CN104638993A - Commutation control circuit and method for direct current motor - Google Patents
Commutation control circuit and method for direct current motor Download PDFInfo
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- CN104638993A CN104638993A CN201510070512.XA CN201510070512A CN104638993A CN 104638993 A CN104638993 A CN 104638993A CN 201510070512 A CN201510070512 A CN 201510070512A CN 104638993 A CN104638993 A CN 104638993A
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Abstract
The invention discloses a commutation control circuit and method for a direct current motor. A position sensor is used for detecting a current position of a control plane to generate a feedback signal which is then transmitted to a PID (Proportional Integration Differentiation) controller; the PID controller is used for carrying out PID operation on a position signal and the feedback signal and respectively transmitting an output signal UO1 to a non-inversing end of a first comparator and an inversing end of a subtracter; the subtracter is used for subtracting the output UO1 from a reference voltage to obtain an output voltage UO2; the reference voltage of the subtracter is an amplitude of reference sawtooth waves, wherein UO2=Uref-UO1; after the voltages UO1 and UO2 are compared with sawtooth waves, PWM1 (Pulse-Width Modulation) and PWM2 are respectively output, wherein the PWM1 and the PWM2 are the same in phase position, and the sum of duty ratio is 1; after the PWM1 and the PWM2 are amplified by a driving circuit and a power H bridge, the direct current motor is driven to drive the control plane to deflect or not to deflect according to the duty ratio. According to the commutation control circuit and method disclosed by the invention, the problem of large power consumption in bipolar control is solved; the commutation control circuit has the advantage of simple structure and is easy to realize; the direct current motor in an electric steering engine can be controlled conveniently.
Description
Technical field
The present invention relates to electric steering engine SERVO CONTROL field, be specifically related to a kind of commutation control circuit and method of direct current machine.
Background technology
Along with the development of electric machines control technology, electric steering engine has the features such as reliability is high, easy care, lightweight, volume is little, progressively replaces traditional hydraulic sterring engine and air pressure steering wheel, is widely used in flight attitude and the TRAJECTORY CONTROL of various aircraft.
Adopt in the electric steering engine control system of direct current machine, H bridge is the most frequently used reversible transducer main circuit, and its control mode has bipolar system, acyclic type, limited acyclic type etc. multiple.Although it is little that acyclic type and limited acyclic type control power consumption, efficiency is high, no matter is at digital steering wheel or at analog steering wheel, and the control mode of commutation circuit and brachium pontis power tube is complicated; Bipolar system control mode is conducive to overcoming static friction dead band, facilitates forward and reverse switching, but power loss is large, limits the application in small size, light weight, low-power consumption, low cost electric steering engine.
Summary of the invention
The object of the invention is to solve acyclic type and limited acyclic type control technology Problems existing, a kind of commutation control circuit and method of direct current machine are provided, its structure simply, by adjustment PWM duty ratio just can realize direct current machine commutation, has low-power consumption, low cost, high accuracy, is easy to the distinguishing features such as realization.
In order to achieve the above object, a kind of commutation control circuit of direct current machine, the PID controller comprising receiving position signal is connected the subtracter of reference voltage with in-phase end, the output of PID controller connects the end of oppisite phase of subtracter and the in-phase end of the first comparator, the output of subtracter connects the in-phase end of the second comparator, first comparator and the second comparator all receive sawtooth waveforms by end of oppisite phase, first comparator exports PWM1 to the first drive circuit, second comparator exports PWM2 to the second drive circuit, first drive circuit and the output of the second drive circuit are all connected two brachium pontis of the H bridge of main power circuit, main power circuit connects direct current machine by H bridging, direct current machine connects rudder face, direct current machine connects PID controller by position transducer, the position of DC MOTOR CONTROL control surface deflection can be generated feedback signal and send to PID controller by position transducer.
The signal that described subtracter exports is obtain output voltage after the signal that exports of PID controller and reference voltage subtract each other.
The PWM1 that described first comparator exports is that the signal that PID controller exports compares the result after sawtooth waveforms.
The PWM2 that described second comparator exports is the result after the output signal of subtracter compares sawtooth waveforms.
