CN104678967A - Method and equipment for realizing rapid prototype designing of PWM controller by combining universal industrial personal computer and DSP - Google Patents
Method and equipment for realizing rapid prototype designing of PWM controller by combining universal industrial personal computer and DSP Download PDFInfo
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- CN104678967A CN104678967A CN201510069144.7A CN201510069144A CN104678967A CN 104678967 A CN104678967 A CN 104678967A CN 201510069144 A CN201510069144 A CN 201510069144A CN 104678967 A CN104678967 A CN 104678967A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/4184—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by fault tolerance, reliability of production system
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention discloses a method and equipment for realizing the rapid prototype designing of a PWM controller by combining a universal industrial personal computer and a DSP. According to the method and the equipment, a conventional xPC target technology is utilized, a large-step offline simulation model is converted into an actual control prototype, the actual control prototype is downloaded to the universal industrial personal computer for real-time running, a small-step control algorithm runs on the DSP, that is, a system-level control method is run by the universal industrial personal computer, a reference quantity signal of the DSP is output, the DSP receives the reference quantity signal from the universal industrial personal computer, and generates a control signal SPWM pulse signal corresponding to the reference quantity signal, control C codes are all automatically generated by a Matlab toolbox, and the control prototype is rapidly generated. All conventional rapid prototyping equipment produced by manufacturers is as expensive as a few hundred thousand yuan. However, the cost of hardware required by the method, such as the universal industrial personal computer, a data acquisition card and a DSP control board, is less than ten thousand yuan. Therefore, the method for realizing the rapid prototype designing of the PWM controller by combining the universal industrial personal computer and the DSP is a rapid prototyping solution with more advantages.
Description
Technical field
The present invention relates to robotization industry control technology, especially a kind of general industrial computer associating DSP realizes the method and apparatus of PWM controller rapid prototyping.
Background technology
Electric system is in large scale, system complex, and the design and study workload for system is very large, and this also causes adopting the method for physical simulation to carry out systematic study and is restricted.In recent years since, the development of digital simulation technique wind speed, improves the feasibility studied the modeling and simulation of complicated electric power system greatly.Digital Simulation provides theoretical credible, and feasibility is verified, if but be converted to actual available apparatus or the design in addition of program needs, and the equipment of design is directly used in electric power experiment, and poor stability, cost is high, and efficiency is low.Current rapid prototyping design in virtual environment, carries out product design as much as possible, reach the object shortening product development cycle, reduce development cost, before product development, the control method making deviser new can be tested easily and quickly on Real-time hardware.By real-time testing, Problems existing can be found at the design initial stage, to revise prototype or parameter, then carry out real-time testing, so repeatedly carry out, the final control prototype producing the reasonable of a complete Users ' Need-oriented.Current existing rapid prototyping equipment is as all very expensive in dSPACE, RapidECU etc., and code operation requirement of real-time is large compared with high operand, one chip can not meet computing requirement of real-time, thus exploitation a kind of namely economical, but also efficient Rapid Prototype Design method seem very necessary.
Summary of the invention
Technical matters to be solved by this invention is to provide a kind of general industrial computer associating DSP and realizes PWM controller Rapid Prototype Design method and apparatus, and it is simple, with low cost, to overcome the deficiencies in the prior art.
The present invention is achieved in that general industrial computer associating DSP realizes PWM controller Rapid Prototype Design method, general industrial computer runs large step size controlling algorithm, export the reference quantity signal of DSP, DSP runs little step-length control algolithm, DSP accepts the reference quantity signal that general industrial computer sends, and generates SPWM pulse signal corresponding with it; Control algolithm is all automatically generate C code based on Matlab tool box, by being actual control prototype by off-line simulation model conversation, thus realizes the rapid prototyping of PWM controller.
Experimental facilities, comprise general industrial computer, DSP and host computer, the capture card interface of general industrial computer is connected with data collecting card, and the I/O board that extends out of DSP is connected with the data collecting card on general industrial computer, and general industrial computer, DSP and host computer are all connected on the network interface of switch.
