CN104539201B - General brushless motor current closed-loop control system and method - Google Patents
General brushless motor current closed-loop control system and method Download PDFInfo
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- CN104539201B CN104539201B CN201410810510.5A CN201410810510A CN104539201B CN 104539201 B CN104539201 B CN 104539201B CN 201410810510 A CN201410810510 A CN 201410810510A CN 104539201 B CN104539201 B CN 104539201B
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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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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
- H02H7/0833—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors for electric motors with control arrangements
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention relates to a general brushless motor current closed-loop control system and method. According to a medium and small power brushless direct current motor control system, a CPLD EPM570 and a direct current motor control chip UC3637 are adopted, a novel current loop control interface circuit of a brushless direct current motor is designed, motor four-quadrant operation control is achieved, and meanwhile the circuit further has the external parallel communication control function and the complete out-of-control protection strategy. An ir4361 module in a foreign MSK company can achieve the operation control over the current loop four quadrants of the brushless direct current motor, and the general brushless motor current closed-loop control system can completely replace the ir4361 of the MSK company. A general hardware platform for brushless motor current closed-loop control is provided to be used as a hardware interface circuit module, and a speed loop and a position loop are additionally arranged, so that three-closed-loop servo system control of the brushless motor is directly achieved, and using is flexible and convenient. The ir4361 of the MSK company can be completely replaced, the cost is low, and great significance is achieved to the localization of military devices.
Description
Technical field
The invention belongs to SERVO CONTROL field, and in particular to a kind of general brushless electric machine current close-loop control system and control
Method.
Background technology
Permanent-magnet brushless DC electric machine is the development recently as Power Electronic Technique, control technology and novel permanent magnetic material
And a kind of novel electromechanical integration motor for developing rapidly.It both have AC motor structure it is simple, reliable, dimension
The advantages of facilitating is repaiied, there is the speed adjusting performance that direct current generator is excellent again.At present in speed governing and servo-drive system, widely should obtain
With.
The ir4361 modules of MSK companies are a general brshless DC motor control modules, and feature is that interface is simple, is made
With conveniently, defencive function is perfect, is widely used in many servo-drive system engineerings (particularly national defence).If
Similar product can be designed, the engineering design that not only can be made more independent and flexible can be with cost-effective.
Drive brushless electric machine and driving direct current generator compare, the control of direct current generator is relatively easy, and brushless electric machine by
It is relative complex in its control mode.
In servo system control design, the performance of inner ring decides the precision of outer shroud, that is to say, that in three close-loop control system
In system, the performance of electric current loop is extremely important.If the brushless electric machine current closed-loop module of a versatility can be designed, and
Outer shroud so can both meet the versatility of different system then according to different mechanical properties come independent design, again can be with letter
Change the Servo System Design of brushless electric machine, improve the design cycle.
The content of the invention
The technical problem to be solved
In order to avoid the deficiencies in the prior art part, the present invention proposes a kind of general brushless electric machine current close-loop control system
And control method.
Technical scheme
A kind of general brushless electric machine current close-loop control system, including the bus current excessively stream for being connected to brushless electric machine bus
It is protection circuit, busbar voltage overvoltage crowbar, electric positioned at three Hall elements and six power MOS of brushless electric machine three-phase
Road；Characterized by further comprising simulation PI governing loop circuits, UC3637 modular circuits, CPLD signals resolve modular circuit,
IR2132 circuits and；The input connection brushless electric machine bus of current error comparator, by the bus current and given electric current of sampling
Signal relatively makes the difference input simulation PI governing loop circuits, and simulation PI governing loops circuit output connects with UC3637 modular circuits
Connect, UC3637 is according to the adjustable differential PWM signal of current error a pair of dutycycles of output；The output of UC3637 modular circuits with
CPLD signals resolve modular circuit connection, CPLD signals resolve modular circuit input also with three Hall elements, buses
Overcurrent protection circuit, busbar voltage overvoltage crowbar are connected with the output of temperature sensor；Above-mentioned each signal is passed through
CPLD signals resolve the resolving of modular circuit, IR2132 circuits six power MOS circuits of control that calculation result passes through connection
Shut-off, the shut-off control brushless electric machine electric current of six power MOS circuits.