A reverse control method for direct current machine, comprises the following steps:
The first step: position transducer detects rudder face current location, generate feedback signal and send into PID controller, PID controller carries out PID arithmetic to position signalling and feedback signal, outputs signal as U
o1, deliver to the in-phase end of the first comparator and the end of oppisite phase of subtracter respectively;
Second step: subtracter will export U
o1output voltage U is obtained after subtracting each other with reference voltage
o2, subtracter reference voltage is the amplitude of benchmark sawtooth waveforms, is set to Uref, then U
o2=Uref-U
o1;
3rd step: voltage U
o1, U
o2identical with the phase place that sawtooth waveforms exports PWM1 and PWM2, PWM1 and PWM2 more respectively, duty ratio sum is 1;
4th step: PWM1 and PWM2, after drive circuit and power H bridge amplify, drives direct current machine drive control surface deflection position or do not deflect according to duty ratio.
In described step one, PID controller carries out PID arithmetic to position command and feedback signal, and when position feed back signal equals position control signal, PID controller exports U
o1=U
o2=Uref/2, PWM1=PWM2=0.5, motor does not turn;
When input position control signal is greater than position feed back signal, PID controller exports U
o1>Uref/2, PWM1>0.5, motor rotates forward, and drive motors reaches assigned address;
When input position control signal is less than position feed back signal, PID controller exports U
o1<Uref/2, PWM1<0.5, motor reversal, drive motors gets back to assigned address.
Compared with prior art, the invention provides a kind of structure simple, control circuit and the method for motor commutation just can be realized by adjustment PWM duty ratio, control circuit precision is high, be easy to realize, effectively reduce cost and the power consumption of electric steering engine, the present invention can change the commutation control of position control signal just by regulating the duty ratio of PWM to realize direct current machine, this reverse control method solves the large problem of ambipolar control power consumption, there is again ambipolar control circuit structure simple, be easy to the advantage realized, can control the direct current machine in electric steering engine easily.
Accompanying drawing explanation
Fig. 1 is electrical block diagram of the present invention;
Fig. 2 is a physical circuit schematic diagram of Fig. 1;
Fig. 3 is the first PWM waveform of the present invention;
Fig. 4 is the second PWM waveform of the present invention;
Fig. 5 is the third PWM waveform of the present invention;
Embodiment
Below in conjunction with accompanying drawing, the present invention will be further described.
See Fig. 1, a kind of commutation control circuit of direct current machine, the PID controller comprising receiving position signal is connected the subtracter of reference voltage with in-phase end, the output of PID controller connects the end of oppisite phase of subtracter and the in-phase end of the first comparator, the output of subtracter connects the in-phase end of the second comparator, first comparator and the second comparator all receive sawtooth waveforms by end of oppisite phase, first comparator exports PWM1 to the first drive circuit, second comparator exports PWM2 to the second drive circuit, first drive circuit and the output of the second drive circuit are all connected two brachium pontis of the H bridge of main power circuit, main power circuit connects direct current machine by H bridging, direct current machine connects rudder face, direct current machine connects PID controller by position transducer, the position of DC MOTOR CONTROL control surface deflection can be generated feedback signal and send to PID controller by position transducer.
Subtracter export signal be PID controller export signal and reference voltage subtract each other after obtain output voltage.
The PWM1 that first comparator exports is that the signal that PID controller exports compares the result after sawtooth waveforms.
The PWM2 that second comparator exports is the result after the output signal of subtracter compares sawtooth waveforms.
A reverse control method for direct current machine, comprises the following steps:
The first step: position transducer detects rudder face current location, generate feedback signal and send into PID controller, PID controller carries out PID arithmetic to position signalling and feedback signal, outputs signal as U
o1, deliver to the in-phase end of the first comparator and the end of oppisite phase of subtracter respectively;
Second step: subtracter will export U
o1output voltage U is obtained after subtracting each other with reference voltage
o2, subtracter reference voltage is the amplitude of benchmark sawtooth waveforms, is set to Uref, then U
o2=Uref-U
o1;
3rd step: voltage U
o1, U
o2identical with the phase place that sawtooth waveforms exports PWM1 and PWM2, PWM1 and PWM2 more respectively, duty ratio sum is 1;
4th step: PWM1 and PWM2, after drive circuit and power H bridge amplify, drives direct current machine drive control surface deflection position or do not deflect according to duty ratio.
In step one, PID controller carries out PID arithmetic to position command and feedback signal, and when position feed back signal equals position control signal, PID controller exports U
o1=U
o2=Uref/2, PWM1=PWM2=0.5, motor does not turn;
When input position control signal is greater than position feed back signal, PID controller exports U
o1>Uref/2, PWM1>0.5, motor rotates forward, and drive motors reaches assigned address;
When input position control signal is less than position feed back signal, PID controller exports U
o1<Uref/2, PWM1<0.5, motor reversal, drive motors gets back to assigned address.