Rapid prototyping system architecture diagram of the present invention is as Fig. 1, the method hardware is primarily of general industrial computer and DSP control panel composition, general industrial computer is provided with multifunctional data acquisition card, for collection and the transmission of data, utilize existing xPC target technology, it is actual control prototype by large step-length off-line simulation model conversation, and download to real time execution on general industrial computer, DSP runs little step-length control algolithm, the i.e. control method of general industrial computer operational system level, export the reference quantity signal of DSP, DSP accepts the reference quantity signal that general industrial computer sends, generate control signal SPWM pulse signal corresponding with it, control C code is all that Matlab tool box generates automatically, quick generation control prototype.The rapid prototyping equipment of current manufacturers produce is all very expensive, price hundreds of thousands.But hardware needed for employing the method is as general industrial computer, data collecting card, DSP control panel etc., cost is less than ten thousand yuan.Therefore the method for designing that general industrial computer associating DSP realizes PWM controller rapid prototyping is a kind of rapid prototyping solution having more advantage.Visible the present invention is the rapid prototyping equipment such as dSPACE compared with the existing, and the method has more economic advantages, and can carry out at ring pilot scale study.Realize the low input of Controller gain variations, high-level efficiency, safety debugging.The inventive method is simple, and result of use is good.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Fig. 2 is the structure principle chart of embodiments of the invention;
Fig. 3 be embodiments of the invention hardware structure diagram;
Fan outlet voltage (perunit value) when Fig. 4 is the wind speed mutation of embodiments of the invention;
Power of fan (perunit value) when Fig. 5 is the wind speed mutation of embodiments of the invention;
Rotor current (KA) when Fig. 6 is the wind speed mutation of embodiments of the invention;
Rotating speed (perunit value) when Fig. 7 is the wind speed mutation of embodiments of the invention;
Stator current (KA) when Fig. 8 is the specified operation of embodiments of the invention;
Stator voltage (KV) when Fig. 9 is the specified operation of embodiments of the invention.
Embodiment
Embodiments of the invention 1: general industrial computer united controller realizes PWM controller Rapid Prototype Design method, Fig. 2 is the structural drawing of embodiments of the invention, as seen from the figure, the present embodiment is rapid prototyping design double-fed blower fan Converter controller, power transmission and distribution primary system and double-fed Fan Equipment one second part are simulated by RTDS, analog electrical Force system secondary device characteristic, arrange various electric power system fault, Fan Equipment two second part (power electronics Converter controller) is rapid prototyping by general industrial computer united controller (DSP), general industrial computer runs large step size controlling algorithm, DSP runs little step-length control algolithm, effectively can solve the requirement of real-time simulation operational precision and operand like this, Fig. 3 is embodiment hardware system structure figure, general industrial computer runs large step length algorithm, gather the object parameters of RTDS simulation, formation controller reference quantity signal, DSP receives the reference quantity signal that industrial computer sends, run little step length algorithm, send the controlled device that pwm pulse signal drives RTDS simulation, RTDS simulating grid and blower fan primary equipment, data are by board and other devices exchange, host computer plays monitoring waveform, online modification parameter, the functions such as code building.
The structure of experimental facilities as shown in Figure 1, comprise general industrial computer 1, DSP2 and host computer 3, the capture card interface of general industrial computer 1 is connected with data collecting card 4, the I/O board that extends out of DSP2 is connected with the data collecting card 4 on general industrial computer 1, and general industrial computer 1, DSP2 and host computer 3 are all connected on the network interface of switch 5.
With general industrial computer 1 for nucleus equipment, in the processor of general industrial computer 1, run control routine, Usage data collection card 4, the detection limit needed for acquisition controller, and export reference quantity signal by data collecting card 4, be transferred in DSP2; The network interface of general industrial computer 1 is connected with switch 5, is formed communicate with host computer 3, can realize parameter change and the Real-Time Monitoring running status of control routine.
Originally implementing DSP in this with DSP2(adopts model to be the equipment of 28335) for nucleus equipment, by extending out the reference quantity signal that the collection of I/O board is exported by general industrial computer 1, after DSP2 process, export pwm pulse signal, drived control object.PC is connected on the base plate JTAG contact pin of DSP2, makes DSP2 by the compiling of the CCS software simulating control program in PC7 and connection.Meanwhile, the network interface of DSP2 is connected with host computer 4 by switch 5, is formed communicate with host computer 4.
In use, general industrial computer 1 is connected with the analog output card controlled picture 6 (RTDS) by data collecting card 4, and control is connected on switch 5 to the network interface as 6, form a closed-loop control system, complete PWM controlling functions, with realize controller in ring design.
In the present embodiment, general industrial computer is controlled as pole, run the large step size controlling algorithm of real-time simulation, blower fan parameters is gathered by data collecting card, the reference voltage signal of transverter is exported by vector controlled, industrial computer is started by the USB flash disk boot disk made, the C code that real time execution host computer is downloaded, owing to relating to Frequency Converter Control, in order to improve travelling speed to greatest extent, industrial computer (the xPC target target machine) method of operation adopts " polling " pattern, and have selected picking rate NI PCI 6251 multifunctional data acquisition card faster, reduce to greatest extent under the prerequisite of not overflowing operation time and run step-length.NI PCI 6251 capture card is set to difference drainage pattern, reduces disturbing effect, improves acquisition precision; NI PCI 6251 is multiplexed formula, and every channel acquisition time is 1 microsecond, and in the present embodiment, the rated frequency of blower fan is 50Hz, and rotor current frequency is lower, and the error that asynchronous collection brings can be ignored.