A kind of method for carrying out closed-loop control using the general brushless electric machine current close-loop control system, it is characterised in that
Step is as follows：
Step 1：By based on the feedback current Uf after the conditioning of the motor bus current and single-ended signal Uc based on foreign current
Make the difference, obtain current error Ud=Uc-Uf；
Step 2：Current error Ud=Uc-Uf is input into UC3637 modular circuits, UC3637 is according to current error Ud's
Polarity and adjustable differential PWM signal PWMA of amplitude a pair of dutycycles of output and PWMB；
Step 3：Signal PWMB and three Hall element signals, bus current overcurrent protection signal, busbar voltage overvoltages
Protection signal and temperature sensor signal are input into CPLD signals and resolve module simultaneously, carry out logical process as follows：
Step a：When be input into CPLD busbar voltage overvoltage protection signal be bus overvoltage signal and it is effective when, CPLD makes
Actuating motor brake operation, tri- metal-oxide-semiconductors of Q1, Q3 and Q5 are closed, and tetra- metal-oxide-semiconductors of Q2, Q4, Q6 and Q7 are opened, until detecting
Bus is not over-pressed, performs next step；
Step b：When the bus current overcurrent protection signal for being input into CPLD is that bus current is more than 30A, CPLD makes and holding
Row is closed and drives operation, and seven metal-oxide-semiconductors of Q1～Q7 are closed, and except nonsystematic is re-powered, otherwise or else perform any operation；
Step c：When the bus current overcurrent protection signal for being input into CPLD is that bus current is more than 15A, performs to close and drive
Dynamic operation, seven metal-oxide-semiconductors of Q1～Q7 are closed, and until detecting the non-excessively stream of bus current, perform next step；
Step d：When the temperature sensor signal of input CPLD is temperature protection signal, perform and close driving operation, Q1～Q7
Seven metal-oxide-semiconductors are closed, normal until detecting temperature, perform next step；
Step e：When the IR2132 error protection signals of CPLD are input into and when failure recurs number of times less than 5 times,
IR2132 is input into overall height, after IR2132 resets, execution step f；When failure recurs number of times more than or equal to 5 times, closing is performed
Drive operation, seven metal-oxide-semiconductors of Q1～Q7 to close, except nonsystematic is re-powered, otherwise or else perform any operation；
Step f：When all of failure does not all occur, then the two-phase-region casting signal PWMA for exporting UC3637, PWMB conversion
For the available three-phase driving signal of DC brushless motor；The phase order relation of conversion is table 1：
1 two-phase of table/three-phase drive conversion
Wherein：Q1～Q7 is low effectively.
Beneficial effect
A kind of general brushless electric machine current close-loop control system proposed by the present invention and control method, for middle low power without
Brushless motor control system, using CPLD EPM570 and DC MOTOR CONTROL chip UC3637, devises a kind of new brushless
The current loop control interface circuit of direct current generator, realizes the four-quadrant operation control of motor, while the circuit is also equipped with outside
Parallel communications control function and perfect lost-control protection strategy.There are ir4361 modules in external MSK companies, you can realize brushless direct-current
The four-quadrant operation control of electric current loop of motor.This product can completely substitute the ir4361 of MSK companies.
Beneficial effect：There is provided the general hardware platform of brushless electric machine closed-loop current control, as hardware interface circuit mould
Block, additional speed ring and position ring, it is possible to the three closed loop servo systems control of brushless electric machine is done directly, using flexibly side
Just；The ir4361 of MSK companies can completely be substituted, not only low cost, and for military products device production domesticization highly significant.
