CN104616575A - Digital power electronic experiment device - Google Patents
Digital power electronic experiment device Download PDFInfo
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- CN104616575A CN104616575A CN201510084658.XA CN201510084658A CN104616575A CN 104616575 A CN104616575 A CN 104616575A CN 201510084658 A CN201510084658 A CN 201510084658A CN 104616575 A CN104616575 A CN 104616575A
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
- G09B23/06—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for physics
- G09B23/18—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for physics for electricity or magnetism
- G09B23/183—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for physics for electricity or magnetism for circuits
- G09B23/186—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for physics for electricity or magnetism for circuits for digital electronics; for computers, e.g. microprocessors
Abstract
The invention discloses a digital power electronic experiment device. The digital power electronic experiment device comprises a real-time control unit (1), a signal protection module (2) and a workpiece hanging area. Experiment module assemblies are connected to the workpiece hanging area in an insertion mode and connected to the signal protection module (2). The signal protection module (2) is connected to the real-time control unit (1). The real-time control unit is used as a controller of the digital power electronic experiment device, is powerful in function, stable in performance and high in accuracy and can perform theoretical algorithm validation and real-time control on power electronic modules, such as alternating current servo motors and single-phase bridge type half-control rectifiers, thereby solving the problems limited accuracy and unavailability of pure simulation algorithm real-time control of traditional motor controller and power electronic experiments.
Description
Technical field
What the present invention relates to is a kind of experiment teaching instrument, and what be specifically related to is a kind of Power Electronic Experimentation device adopting Design of digital.
Background technology
The specialties such as the robotization in current domestic higher vocational college and institution of higher learning all need the specialized courses such as study Electrical Motor, Power Electronic Technique, automatic control system, and the Learning demands of these courses impart knowledge to students by experiment theory is combined actual.Student so just can be made better to deepen theory study, grasp essence and improve manipulative ability.But now domestic equipment is all comparatively simple and experiment content is less while to be verified as master, the experiment that school requires day by day cannot be met there is comprehensive, explorative, advanced requirement, also cannot catch up with the paces of Development of Power Electronic Technology.
Prior art, Digital Electric electronic test device is generally custom-made device, and different tests needs corresponding device, tests single, and exploration is not strong.
Summary of the invention
Goal of the invention: a kind ofly have comprehensive, explorative, advanced for the defect overcoming above experimental provision the invention provides and adapt to the Digital Electric electronic experimental device of Development of Power Electronic Technology needs.
Technical solution of the present invention is as follows:
A kind of Digital Electric electronic experimental device, comprises real-time controlling unit, signal protection module and suspension member district, suspension member district grafting experiment modular assembly;
Test modular assembly is all connected with signal protection module, and signal protection module is connected with real-time controlling unit.
The experiment module assembly of suspension member district grafting is stand-alone assembly structure, comprise AC servo motor hardware in loop module, single-phase bridge half control rectification module, three phase ac voltage regulation module, single phase ac regulation module, three-phase thyristor complete/half-controlled bridge zero formula rectification module, SPWM control blow-up orthogonal frequency-variable module, IGBT DC chopper circuit.
AC servo motor hardware in loop module can complete the demonstration test of AC servo experiment and SVPWM experiment and various algorithm; Single-phase bridge half control rectification module can complete single phase-controlled rectification circuit experiment; Three phase ac voltage regulation module can complete three phase voltage regulating experiment; Single phase ac regulation module can complete single phase ac regulation experiment; Three-phase thyristor is complete/and half-controlled bridge (zero) formula rectification module can complete three-phase thyristor rectification experiment; SPWM controls blow-up orthogonal frequency-variable module can complete the research that SPWM controls blow-up orthogonal frequency changer circuit; IGBT DC chopped-wave module can complete DC chopped-wave experiment.
AC servo motor hardware in loop module comprises work drive motor driving governor, AC servo motor, torque sensor unit, tunable load unit, load controller; Work drive motor driving governor, torque sensor unit, load controller are all connected with signal protection module.
Test AC servo motor is connected between work drive motor driving governor, torque sensor unit; Tunable load unit is connected between torque sensor unit, load controller.
