CN104678967B - General industrial computer joint DSP realizes PWM controller Rapid Prototype Design method and apparatus - Google Patents
General industrial computer joint DSP realizes PWM controller Rapid Prototype Design method and apparatus Download PDFInfo
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- CN104678967B CN104678967B CN201510069144.7A CN201510069144A CN104678967B CN 104678967 B CN104678967 B CN 104678967B CN 201510069144 A CN201510069144 A CN 201510069144A CN 104678967 B CN104678967 B CN 104678967B
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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]
Abstract
PWM controller Rapid Prototype Design method and apparatus is realized the invention discloses a kind of general industrial computer united controller.The present invention utilizes existing xPC target technologies, it is actual control prototype by big step-length off-line simulation model conversation, and download to real time execution on general industrial computer, small step-length control algolithm is run on DSP, i.e., the control method of general industrial computer runtime level exports DSP reference quantity signal, DSP receives the reference quantity signal that general industrial computer is sent, corresponding control signal SPWM pulse signals are generated, control C code is all that Matlab tool boxes are automatically generated, and quickly generates control prototype.The rapid prototyping equipment of current manufacturer's production is all sufficiently expensive, price hundreds of thousands.But for example general industrial computer of hardware needed for this method is used, data collecting card, DSP control panels etc., cost is less than ten thousand yuan.Therefore general industrial computer joint DSP realizes that the method for designing of PWM controller rapid prototyping is a kind of rapid prototyping solution of more advantage.
Description
Technical field
The present invention relates to automation industry control technology, especially a kind of general industrial computer joint DSP realizes that PWM controller is quick
The method and apparatus of prototype.
Background technology
Power system is in large scale, system complex, and the analysis and design efforts would for system are very big, and this also causes to use
The method of physical analogy carries out system research and is restricted.In recent years digital simulation technique wind speed develops since, greatly improves to multiple
The feasibility of the modeling and simulation research of strays Force system.Digital Simulation provides theoretical credible, feasibility checking, but if turning
Being changed to actual available apparatus or program needs other design, and the equipment of design is directly used in electric power experiment, and security is poor, into
This height, efficiency is low.Rapid prototyping design is that product design is carried out as much as possible in virtual environment at present, reaches shortening product
Construction cycle, the purpose for reducing development cost, before product development, enable the new control method of designer above Real-time hardware
Just and quickly tested., can be the problem of design initial stage finding to exist, to change prototype or ginseng by real-time testing
Number, then real-time testing is carried out, so it is repeated, the final control for producing a reasonable for being perfectly facing user's request is former
Type.Current existing rapid prototyping equipment such as dSPACE, RapidECU etc. are sufficiently expensive, and code operation real-time will
Ask big compared with high operand, one chip can not meet computing requirement of real-time, so exploitation is a kind of i.e. economical and efficient quick
Prototype method seems very necessary.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of general industrial computer joint DSP and realize that PWM controller is quick
Prototype method and apparatus, it is simple and easy to apply, with low cost, to overcome the deficiencies in the prior art.
What the present invention was realized in：General industrial computer joint DSP realizes PWM controller Rapid Prototype Design method,
Big step size controlling algorithm is run on general industrial computer, DSP reference quantity signal is exported, small step-length control algolithm is run on DSP,
DSP receives the reference quantity signal that general industrial computer is sent, and generates corresponding SPWM pulse signals；Control algolithm all be based on
Matlab tool boxes automatically generate C code, by being actual control prototype by off-line simulation model conversation, so as to realize PWM
Controller it is rapid prototyping.
Experimental facilities, including general industrial computer, DSP and host computer, are connected with the collection card interface of general industrial computer
Data collecting card, the DSP I/O boards that extend out are connected with the data collecting card on general industrial computer, general industrial computer, DSP and on
Position machine is all connected on the network interface of interchanger.
