when needed to motor;
The input signal of described data acquisition unit acquires comprises external control signal input and position sensor signal input; During position-sensor-free, its input signal gathered comprises back electromotive force and carries out signals collecting and electric current and voltage sampling;
Described data acquisition unit comprises external control signal input and position sensor signal input, and during position-sensor-free, back electromotive force carries out position signal acquisition and electric current and voltage sampling, measure voltage & current;
Described data storage cell is used for driver operational factor and stores, and the parameter stored by data storage cell after the energising of multifunctional motor driver is carried out driving to motor model, motor number of pole-pairs and electrical degree and prepared;
Described Power Management Unit is used for powering to the described Based Intelligent Control based on DSP and processing unit and described intelligent drives unit;
Described human and machine interface unit is changed for arranging the motor parameter of operational factor to data storage cell and shows.
Owing to adopting technique scheme, a kind of multifunctional motor driver provided by the invention compared with prior art, there is such beneficial effect: the present invention can realize by efficient advanced processor, position sensor and position-sensor-free DC brushless motor and AC servomotor is driven by software simulating, can, when position sensor degradation, back electromotive force method be adopted to judge rotor-position; The present invention has rated voltage, electric current and power setting and Presentation Function, and it operates steadily reliably, and adjustable speed scope is large, and Position Control is accurate, and hardware circuit is simple, with low cost.
Accompanying drawing explanation
Fig. 1 is a kind of entire block diagram of multifunctional motor driver;
Fig. 2 is a kind of system program block diagram of multifunctional motor driver;
Fig. 3 is data acquisition unit data acquisition schematic diagram;
Fig. 4 is position-sensor-free position detecting circuit figure.
Embodiment
The present invention is a kind of multifunctional motor driver, and the electronic motivation of brush DC can not only be driven to drive AC servomotor, can also judge rotor-position under motor position sensor damaged condition by back electromotive force method.Current servo motor driver can either be taken into account and can carry out accurate Position Control, also can reduce costs and realize a tractor serves several purposes.
As shown in Figure 1, a kind of multifunctional motor driver of the present invention, it comprises Based Intelligent Control based on DSP and processing unit, intelligent drives unit, data acquisition unit, data storage cell, Power Management Unit and human and machine interface unit;
1. based on Based Intelligent Control and the processing unit of DSP
The described Based Intelligent Control based on DSP and processing unit adopt Texas Instrument TMS320F2808 high-speed dsp chip, the type of current drive motor is obtained by man-machine interface or data storage cell, whether location transducer, position signalling is detected, voltage and electric current are detected, external control signal is processed, control signal is sent to intelligent drives unit motor is rotated.Send drive singal to human and machine interface unit control charactron and detect key-press status.
As shown in Figure 2, when driving position-sensor-free DC Brushless Motor, the pwm signal exported by microcontroller, is amplified through overdrive circuit, DC Brushless Motor is rotated system program block diagram of the present invention.By back electromotive force in the detection drive circuit of microprocessor, after microcontroller process, learn speed now and rotor-position.
When driving AC servomotor, the SVPWM signal exported by microcontroller, is amplified through overdrive circuit, input inversion bridge circuit.The encoder of AC servomotor is by Signal transmissions by after data acquisition unit process, and DSP learns speed now and rotor-position.
2. intelligent drives unit
The input signal of described data acquisition unit acquires comprises external control signal input and position sensor signal input; During position-sensor-free, its input signal gathered comprises back electromotive force and carries out signals collecting and electric current and voltage sampling.Described intelligent drives unit adopts the PS21767 Intelligent Power Module of company of Infineon, the highest 600V of this module support, the inverter circuit of 20A.Because the integrated buffer circuit of this inside modules can directly adopt DSP output port to control this module inverter, the warning output port of this module is directly connected with DSP.Decrease peripheral optocoupler interleaving agent IGBT drive circuit, reduce costs the stability of raising system.