In AC servo motor hardware in loop module, work drive motor driving governor comprises high voltage supply module, photoelectric isolation module, power chip supply module, power driver module, coder module, current sensor, voltage sensor, work drive motor power module, protection circuit module;
High voltage supply module is connected with work drive motor power module, and photoelectric isolation module, power chip supply module, work drive motor power module, protection circuit module are all connected with power driver module, power driver module joint test AC servo motor;
Real-time controlling unit connects power driver module by signal protection module, photoelectric isolation module, and coder module, current sensor, voltage sensor be connection signal protection module, AC servo motor respectively.
Real-time controlling unit produces six road pwm signals and is transported to work drive motor driving governor by signal protection module, work drive motor driving governor is connected by three-phase power line, signal wire with test AC servo motor, work drive motor driving governor controls the operation of AC servo motor, and obtains position and the velocity information of test AC servo motor;
The real time data of the AC servo motor that work drive motor driving governor collects sends real-time controlling unit to by signal protection module;
The loading moment parameter that real-time controlling unit is arranged sends load controller to, load controller controls the loading moment that tunable load unit changes, simultaneously real-time controlling unit to the output signal of torque sensor unit by signal protection module Real-time Collection;
Tunable load unit, torque sensor unit, be coaxially connected with AC servo motor.
Tunable load unit is load motor.
In AC servo motor hardware in loop module, high voltage supply module is used for providing power supply for work drive motor power module, comprise connection terminal portion, rectifier bridge part, relay protection part, connection terminal portion, rectifier bridge part, relay protection part are linked in sequence successively;
The each lead-in wire of connection terminal portion is all arranged an electric capacity, for filtering.
In AC servo motor hardware in loop module, photoelectric isolation module 20 comprises No. six control circuits, the control of the pwm signal exported through signal protection module by real-time controlling unit, the input signal of optocoupler turn-on and turn-off IPM under pwm control signal effect.
In AC servo motor hardware in loop module, power chip supply module comprises the identical feed circuit in four tunnels, and feed circuit are separate each other;
Every bar feed circuit comprise 24V power supply and F2415S-2W integrated device, and 24V power supply, F2415S-2W integrated device are connected.
In AC servo motor hardware in loop module, work drive motor power module output motor working power is to power driver module, after the voltage transitions of high voltage supply module, output voltage is converted to machine operation power supply to work drive motor power module, simultaneously machine operation power supply obtains through power conversion chip the 24V power supply that power chip supply module exports, and for current sensor, voltage sensor provide power supply ± 12V direct supply;
± 12V direct supply connects current sensor, voltage sensor, for current sensor, voltage sensor provide power supply.
In AC servo motor hardware in loop module, protection circuit module comprises bus overvoltage under-voltage protecting circuit, IPM output abnormality protection circuit and protecting control circuit; Bus overvoltage under-voltage protecting circuit, IPM output abnormality protection circuit, soft start relay circuit are all connected with protecting control circuit.
The control circuit of photoelectric isolation module is controlled by pwm control signal, the input signal of turn-on and turn-off IPM (Intelligent Power Module, Intelligent Power Module) under the control signal effect of optocoupler in PWM; Every road optocoupler is all identical structure, controls six road signals.Here optocoupler is equivalent to a switch, plays the effect of buffer circuit, avoids mutual interference.
More preferably, the control procedure of real-time controlling unit to AC servo motor hardware in loop module specifically comprises the following steps: control procedure specifically comprise the following steps:
S1, real-time controlling unit gathers rotor reference velocity w
ref, rotor actual measurement speed w, electric machine phase current i
a, i
b, input angle of rotor of motor θ;
S2, error of calculation e=w
ref-w;
S3, carries out speed ring PI computing, obtains controlled quentity controlled variable and exports
S4, according to u, i
a, i
b, θ carries out Park conversion, Clark conversion, double-current ring PI computing, obtains medium voltage variable U
α, U
β;
S5, according to medium voltage variable U
α, U
β, carry out SVPWM conversion, export pwm control signal;
S6, pwm control signal gives work drive motor driving governor, and work drive motor driving governor controls AC servo motor running;
S7, output torque controlled quentity controlled variable is to load controller, and load controller controls tunable load unit and exports corresponding load.