Rapid prototyping system architecture diagram such as Fig. 1 of the present invention, this method hardware is main to be controlled by general industrial computer and DSP
Making sheet is constituted, and is provided with multifunctional data acquisition card on general industrial computer, for the collection and transmission of data, using existing
XPC target technologies, are actual control prototype by big step-length off-line simulation model conversation, and download on general industrial computer
Real time execution, runs small step-length control algolithm on DSP, i.e., the control method of general industrial computer runtime level exports DSP's
Reference quantity signal, DSP receives the reference quantity signal that general industrial computer is sent, and generates corresponding control signal SPWM pulses letter
Number, control C code is all that Matlab tool boxes are automatically generated, and quickly generates control prototype.The rapid prototyping of current manufacturer's production
Change equipment all sufficiently expensive, price hundreds of thousands.But use for example general industrial computer of hardware, data collecting card, DSP needed for this method
Control panel etc., cost is less than ten thousand yuan.Therefore general industrial computer joint DSP realizes that the method for designing of PWM controller rapid prototyping is
A kind of rapid prototyping solution of more advantage.It can be seen that dSPACE etc. is rapid prototyping compared with the existing sets by the present invention
Standby, this method has more economic advantages, it is possible to carry out in ring pilot scale study.Realize the low input of controller design, high efficiency,
Safety debugging.The inventive method is simple, and using effect is good.
Brief description of the drawings
Fig. 1 is structural representation of the invention.
Fig. 2 is the structure principle chart of embodiments of the invention；
Fig. 3 is the hardware structure diagram of embodiments of the invention；
Fan outlet voltage when Fig. 4 is the wind speed mutation of embodiments of the invention（Perunit value）；
Power of fan when Fig. 5 is the wind speed mutation of embodiments of the invention（Perunit value）；
Rotor current when Fig. 6 is the wind speed mutation of embodiments of the invention（KA）；
Rotating speed when Fig. 7 is the wind speed mutation of embodiments of the invention（Perunit value）；
Stator current when Fig. 8 is the specified operation of embodiments of the invention（KA）；
Stator voltage when Fig. 9 is the specified operation of embodiments of the invention（KV）.
Embodiment
Embodiments of the invention 1：General industrial computer united controller realizes PWM controller Rapid Prototype Design method, Fig. 2
For the structure chart of embodiments of the invention, as seen from the figure, the present embodiment is rapid prototyping design double-fed blower fan converter Control
Device, power transmission and distribution primary system and the second part of double-fed Fan Equipment one are simulated by RTDS, simulate secondary device spy of power system
Property, various electric power system faults, the second part of Fan Equipment two are set（Power electronics Converter controller）Joined by general industrial computer
Hop controller（DSP）It is rapid prototyping；Big step size controlling algorithm is run on general industrial computer, small step-length control is run on DSP
Algorithm processed, so can effectively solve the requirement of real-time simulation operational precision and operand, and Fig. 3 is embodiment hardware system structure
Figure, general industrial computer runs big step length algorithm, and the object parameters of collection RTDS simulations generate controller reference quantity signal,
DSP receives the reference quantity signal that industrial computer is sent, and runs small step length algorithm, sends the quilt of pwm pulse signal driving RTDS simulations
Object, RTDS simulating grids and blower fan primary equipment are controlled, data are exchanged by board with other equipment, and host computer plays monitoring ripple
The functions such as shape, online modification parameter, code building.
The structure of experimental facilities is as shown in figure 1, including general industrial computer 1, DSP2 and host computer 3, in general industrial computer 1
Data collecting card 4 is connected with collection card interface, the DSP2 I/O boards that extend out connect with the data collecting card 4 on general industrial computer 1
Connect, general industrial computer 1, DSP2 and host computer 3 are all connected on the network interface of interchanger 5.
It is nucleus equipment with general industrial computer 1, runs control routine in the processor of general industrial computer 1, use data
Detection limit needed for capture card 4, acquisition controller, and reference quantity signal is exported by data collecting card 4, it is transferred in DSP2；
The network interface of general industrial computer 1 is connected with interchanger 5, with host computer 3 formation communicate, it is possible to achieve the parameter change of control routine with
Running status is monitored in real time.
With DSP2（This implements the equipment that DSP uses model 28335 in this）For nucleus equipment, by extending out I/O boards
The reference quantity signal exported by general industrial computer 1 is gathered, pwm pulse signal, drive control object are exported after being handled through DSP2.Will
PC is connected on DSP2 base plate JTAG contact pins, DSP2 is realized compiling and the company of control program by the CCS softwares in PC7
Connect.Meanwhile, DSP2 network interface is connected by interchanger 5 with host computer 4, is communicated with the formation of host computer 4.
In use, make general industrial computer 1 by data collecting card 4 with controlling to as 6 (RTDS）Simulation output
Card connection, and will control, in the network interface connection as 6 to interchanger 5, forming a closed-loop control system, to complete PWM control work(
Can, with realize controller in ring design.