Owing to relating to power electronic devices trigger pulse, PWM requires higher to computing step-length, so need to use DSP to serve as " valve control ", the reference voltage signal of general industrial computer generation is inputted by its analog input port, run little step-length PWM code, compare the dSPACE equipment that modulation function has cured, the method is more flexible.
The present embodiment has also carried out contrast experiment, uses the scheme of embodiment and existing dSPACE equipment rapid prototyping double-fed controller of fan respectively, and carries out online real-time simulation experiment based on RTDS emulator.
Wind speed mutation during 0.6s, wind speed sports 12m/s from 8m/s, and Fig. 4 (a) and Fig. 4 (b) reflect because the resistive parameter of circuit can not be ignored, and blower fan increase of gaining merit can promote fan end voltage slightly, and voltage is basicly stable.Fig. 5 (a) and Fig. 5 (b) reflect that output power rises to ratings from 0.27 perunit value in 10s.Fig. 6 (a) and Fig. 6 (b) are rotor current waveforms, reach synchronous rotational speed when can find out 5s.Fig. 7 (a) and Fig. 7 (b) reflect that wind speed changes the corresponding change of rotating speed.Maintain optimum tip-speed ratio, realize maximum power tracing.Fig. 8 (a) and specified operation stator current waveforms figure, the Fig. 9 (a) Fig. 9 (b) of Fig. 8 (b) specified operation stator voltage shape are schemed.Wherein label is the figure of (a), for general industrial computer associating DSP realizes the online real-time simulation waveform of rapid prototyping controller of the method for designing design of PWM controller rapid prototyping, label is the figure of (b), uses the online real-time simulation waveform of dSPACE equipment de-sign rapid prototyping controller.Contrast online real time simulation results, can find out the online real-time simulation effect that the present embodiment reaches identical with dSPACE equipment, simulation result is all ideal.
Claims (2)
1. a general industrial computer associating DSP realizes PWM controller Rapid Prototype Design method, it is characterized in that: on general industrial computer, run large step size controlling algorithm, export the reference quantity signal of DSP, DSP runs little step-length control algolithm, DSP accepts the reference quantity signal that general industrial computer sends, and generates SPWM pulse signal corresponding with it; Control algolithm is all automatically generate C code based on Matlab tool box, by being actual control prototype by off-line simulation model conversation, thus realizes the rapid prototyping of PWM controller.
2. one kind adopts the experimental facilities of the method for claim 1, comprise general industrial computer (1), DSP(2) and host computer (3), it is characterized in that: on the capture card interface of general industrial computer (1), be connected with data collecting card (4), DSP(2) the I/O board that extends out is connected with the data collecting card (4) on general industrial computer (1), general industrial computer (1), DSP(2) and host computer (3) be all connected on the network interface of switch (5).
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Cited By (4)
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| CN105680761A (en) * | 2016-03-30 | 2016-06-15 | 贵州大学 | Method and device for demonstrating motor AC frequency conversion speed regulation experiment |
| CN106560750A (en) * | 2016-12-30 | 2017-04-12 | 贵州大学 | Digital physical hybrid simulation device for microgrid and distributed power supply |
| CN106772046A (en) * | 2016-12-30 | 2017-05-31 | 贵州大学 | A kind of motor test complex under self-defined electric circumstance |
| CN110083935A (en) * | 2019-04-26 | 2019-08-02 | 信阳师范学院 | Double-fed controller of fan auxiliary design method and equipment |
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| CN105680761A (en) * | 2016-03-30 | 2016-06-15 | 贵州大学 | Method and device for demonstrating motor AC frequency conversion speed regulation experiment |
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| CN106772046A (en) * | 2016-12-30 | 2017-05-31 | 贵州大学 | A kind of motor test complex under self-defined electric circumstance |
| CN106772046B (en) * | 2016-12-30 | 2023-02-24 | 贵州大学 | Motor comprehensive test equipment under self-defined electrical environment |
| CN106560750B (en) * | 2016-12-30 | 2023-05-09 | 贵州大学 | Digital physical hybrid simulation device for micro-grid and distributed power supply |
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| CN110083935B (en) * | 2019-04-26 | 2022-10-28 | 信阳师范学院 | Auxiliary design method and device for double-fed fan controller |
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Effective date of registration: 20191118 Address after: 550000 Xiaomeng Industrial Park, Guiyang Economic and Technological Development Zone, Guizhou Province Patentee after: Guizhou University Science Park Development Co.,Ltd. Address before: 550025 science and Technology Department, north campus, Guizhou University, Huaxi, Guizhou, China Patentee before: Guizhou University |
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