During the parameter adjustment of step S1 real-time controlling unit, by computing machine on-line operation, on the computer screen in a graphical form, Real time dynamic display rotor reference velocity, rotor actual measurement speed, electric machine phase current, input angle of rotor of motor and torque information.
The present invention, by the control procedure of real-time controlling unit, sets up closed-loop simulation model, can, by servomotor process structure Real-time Feedback to servo-drive system, realize actual in ring test; All control signals are directly sent in real time by real-time controlling unit, and all data that will gather are by real-time controlling unit Real-time Collection; So native system is a kind of hardware in loop real-time system, have build Controlling model fast, efficiently, advantage easily.
Beneficial effect of the present invention comprises:
1, the present invention can realize, AC servo is tested and SVPWM experiment, single phase-controlled rectification circuit, three-phase thyristor rectification experiment, DC chopped-wave experiment, three phase voltage regulating experiment, single phase ac regulation experiment, SPWM control blow-up orthogonal frequency changer circuit are tested, realize the comprehensive and explorative of test, there is advantages such as building model is quick, convenience, want simple relative to the control system of special DSP chip and save time; The present invention facilitates tested AC servo motor to access fast, and sets up closed-loop simulation model, can, by servomotor process structure Real-time Feedback to servo-drive system, realize actual in ring test;
2, all algorithms of Electric Machine Control directly realize with matlab/Simulink language in real-time controlling unit, and all control signals are directly sent in real time by real-time controlling unit, and all data that will gather are by real-time controlling unit Real-time Collection; So native system is a kind of hardware in loop real-time system, have build Controlling model fast, efficiently, advantage easily,
3, under the control of real-time controlling unit, load controller can control the tunable load that tunable load unit produces high precision, arbitrary form.
4, during this system cloud gray model, all operational factors, the intermediate calculation data of motor and load unit all by real-time controlling unit Real-time Collection, and can show in a graphical form;
5, relative to the control system based on special DSP chip etc., the present invention wants simple and saves time, and can revise algorithm parameter by real-time online, be the Performance comparision of parameter optimization, various algorithm, and the parameter adjustment of control algolithm provides conveniently.
When 5, testing, all control signals are sent by real-time controlling unit (PC+Quanser platform+data collecting card); concrete controlled module is given through isolation module and protection module; all procedure parameters are gathered by real-time controlling unit; and show with the form such as figure, data; all control algolithms realize in Matlab/Simulink; fast, efficiently, be real digitized experimental provision.
Accompanying drawing explanation
Fig. 1 is Digital Electric electronic experimental device structured flowchart of the present invention;
Fig. 2 is the structured flowchart of AC servo motor hardware in loop module of the present invention;
Fig. 3 is the structured flowchart of work drive motor driving governor;
Fig. 4 is the structural representation of the high voltage supply module of work drive motor driving governor;
Fig. 5 is the structural representation of the photoelectric isolation module of work drive motor driving governor;
Fig. 6 is the structural representation of the power chip supply module of work drive motor driving governor;
Fig. 7 is the structural representation of the coder module of work drive motor driving governor;
Fig. 8 is the structural representation of the current sensor of work drive motor driving governor;
Fig. 9 is the structural representation of the voltage sensor of work drive motor driving governor;
Figure 10 is the structural representation of the work drive motor power module of work drive motor driving governor;
Figure 11 is the structural representation of the protection circuit module of work drive motor driving governor;
Figure 12 is the control flow schematic diagram that real-time controlling unit is tested for AC servo motor hardware in loop.
Embodiment
Below in conjunction with accompanying drawing and specific embodiment, technical solution of the present invention is described in further detail, can better understand the present invention to make those skilled in the art and can be implemented, but illustrated embodiment is not as a limitation of the invention.
For ease of understanding the present invention, set forth below in conjunction with accompanying drawing.
As shown in Figure 1, a kind of Digital Electric electronic experimental device, comprises real-time controlling unit 1, signal protection module 2 and suspension member district, suspension member district grafting experiment modular assembly; Test modular assembly is all connected with signal protection module 2, and signal protection module 2 is connected with real-time controlling unit 1.