3. data acquisition unit
Described data acquisition unit comprises external control signal input and position sensor signal input, and its data acquisition schematic diagram as shown in Figure 3; During position-sensor-free, back electromotive force carries out its data acquisition schematic diagram of position signal acquisition as shown in Figure 4; Electric current and voltage sampling and measure voltage & current mainly adopt the little resistance precision resistance A/D carrying out converting rear input voltage DSP by operational amplifier that carries out sampling to gather port.
4. data storage cell
Described data storage cell is used for driver operational factor and stores, and the parameter stored by data storage cell after the energising of multifunctional motor driver is carried out driving to motor model, motor number of pole-pairs and electrical degree and prepared; Described data storage cell adopts 24C16 serial data storage chip, and the rear parameter by unique data storage cell of multifunctional motor driver energising is to motor model, and motor number of pole-pairs and electrical degree are carried out driving and prepared.Changed by the motor parameter of man-machine interface parameters to data storage cell.
5. Power Management Unit
Described Power Management Unit is ac rectifier and Switching Power Supply power supply, powers for giving the described Based Intelligent Control based on DSP and processing unit and described intelligent drives unit; Filtering, energy storage is carried out by electric capacity after AC rectification.P and every N of DC bus access Intelligent Power Module hold, and convert frequency meter voltage controllable electric power to, drive motor by inversion short circuit.
Because the present invention adopts, original paper is more and each several part chip power supply voltage different, uses TOP245YN switching power source chip power output to reach 85W.Adopt inverse-excitation type switch power-supply circuit, after being exported by TOP245 and high frequency transformer, realize 4 road 20V voltages and export the three tunnel drive control voltage being supplied to Intelligent Power Module, 3.3V is supplied to DSP circuit supply, and 24V realizes the input of external control signal.
6. human and machine interface unit
Described human and machine interface unit is changed for arranging the motor parameter of operational factor to data storage cell and shows; Described man-machine interface is numeral method and button change operational factor mainly, adopts four common anode charactrons and four Independent keys to arrange.Charactron driving chip adopts 74HC595 chip, adopts SPI communication mode with DSP, reduces and takies DSP port.System architecture diagram of the present invention, as shown in Figure 2, microprocessor is connected with drive circuit, and the position transducer of position sensor DC Brushless Motor is connected with position transducer A, and the encoder of AC servomotor is connected with position transducer A.Man-machine interface is made up of charactron and button, and button can control this multifunctional motor driver and adopt which kind of type of drive and regulating parameter etc., and charactron shows operating state and running parameter.Whether microprocessor detects in setting range to various parameter, the PWM waveform corresponding according to input and output, and drive circuit drives field effect transistor, and Switching Power Supply is to microprocessor and drive circuitry.
When the present invention drives position sensor DC Brushless Motor, export according to DC Brushless Motor self-position sensor signal, then catch the laggard row relax of this position signalling by microcontroller, produce corresponding PWM waveform, thus drive motor rotates.
When the present invention drives position-sensor-free DC Brushless Motor, after man-machine interface is arranged, the data collected process by the A/D of microprocessor, calculate the position of real-time voltage and rotor.Detection rotor location method is as follows: E is back electromotive force, and L is motor phase inductance, and Un is motor stator winding neutral voltage, and Uu, Uv, Uw are every phase output terminal voltage to earths, equation:
Uu＝Riu+L*diu/dt+Eu+Uu
Uv＝Riv+L*div/dt+Ev+Uv
Uw＝Riw+L*diw/dt+Ew+Uw
Often only have in a flash two conductings in running, if U, V are conducted, U, V phase current is equal, and direction is contrary, and W phase current is zero, then:
Uw＝Ew+Un
Ew＝Uw-Un
Can obtain: Vn=1/2* (Uv+Uw)
Ew＝Uw-1/2*(Uv+Uu)
In like manner also can obtain Ev, Eu phase voltage.
After micro-process collects each phase voltage, different I/O mouths is driven to produce corresponding PWM ripple.