See Fig. 2, the first resistance R1, the second resistance R2, the 3rd resistance R3, the first electric capacity C1, the second electric capacity C2 and operational amplifier U1 form PID controller circuit, operational amplifier homophase termination position command signal, anti-phase termination feedback signal; 4th resistance R4, the 5th resistance R5, the 6th resistance R6, the 7th resistance R7 and operational amplifier U2 form subtraction circuit, operational amplifier homophase termination reference voltage V ref, the output signal U of anti-phase termination operational amplifier U1
o1, the output signal of operational amplifier U2 is U
o2; 8th resistance R8, the 9th resistance R9 and the first comparator U3, the second comparator U4 form two comparison circuits, and the anti-phase termination reference saw tooth ripple of the first comparator U3 and the second comparator U4, the amplitude of this sawtooth waveforms is Vref, and in-phase end meets U respectively
o1and U
o2, comparator exports as PWM1 and PWM2; First diode D1, the second diode D2, the 3rd electric capacity C3, the 4th electric capacity C4 and the first half-bridge driver U5, the first half-bridge driver U6 form drive circuit, export the high synchronous power MOS pipe of complementary PWM signals to brachium pontis and drive; First power tube V1, the second power tube V2, the 3rd power tube V3 and the 4th power tube V4 form power H bridge, drive direct current machine M1; Direct current machine drives rudder face to rotate by decelerator; Potentiometer RW1 detects the rudder face anglec of rotation, generates position feed back signal.
The commutation control circuit of above-mentioned a kind of direct current machine, applies it to the control system of electric steering engine, and the step of its control method is:
The first step: potentiometer RW1 detects rudder face current location, generate the operational amplifier U1 that feedback signal sends into PID controller, PID controller carries out PID arithmetic, output signal U to position command and feedback signal
o1, deliver to the end of oppisite phase of the in-phase end of the second comparator U4 and the operational amplifier U2 of subtracter respectively.
Second step: the operational amplifier U2 of subtracter will export U
o1output voltage U is obtained after subtracting each other with reference voltage Uref
o2if the amplitude of subtracter reference voltage and benchmark sawtooth waveforms is equal, U
o2=Uref-U
o1.
3rd step: U
o2connect the in-phase end of the first comparator U3, the anti-phase termination reference saw tooth ripple of the first comparator U3 and the second comparator U4, the amplitude of benchmark sawtooth waveforms is Uref, voltage U
o1, U
o2pWM1 and PWM2 is exported more respectively with benchmark sawtooth Bob; The phase place of PWM1 with PWM2 is identical, and duty ratio sum is 1.
3rd step: PWM1 and PWM2, after drive circuit and power H bridge amplify, drives direct current machine forward and reverse or do not turn according to duty ratio.
4th step: PID controller carries out PID arithmetic to position command and feedback signal, when position feed back signal equals position control signal, PID controller exports U
o1=U
o2=Uref/2, PWM1=PWM2=0.5, motor does not turn, and PWM waveform is shown in Fig. 3.
5th step: when input position control signal is greater than position feed back signal, PID controller exports U
o1as shown in Figure 4, motor rotates forward >Uref/2, PWM1>0.5, PWM waveform, and drive motors reaches assigned address, goes to the 4th step;
6th step: when input position control signal is less than position feed back signal, PID controller exports U
o1as shown in Figure 5, motor reversal, drive motors gets back to assigned address to <Uref/2, PWM1<0.5, PWM waveform, goes to the 4th step.
By above-mentioned steps, change the commutation control of position control signal just by regulating the duty ratio of PWM to realize direct current machine.This reverse control method solves the large problem of ambipolar control power consumption, has again the advantage that ambipolar control circuit structure is simple, be easy to realization, can control the direct current machine in electric steering engine easily.
Claims (6)
1. the commutation control circuit of a direct current machine, it is characterized in that: the PID controller comprising receiving position signal is connected the subtracter of reference voltage with in-phase end, the output of PID controller connects the end of oppisite phase of subtracter and the in-phase end of the first comparator, the output of subtracter connects the in-phase end of the second comparator, first comparator and the second comparator all receive sawtooth waveforms by end of oppisite phase, first comparator exports PWM1 to the first drive circuit, second comparator exports PWM2 to the second drive circuit, first drive circuit and the output of the second drive circuit are all connected two brachium pontis of the H bridge of main power circuit, main power circuit connects direct current machine by H bridging, direct current machine connects rudder face, direct current machine connects PID controller by position transducer, the position of DC MOTOR CONTROL control surface deflection can be generated feedback signal and send to PID controller by position transducer.