The experiment module assembly of suspension member district grafting is stand-alone assembly structure, comprise AC servo motor hardware in loop module 3, single-phase bridge half control rectification module 4, three phase ac voltage regulation module 5, single phase ac regulation module 6, three-phase thyristor complete/half-controlled bridge (zero) formula rectification module 7, SPWM control blow-up orthogonal frequency-variable module 8, IGBT DC chopper circuit 9.
AC servo motor hardware in loop module 3 can complete the demonstration test of AC servo experiment and SVPWM experiment and various algorithm; Single-phase bridge half control rectification module 4 can complete single phase-controlled rectification circuit experiment; Three phase ac voltage regulation module 5 can complete three phase voltage regulating experiment; Single phase ac regulation module 6 can complete single phase ac regulation experiment; Three-phase thyristor is complete/and half-controlled bridge (zero) formula rectification module 7 can complete three-phase thyristor rectification experiment; SPWM controls blow-up orthogonal frequency-variable module 8 can complete the research that SPWM controls blow-up orthogonal frequency changer circuit; IGBT DC chopped-wave module 9 can complete DC chopped-wave experiment.
As shown in Figure 2, AC servo motor hardware in loop module 3 comprises work drive motor driving governor 10, AC servo motor 11, torque sensor unit 12, tunable load unit 13, load controller 14; Work drive motor driving governor 10, torque sensor unit 12, load controller 14 are all connected with signal protection module 2.
Test AC servo motor 11 is connected between work drive motor driving governor 10, torque sensor unit 12; Tunable load unit 13 is connected between torque sensor unit 12, load controller 14.
As shown in Figure 3, in AC servo motor hardware in loop module 3, work drive motor driving governor 10 comprises high voltage supply module 15, photoelectric isolation module 20, power chip supply module 24, power driver module 19, coder module 21, current sensor 22, voltage sensor 23, work drive motor power module 16, protection circuit module 17;
High voltage supply module 15 is connected with work drive motor power module 16, photoelectric isolation module 20, power chip supply module 24, work drive motor power module 16, protection circuit module 17 are all connected with power driver module 19, power driver module 19 joint test AC servo motor 11;
Real-time controlling unit 1 connects power driver module 19 by signal protection module 2, photoelectric isolation module 20, and coder module 21, current sensor 22, voltage sensor 23 be connection signal protection module 2, AC servo motor 11 respectively.
Real-time controlling unit 1 produces six road pwm signals and is transported to work drive motor driving governor 10 by signal protection module 2, work drive motor driving governor 10 is connected by three-phase power line, signal wire with test AC servo motor 11, work drive motor driving governor 10 controls the operation of AC servo motor 11, and obtains position and the velocity information of test AC servo motor 11;
The real time data of the AC servo motor 11 that work drive motor driving governor 10 collects sends real-time controlling unit 1 to by signal protection module 2;
The loading moment parameter that real-time controlling unit 1 is arranged sends load controller 14 to, load controller 14 controls the loading moment that tunable load unit 13 changes, and the output signal of real-time controlling unit 1 pair of torque sensor unit 12 is by signal protection module 2 Real-time Collection simultaneously;
Tunable load unit 13, torque sensor unit 12 are coaxially connected with AC servo motor 11.Tunable load unit loads different loads to work drive motor, and meanwhile, torque sensor unit can gather the opposing torque of tunable load unit and AC servo motor.
Tunable load unit 13 is load motor.
In the present embodiment, real-time controlling unit 1 has been installed QuaRC real-time software and the Matlab software of Quanser Company, Matlab and QuaRC software comprises realization and optimum configurations part, loading moment setting unit and the dynamic performance parameter display section of motor control algorithms; The realization of motor control algorithms and optimum configurations part are used for modulator control signal PWM waveform, and are transported to work drive motor driving governor 10 by real-time control software; Loading moment setting unit, for controlling tunable load unit 13, produces adjustable load; The motor operation state data that dynamic performance parameter display section sends for showing work drive motor driving governor 10, for observing the operation conditions of whole system.