Description of the drawings
Fig. 1：UC3637 cut-away views
Fig. 2：System hardware structure block diagram
Fig. 3：Main circuit driving circuit
Fig. 4：PI adjusts loop
Fig. 5：CPLD control method structure charts
Specific embodiment
In conjunction with embodiment, accompanying drawing, the invention will be further described：
System design parameterses：Maximum supply power voltage Udc=80V, continuous output current 30A, can carry out DC brushless motor
The current closed-loop system of four-quadrant operating.
UC3637 is a kind of special motor PWM control chip, for the PWM controller of DC motor Driver.Its periphery
Only fraction of components and parts need to be increased can produce PWM waveform.Internal circuit diagram is as shown in the figure：It can be seen that in chip
There is the switch of two toggled device control in portion, respectively connected two controlled current sources.When we add on 1 pin and 3 pin
Different voltage, connects resistance to certain level, when electric capacity is connected on 2 pin to another level, it is possible to 2 on 18 pin
The good triangular wave of the linearity is obtained on pin.The frequency of triangular wave depends on the voltage difference between 1 pin and 2 pin.By three on 2 pin
Angle ripple is connected to 8 pin and 10 pin, in two comparator COMP1, connects on another pin PIN9 of COMP2 and PIN11 different
Voltage signal, it is possible to the proper PWM square-wave signals on output pin PIN4 and PIN7.The dutycycle of square wave depends on added
Voltage swing.
Driving chip employs the IR2132 of (IR) company product.IR2132 has high voltage (600V), the spy of high speed
Point.Current detecting in peripheral circuit provides the analog feedback value of full-bridge circuit electric current.If beyond setting or adjusted with reference to electricity
Flow valuve, the internal current protection circuit of IR2132 drivers just starts, and turns off output channel, realizes overcurrent protection.Setting value can
Using the reference value as software protection circuit, circuit is set to can be suitably used for the motor control of different capacity.Meanwhile, same bridge arm is upper and lower
The interlocking time delay of the built-in 0.8 μ s of drive signal of two IGBT.In the application, the peripheral circuit design of IR2132 must
Note the capacity matching and the problem of wiring of electric capacity between Vcc and Vss and output end bootstrap capacitor.In design, the former appearance
Amount at least should be 10 times of the latter, and the former wiring should be close proximity to chip.
CPLD adopts ALTERA EPM570T100I5, inside to have 570 logical blocks (Logic Element), equivalent to
440 macroelements (Macrocell), power supply is powered simply, and core voltage and pin voltage are all 3.3V.Pin time delay is
5.4ns, meets the design requirement of system.
Power MOS pipe selects IRF3710, its on state resistance Rds=0.025 Ω, drain voltage Uds=100V, drain electrode
DC current Id=57A.General drive control can be met to require.
System hardware circuit block diagram is as shown in Figure 2.
Through UC3637, UC3637 can produce the complementary PWM letters of two-way to difference Uc that current of electric gives with foreign current
Number CPLD is sent into, CPLD resolves output three-phase brushless electricity according to two-way pwm signal and motor hall signal (motor position information)
The pwm signal of machine.
Wherein driving circuit such as Fig. 3, wherein R406 are bus current/voltage sample resistance, and R400, D400 and Q7 are constituted
Brake circuit.
Fig. 4 is the PI governing loops of electric current loop.The size for adjusting R301, R302 and C300 is just entered to the PI parameters of electric current loop
Row setting.If electric current loop does not need integral element, S300 short circuit C300 can be closed a switch to realize.
This module only realizes the closed-loop control of Servo System Electric Current Wreath.
Foreign current gives：It is single-ended signal Uc after conditioning for a pair of differential input signals；
Feedback current Uf：It is the motor bus current after conditioning；
Current error Ud：For given value of current and difference Ud=Uc-Uf of feedback current；
Current error Ud sends into UC3637 after simulating PI governing loop circuits (Fig. 4) and nursing one's health, and UC3637 is according to electric current
The polarity of error Ud and adjustable differential PWM signal PWMA of amplitude a pair of dutycycles of output, PWMB；
PWMA, PWMB, current protection signal, bus protection signal, IR2132 protection signals, overheat protector and motor Hall
Signal sends into together CPLD and carries out signal resolving；
The sampling and conditioning of bus current/voltage：Bus current/voltage (hardware circuit) first passes through full-wave rectification, then leads to
Cross hysteresis loop comparator；If hysteresis loop comparator is output as height, i.e. bus excessively stream/overvoltage.