Drive AC servomotor, drive circuit shown in Fig. 1, adopt SVPWM algorithm drives Fig. 1 inverter bridge circuit, the rotor of servomotor inside is permanent magnet, the U/V/W three-phase electricity of driver control forms electromagnetic field, rotor rotates under the effect in this magnetic field, simultaneously the encoder feedback signal that carries of motor is to driver, driver compares according to value of feedback and desired value, the angle of adjustment rotor turns, the present invention serves as theme with electric current loop, speed ring, position ring when driving servomotor.By to the monitoring of this three ring and control and then accurately drive servomotor.By carrying out precise acquisition to Fig. 2 current detecting electrical measurement circuit during electric current loop work.Speed ring carries out speed acquisition and processes code device signal based on to position transducer B.Position ring obtains positional information based on carrying out analyzing and processing to encoder information on speed ring basis.
The present invention can monitor DC Brushless Motor position transducer working condition when driving position sensor DC brushless motor, warning message can be sent when sensor experiences failure, it can be made to be operated in position-sensor-free operating state by man-machine interface, detect motor rotor position by back electromotive force.
Claims (1)
1. a multifunctional motor driver, is characterized in that: it comprises Based Intelligent Control based on DSP and processing unit, intelligent drives unit, data acquisition unit, data storage cell, Power Management Unit and human and machine interface unit;
The described Based Intelligent Control based on DSP and processing unit obtain the type of current institute drive motor by man-machine interface or data storage cell, whether location transducer, position signalling is detected, voltage and electric current are detected, external control signal is processed, sending control signal to Intelligent Power Module makes motor rotate, and sends drive singal control charactron and detect key-press status human and machine interface unit;
Described intelligent drives unit is described based on the Based Intelligent Control of DSP and the control command of processing unit for receiving, and carries out control and send alarm signal when needed to motor;
The input signal of described data acquisition unit acquires comprises external control signal input and position sensor signal input; During position-sensor-free, its input signal gathered comprises back electromotive force and carries out signals collecting and electric current and voltage sampling;
Described data acquisition unit comprises external control signal input and position sensor signal input, and during position-sensor-free, back electromotive force carries out position signal acquisition and electric current and voltage sampling, measure voltage & current;
Described data storage cell is used for driver operational factor and stores, and the parameter stored by data storage cell after the energising of multifunctional motor driver is carried out driving to motor model, motor number of pole-pairs and electrical degree and prepared;
Described Power Management Unit is used for powering to the described Based Intelligent Control based on DSP and processing unit and described intelligent drives unit;
Described human and machine interface unit is changed for arranging the motor parameter of operational factor to data storage cell and shows.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410459716.8A CN104506093A (en) | 2014-09-10 | 2014-09-10 | Multifunctional motor driver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410459716.8A CN104506093A (en) | 2014-09-10 | 2014-09-10 | Multifunctional motor driver |
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| CN104506093A true CN104506093A (en) | 2015-04-08 |
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| CN201410459716.8A Pending CN104506093A (en) | 2014-09-10 | 2014-09-10 | Multifunctional motor driver |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104734580A (en) * | 2015-01-08 | 2015-06-24 | 清华大学 | Dual-redundancy control method and system of brushless motor |
| CN107317530A (en) * | 2017-08-30 | 2017-11-03 | 深圳市稳控电力电子技术有限公司 | The three-phase high-speed stepper motor driver of 2.4 ° of synchronizing step angle |
-
2014
- 2014-09-10 CN CN201410459716.8A patent/CN104506093A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104734580A (en) * | 2015-01-08 | 2015-06-24 | 清华大学 | Dual-redundancy control method and system of brushless motor |
| CN107317530A (en) * | 2017-08-30 | 2017-11-03 | 深圳市稳控电力电子技术有限公司 | The three-phase high-speed stepper motor driver of 2.4 ° of synchronizing step angle |
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Application publication date: 20150408 |
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