When testing, all control signals are sent by real-time controlling unit (PC+Quanser platform+data collecting card); concrete controlled module is given through isolation module and protection module; all procedure parameters are gathered by real-time controlling unit; and show with the form such as figure, data; all control algolithms realize in Matlab/Simulink; fast, efficiently, be real digitized experimental provision.
Shown in Fig. 4, in AC servo motor hardware in loop module 3, high voltage supply module 15 is for providing power supply for work drive motor power module 16, comprise connection terminal portion, rectifier bridge part, relay protection part, connection terminal portion, rectifier bridge part, relay protection part are linked in sequence successively;
The each lead-in wire of connection terminal portion is all arranged an electric capacity, for filtering; The model that rectifier bridge is selected is 6RI100G-160, and this model stable performance, makes AC conversion become direct current; That the relay of Part III adopts is NVF4-3A-Z80b, and when preventing from initially powering on, electric current is excessive and burn out circuit components.
Shown in Fig. 5; in AC servo motor hardware in loop module 3; photoelectric isolation module (20) comprises No. six control circuits, the control of the pwm signal exported through signal protection module 2 by real-time controlling unit 1, the input signal of optocoupler turn-on and turn-off IPM under pwm control signal effect.The control circuit of photoelectric isolation module is controlled by pwm control signal, the input signal of turn-on and turn-off IPM (Intelligent Power Module, Intelligent Power Module) under the control signal effect of optocoupler in PWM; Every road optocoupler is all identical structure, controls six road signals.Here optocoupler is equivalent to a switch, plays the effect of buffer circuit, avoids mutual interference.
Shown in Fig. 6, in AC servo motor hardware in loop module 3, power chip supply module 24 comprises the identical feed circuit in four tunnels, and feed circuit are separate each other;
Every bar feed circuit comprise 24V power supply and F2415S-2W integrated device, and 24V power supply, F2415S-2W integrated device are connected; Particularly, the input pin 1 of the power electric crimping F2415S-2W of 24V and pin 2, the output pin 7 of F2415S-2W and pin 5 connect the power supply terminal of optocoupler, at the output pin 7 of F2415S-2W and an indirect 1K resistance of pin 5, prevent electric current excessive and burn out F2415S-2W integrated device.
Fig. 7 is the structural representation of the coder module 21 of work drive motor driving governor, and input signal is converted into electric signal rear just subsequent treatment by scrambler.
As shown in Figure 8, current sensor 22 connects the ± QPIDe data collecting card of 12V direct supply and real-time controlling unit;
± 12V provides power supply for current sensor, between VDD-to-VSS, connect electric capacity prevent electromagnetic interference (EMI), obtain sample rate current by sampling resistor, by the analog input channel in QPIDe data collecting card, data are passed back in the QuaRC of real-time controlling unit 1, for control algolithm.
Fig. 9 is the structural representation of the voltage sensor 23 of work drive motor driving governor, and its principle of work is identical with current sensor 22.
Shown in Figure 10, in AC servo motor hardware in loop module 3, work drive motor power module 16 output motor working power is to power driver module 19, after the voltage transitions of high voltage supply module 15, output voltage is converted to machine operation power supply to work drive motor power module 16, simultaneously machine operation power supply obtains through power conversion chip the 24V power supply that power chip supply module 24 exports, and for current sensor 22, voltage sensor 23 provide power supply ± 12V direct supply;
± 12V direct supply connects current sensor 22, voltage sensor 23, for current sensor 22, voltage sensor 23 provide power supply.
Shown in Figure 11, in AC servo motor hardware in loop module 3, protection circuit module 17 comprises bus overvoltage under-voltage protecting circuit, IPM output abnormality protection circuit and protecting control circuit; Bus overvoltage under-voltage protecting circuit, IPM output abnormality protection circuit, soft start relay circuit are all connected with protecting control circuit.