2. the commutation control circuit of a kind of direct current machine according to claim 1, is characterized in that: the signal that described subtracter exports is obtain output voltage after the signal that exports of PID controller and reference voltage subtract each other.
3. the commutation control circuit of a kind of direct current machine according to claim 1, is characterized in that: the PWM1 that described first comparator exports is that the signal that PID controller exports compares the result after sawtooth waveforms.
4. the commutation control circuit of a kind of direct current machine according to claim 1, is characterized in that: the PWM2 that described second comparator exports is the result after the output signal of subtracter compares sawtooth waveforms.
5. a reverse control method for direct current machine, is characterized in that: comprise the following steps:
The first step: position transducer detects rudder face current location, generate feedback signal and send into PID controller, PID controller carries out PID arithmetic to position signalling and feedback signal, outputs signal as U
o1, deliver to the in-phase end of the first comparator and the end of oppisite phase of subtracter respectively;
Second step: subtracter will export U
o1output voltage U is obtained after subtracting each other with reference voltage
o2, subtracter reference voltage is the amplitude of benchmark sawtooth waveforms, is set to Uref, then U
o2=Uref-U
o1;
3rd step: voltage U
o1, U
o2identical with the phase place that sawtooth waveforms exports PWM1 and PWM2, PWM1 and PWM2 more respectively, duty ratio sum is 1;
4th step: PWM1 and PWM2, after drive circuit and power H bridge amplify, drives direct current machine drive control surface deflection position or do not deflect according to duty ratio.
6. the reverse control method of a kind of direct current machine according to claim 5, it is characterized in that: in described step one, PID controller carries out PID arithmetic to position command and feedback signal, and when position feed back signal equals position control signal, PID controller exports U
o1=U
o2=Uref/2, PWM1=PWM2=0.5, motor does not turn;
When input position control signal is greater than position feed back signal, PID controller exports U
o1>Uref/2, PWM1>0.5, motor rotates forward, and drive motors reaches assigned address;
When input position control signal is less than position feed back signal, PID controller exports U
o1<Uref/2, PWM1<0.5, motor reversal, drive motors gets back to assigned address.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510070512.XA CN104638993B (en) | 2015-02-10 | 2015-02-10 | Commutation control circuit and method for direct current motor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510070512.XA CN104638993B (en) | 2015-02-10 | 2015-02-10 | Commutation control circuit and method for direct current motor |
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| CN104638993B CN104638993B (en) | 2017-04-19 |
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| CN105450110A (en) * | 2015-12-23 | 2016-03-30 | 中国科学院苏州生物医学工程技术研究所 | Positive and reverse rotation control apparatus for direct current motor |
| CN107276467A (en) * | 2017-08-03 | 2017-10-20 | 深圳市驿固科技有限公司 | A kind of adaptive method of direction of motor rotation |
| CN108448963A (en) * | 2018-04-03 | 2018-08-24 | 西安微电子技术研究所 | A kind of electric steering engine incremental PID control method and its control device |
| CN109774918A (en) * | 2019-03-19 | 2019-05-21 | 深圳市道通智能航空技术有限公司 | A kind of unmanned aerial vehicle (UAV) control device and unmanned plane |
| CN113179051A (en) * | 2021-04-28 | 2021-07-27 | 一巨自动化装备（上海）有限公司 | Soft switching control method for parking actuator |
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Cited By (7)
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| CN105450110A (en) * | 2015-12-23 | 2016-03-30 | 中国科学院苏州生物医学工程技术研究所 | Positive and reverse rotation control apparatus for direct current motor |
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| CN108448963A (en) * | 2018-04-03 | 2018-08-24 | 西安微电子技术研究所 | A kind of electric steering engine incremental PID control method and its control device |
| CN109774918A (en) * | 2019-03-19 | 2019-05-21 | 深圳市道通智能航空技术有限公司 | A kind of unmanned aerial vehicle (UAV) control device and unmanned plane |
| CN109774918B (en) * | 2019-03-19 | 2024-03-29 | 深圳市道通智能航空技术股份有限公司 | Unmanned aerial vehicle controlling means and unmanned aerial vehicle |
| CN113179051A (en) * | 2021-04-28 | 2021-07-27 | 一巨自动化装备（上海）有限公司 | Soft switching control method for parking actuator |
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