Fig. 5 is the control flow chart of CPLD：
All do not occur if all of failure, then the two-phase-region casting signal PWMA for exporting UC3637, PWMB is converted into directly
The available three-phase driving signal of stream brushless electric machine.
The operation (1) when CPLD receive bus overvoltage signal and it is effective when, actuating motor brake operation (Q1, Q3, Q5 manage
Close, Q2, Q4, Q6, Q7 pipe is opened), it is not over-pressed until detecting bus, perform (2)；
When CPLD receives bus current more than 30A, (Q1～Q7 pipes are closed the operation (2) to perform closing driving operation
Close), except nonsystematic is re-powered, otherwise or else perform any operation；
When CPLD receives bus current more than 15A, (Q1～Q7 pipes are closed the operation (3) to perform closing driving operation
Close), until detecting the non-excessively stream of bus current, perform (4)；
The operation (4) receives temperature protection signal as CPLD, performs and closes driving operation (closing of Q1～Q7 pipes), until
Detect temperature normal, perform (5)；
The operation (5) when CPLD receives IR2132 error protection signals and failure recur number of times less than 5 times when,
After reset IR2132 (i.e. IR2132 is input into overall height), perform (6)；When failure recurs number of times more than or equal to 5 times, closing is performed
Operation (closing of Q1～Q7 pipes) is driven, except nonsystematic is re-powered, any operation is otherwise or else performed；
The operation (6) does not all occur if all of failure, then the two-phase-region casting signal PWMA for exporting UC3637,
PWMB is converted into the available three-phase driving signal of DC brushless motor.The phase order relation of conversion is as shown in table 1.Wherein, Q1～Q7
For low effectively.
1 two-phase of table/three-phase drive conversion
Claims (1)
1. a kind of method for carrying out closed-loop control using general brushless electric machine current close-loop control system, described general brushless electricity
Machine current close-loop control system includes being connected to bus current current foldback circuit, the busbar voltage overvoltage guarantor of brushless electric machine bus
Protection circuit, three Hall elements positioned at brushless electric machine three-phase and six power MOS circuit Q1～Q6；It is characterized in that also wrapping
Include simulation PI governing loop circuits, UC3637 modular circuits, CPLD signals and resolve modular circuit and I R2132 circuits；Electric current is missed
The input connection brushless electric machine bus of difference comparator, the bus current of sampling is compared with given current signal and makes the difference input simulation
PI governing loop circuits, simulation PI governing loops circuit output is connected with UC3637 modular circuits, and UC3637 is according to current error
Export the adjustable differential PWM signal of a pair of dutycycles；The output of UC3637 modular circuits resolves modular circuit and connects with CPLD signals
Connect, the input that CPLD signals resolve modular circuit is also electric with three Hall elements, bus current current foldback circuit, bus
Press through voltage protection circuit to be connected with the output of temperature sensor；Above-mentioned each signal resolves the solution of modular circuit through CPLD signals
Calculate, calculation result controls the shut-off of six power MOS circuits, the pass of six power MOS circuits by the IR2132 circuits of connection
Disconnected control brushless electric machine electric current；Wherein CPLD signals resolve modular circuit and adopt ALTERA EPM570T1 00I5, power MOS pipe
From IRF3710；Wherein Q1 connects with Q4, and the S poles of Q1 access the A phases of brshless DC motor with the D poles of Q4；Q3 and Q6 goes here and there
Connection, and the S poles of Q3 access the B phases of brshless DC motor with the D poles of Q6；Q5 connects with Q2, and the S poles of Q5 are accessed with the D poles of Q2
The C phases of brshless DC motor；It is connected between circuit busbar anode and ground with Q7 after resistance R400 is in parallel with diode D400, with