Overvoltage and under-voltage protecting circuit comprise LM2903 and HCPL2631 two chips and form, and LM2903 is comparer, and input voltage, compared with 10V, is seen and whether reached overvoltage or undervoltage warning value, and HCPL2631 is optocoupler, plays buffer action.IPM output abnormality and busbar voltage overvoltage crowbar are isolated by two optocouplers, when occurring that abnormal signal optocoupler TLP181 turns off, stop the output of IPM; When there is busbar voltage overvoltage signal, by optocoupler HCPL0454, corresponding control signal is inputted to IPM, thus process overpressure situation.Soft start relay circuit input signal utilizes optocoupler AQW212 to control the bypass relay APA3312 of soft start resistance to realize opening and shutoff of 24V power circuit, realizes the defencive function of power amplifier board.
As shown in figure 12, the control procedure of real-time controlling unit specifically comprises the following steps:
S1, real-time controlling unit 1 gathers rotor reference velocity w
ref, rotor actual measurement speed w, electric machine phase current i
a, i
b, input angle of rotor of motor θ;
S2, error of calculation e=w
ref-w;
S3, carries out speed ring PI computing, obtains controlled quentity controlled variable and exports
S4, according to u, i
a, i
b, θ carries out Park conversion, Clark conversion, double-current ring PI computing, obtains medium voltage variable U
α, U
β;
S5, according to medium voltage variable U
α, U
β, carry out SVPWM conversion, export pwm control signal;
S6, pwm control signal gives work drive motor driving governor, and work drive motor driving governor controls AC servo motor running;
S7, output torque controlled quentity controlled variable is to load controller, and load controller controls tunable load unit and exports corresponding load.
During the parameter adjustment of step S1 real-time controlling unit, by computing machine on-line operation, on the computer screen in a graphical form, Real time dynamic display rotor reference velocity, rotor actual measurement speed, electric machine phase current, input angle of rotor of motor and torque information.
Below be only the preferred embodiment of the present invention; be noted that for those skilled in the art; under the premise without departing from the principles of the invention, can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (10)
1. a Digital Electric electronic experimental device, is characterized in that, comprises real-time controlling unit (1), signal protection module (2) and suspension member district, described suspension member district grafting experiment modular assembly;
Described test modular assembly is all connected with described signal protection module (2), and signal protection module (2) is connected with real-time controlling unit (1).
2. Digital Electric electronic experimental device according to claim 1, it is characterized in that: the experiment module assembly of described suspension member district grafting is stand-alone assembly structure, comprise AC servo motor hardware in loop module (3), single-phase bridge half control rectification module (4), three phase ac voltage regulation module (5), single phase ac regulation module (6), three-phase thyristor complete/half-controlling bridged rectifier module (7), SPWM control blow-up orthogonal frequency-variable module (8), IGBT DC chopper circuit (9).
3. Digital Electric electronic experimental device according to claim 1, is characterized in that: described AC servo motor hardware in loop module (3) comprises work drive motor driving governor (10), AC servo motor (11), torque sensor unit (12), tunable load unit (13), load controller (14); Work drive motor driving governor (10), torque sensor unit (12), load controller (14) are all connected with signal protection module (2);
Test AC servo motor (11) is connected between work drive motor driving governor (10), torque sensor unit (12); Tunable load unit (13) is connected between torque sensor unit (12), load controller (14).
4. Digital Electric electronic experimental device according to claim 3, it is characterized in that: in described AC servo motor hardware in loop module (3), work drive motor driving governor (10) comprises high voltage supply module (15), photoelectric isolation module (20), power chip supply module (24), power driver module (19), coder module (21), current sensor (22), voltage sensor (23), work drive motor power module (16), protection circuit module (17);
High voltage supply module (15) is connected with work drive motor power module (16), photoelectric isolation module (20), power chip supply module (24), work drive motor power module (16), protection circuit module (17) are all connected with power driver module (19), and power driver module (19) joint test is with AC servo motor (11);
Real-time controlling unit (1) connects power driver module (19) by signal protection module (2), photoelectric isolation module (20), and coder module (21), current sensor (22), voltage sensor (23) be connection signal protection module (2), AC servo motor (11) respectively.