Motor constitutes brake circuit；It is characterized in that step is as follows：
Step 1：To be made the difference based on the feedback current Uf after the conditioning of the motor bus current and single-ended signal Uc based on foreign current,
Obtain current error Ud=Uc-Uf；
Step 2：Current error Ud=Uc-Uf is input into UC3637 modular circuits, polarity of the UC3637 according to current error Ud
With adjustable differential PWM signal PWMA of amplitude a pair of dutycycles of output and PWMB；
Step 3：Signal PWMB and three Hall element signals, bus current overcurrent protection signal, busbar voltage overvoltage protections
Signal and temperature sensor signal are input into CPLD signals and resolve module simultaneously, carry out logical process as follows：
Step a：When be input into CPLD busbar voltage overvoltage protection signal be bus overvoltage signal and it is effective when, CPLD makes execution
Motor brake is operated, and tri- metal-oxide-semiconductors of Q1, Q3 and Q5 are closed, and tetra- metal-oxide-semiconductors of Q2, Q4, Q6 and Q7 are opened, until detecting bus
Not overvoltage, performs next step；
Step b：When the bus current overcurrent protection signal for being input into CPLD is that bus current is more than 30A, CPLD makes and performs pass
Driving operation is closed, seven metal-oxide-semiconductors of Q1～Q7 are closed, and except nonsystematic is re-powered, otherwise or else perform any operation；
Step c：When the bus current overcurrent protection signal for being input into CPLD is that bus current is more than 15A, performs closing and drive behaviour
Make, seven metal-oxide-semiconductors of Q1～Q7 are closed, until detecting the non-excessively stream of bus current, perform next step；
Step d：When the temperature sensor signal of input CPLD is temperature protection signal, perform and close driving operation, Q1～Q7 seven
Metal-oxide-semiconductor is closed, normal until detecting temperature, performs next step；
Step e：When the IR2132 error protection signals of CPLD are input into and when failure recurs number of times less than 5 times, IR2132
Input overall height, after IR2132 resets, execution step f；When failure recurs number of times more than or equal to 5 times, perform to close to drive and grasp
Make, seven metal-oxide-semiconductors of Q1～Q7 are closed, and except nonsystematic is re-powered, otherwise or else perform any operation；
Step f：When all of failure does not all occur, then the two-phase-region casting signal PWMA for exporting UC3637, PWMB is converted into directly
The available three-phase driving signal of stream brushless electric machine；The phase order relation of conversion is table 1：
1 two-phase of table/three-phase drive conversion
Wherein：Q1～Q7 is low effectively.
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| CN201410810510.5A CN104539201B (en) | 2014-12-23 | 2014-12-23 | General brushless motor current closed-loop control system and method |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105843079B (en) * | 2016-05-30 | 2020-01-07 | 中国科学院光电技术研究所 | Estimation method of multi-order target motion information |
| CN107757419B (en) * | 2017-08-31 | 2020-11-13 | 宝沃汽车（中国）有限公司 | Motor efficiency control method and device of electric automobile and vehicle |
| CN107681931A (en) * | 2017-10-17 | 2018-02-09 | 中国电子科技集团公司第四十三研究所 | A kind of brshless DC motor current loop control system and control method |
| CN109842327A (en) * | 2017-11-24 | 2019-06-04 | 南京德朔实业有限公司 | Electric tool |
| CN109167553A (en) * | 2018-09-30 | 2019-01-08 | 合肥巨动力系统有限公司 | A kind of electric machine control system security mechanism implementation method based on MCU+CPLD framework |
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| CN204334391U (en) * | 2014-12-23 | 2015-05-13 | 西安电子工程研究所 | A kind of general brushless electric machine current close-loop control system |
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| CN201656883U (en) * | 2010-01-20 | 2010-11-24 | 哈尔滨理工大学 | Brushless direct-current motor controller for dust collector |
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