5. Digital Electric electronic experimental device according to claim 4, is characterized in that:
Described real-time controlling unit (1) produces six road pwm signals and is transported to work drive motor driving governor (10) by signal protection module (2), work drive motor driving governor (10) is connected by three-phase power line, signal wire with test AC servo motor (11), work drive motor driving governor (10) controls the operation of AC servo motor (11), and obtains position and the velocity information of test AC servo motor (11);
The real time data of the AC servo motor (11) that work drive motor driving governor (10) collects sends real-time controlling unit (1) to by signal protection module (2);
The upper loading moment parameter arranged of real-time controlling unit (1) sends load controller (14) to, load controller (14) controls tunable load unit (13) loading moment that changes, simultaneously real-time controlling unit (1) to the output signal of torque sensor unit (12) by signal protection module (2) Real-time Collection;
Tunable load unit (13), torque sensor unit (12), be coaxially connected with AC servo motor (11).
6. Digital Electric electronic experimental device according to claim 3, it is characterized in that: high voltage supply module (15) is for providing power supply for work drive motor power module (16), comprise connection terminal portion, rectifier bridge part, relay protection part, described connection terminal portion, rectifier bridge part, relay protection part are linked in sequence successively;
The each lead-in wire of connection terminal portion is all arranged an electric capacity.
7. Digital Electric electronic experimental device according to claim 3; it is characterized in that: photoelectric isolation module (20) comprises No. six control circuits; the control of the pwm signal exported through signal protection module (2) by real-time controlling unit (1), the input signal of optocoupler turn-on and turn-off IPM under pwm control signal effect.
8. Digital Electric electronic experimental device according to claim 3, it is characterized in that: work drive motor power module (16) output motor working power is to power driver module (19), after the voltage transitions of high voltage supply module (15), output voltage is converted to machine operation power supply to work drive motor power module (16), simultaneously machine operation power supply obtains through power conversion chip the 24V power supply that power chip supply module (24) exports, and be current sensor (22), voltage sensor (23) provide power supply ± 12V direct supply,
Described ± 12V direct supply connects current sensor (22), voltage sensor (23), for current sensor (22), voltage sensor (23) provide power supply.
9. Digital Electric electronic experimental device according to claim 3, is characterized in that: protection circuit module (17) comprises bus overvoltage under-voltage protecting circuit, IPM output abnormality protection circuit and protecting control circuit; Described bus overvoltage under-voltage protecting circuit, IPM output abnormality protection circuit, soft start relay circuit are all connected with protecting control circuit.
10. Digital Electric electronic experimental device according to claim 1, is characterized in that: the control procedure of described real-time controlling unit (1) to AC servo motor hardware in loop module (3) specifically comprises the following steps:
S1, real-time controlling unit (1) gathers rotor reference velocity w by signal protection module (2)
ref, rotor actual measurement speed w, electric machine phase current i
a, i
b, input angle of rotor of motor θ;
S2, error of calculation e=w
ref-w;
S3, carries out speed ring PI computing, obtains controlled quentity controlled variable and exports
S4, according to u, i
a, i
b, θ carries out Park conversion, Clark conversion, double-current ring PI computing, obtains medium voltage variable U
α, U
β;
S5, according to medium voltage variable U
α, U
β, carry out SVPWM conversion, export pwm control signal;
S6, pwm control signal gives work drive motor driving governor (10), and work drive motor driving governor (10) controls AC servo motor (11) running;
S7, output torque controlled quentity controlled variable is to load controller (14), and load controller (14) controls tunable load unit (3) and exports corresponding load.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105958878A (en) * | 2016-06-24 | 2016-09-21 | 南京工程学院 | Speed regulation apparatus and method for digitized thyristor direct current motor |
| CN106205305A (en) * | 2016-06-24 | 2016-12-07 | 南京工程学院 | A kind of power electronics and motor drag experiment porch and operation method |
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| CN105958878A (en) * | 2016-06-24 | 2016-09-21 | 南京工程学院 | Speed regulation apparatus and method for digitized thyristor direct current motor |
| CN106205305A (en) * | 2016-06-24 | 2016-12-07 | 南京工程学院 | A kind of power electronics and motor drag experiment porch and operation method |
| CN105958878B (en) * | 2016-06-24 | 2019-03-22 | 南京工程学院 | A kind of digitlization thyristor dc motor speed control device and method |
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| CN104616575B (en) | 2017-06-20 |
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