General industrial computer is controlled as pole in the present embodiment, is run the big step size controlling algorithm of real-time simulation, is passed through data acquisition
Card collection blower fan parameters, the reference voltage signal of transverter is exported by vector controlled, and industrial computer passes through the USB flash disk made
Start disk startup, the C code that real time execution host computer is downloaded, due to being related to Frequency Converter Control, in order to improve to greatest extent
The speed of service, industrial computer（XPC target target machines）The method of operation use " polling " pattern, and have selected picking rate compared with
The fast multifunctional data acquisition cards of NI PCI 6251, reduction runs step-length to greatest extent on the premise of not spilt in operation time.
The capture cards of NI PCI 6251 are set to difference drainage pattern, reduce interference effect, improve acquisition precision；NI PCI 6251 are many
Road multiplexing type, the rated frequency for per the channel acquisition time being blower fan in 1 microsecond, the present embodiment is 50Hz, and rotor current is frequently
Rate is lower, and the asynchronous error brought that gathers can be ignored.
Due to being related to power electronic devices trigger pulse, PWM requires higher to computing step-length, so needing to use
DSP serves as " valve control ", and the reference voltage signal that general industrial computer is produced is inputted by its simulation input port, runs small step-length
PWM code, the dSPACE equipment being had been cured compared to modulation function, this method is more flexible.
The present embodiment has also carried out contrast experiment, double with the scheme and existing dSPACE equipment rapid prototyping of embodiment respectively
Controller of fan is presented, and online real-time simulation experiment is carried out based on RTDS emulators.
Wind speed mutation during 0.6s, wind speed sports 12m/s, Fig. 4 from 8m/s（a）With Fig. 4（b）Reflection is due to the resistive ginseng of circuit
Number can not be ignored, and the active increase of blower fan can slightly lift blower fan terminal voltage, and voltage is basicly stable.Fig. 5（a）With Fig. 5（b）Reflection is defeated
Go out power and rise to rated value from 0.27 perunit value in 10s.Fig. 6（a）With Fig. 6（b）It is rotor current waveform, it can be seen that 5s
When reach synchronous rotational speed.Fig. 7（a）With Fig. 7（b）Reflection wind speed change rotating speed accordingly changes.Optimum tip-speed ratio is maintained, is realized
Maximum power tracing.Fig. 8（a）With Fig. 8（b）Specified operation stator current waveforms figure, Fig. 9（a）Fig. 9（b）Specified operation stator electricity
Swaging figure.Wherein marked as（a）Figure, be that general industrial computer joint DSP realizes that the method for designing of PWM controller rapid prototyping is set
The online real-time simulation waveform of rapid prototyping controller of meter, marked as（b）Figure, with dSPACE equipment design rapid prototyping control
The online real-time simulation waveform of device processed.Contrast online real time simulation results, it can be seen that the present embodiment reaches and dSPACE equipment phases
Same online real-time simulation effect, simulation result is all ideal.
Claims (2)
1. a kind of general industrial computer joint DSP realizes PWM controller Rapid Prototype Design method, it is characterised in that：Using existing
XPC target technologies, be actual control prototype by big step-length off-line simulation model conversation, and download to general industrial computer
Upper real time execution, i.e., run big step size controlling algorithm on general industrial computer, exports DSP reference quantity signal, is run on DSP
Small step-length control algolithm, DSP receives the reference quantity signal that general industrial computer is sent, and generates corresponding SPWM pulse signals；
Control algolithm based on Matlab tool boxes all to automatically generate C code, by being actual control by off-line simulation model conversation
Prototype, so as to realize the rapid prototyping of PWM controller.
2. a kind of experimental facilities of use the method as described in claim 1, including general industrial computer (1), DSP (2) and upper
Machine (3), it is characterised in that：Data collecting card (4) is connected with the collection card interface of general industrial computer (1), DSP's (2) is outer
Expand I/O boards to be connected with the data collecting card (4) on general industrial computer (1), general industrial computer (1), DSP (2) and host computer (3)
On the network interface for being all connected to interchanger (5).
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| Publication number | Priority date | Publication date | Assignee | Title |
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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 |
| 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 |
| 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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| US7076740B2 (en) * | 2002-01-15 | 2006-07-11 | National Instruments Corporation | System and method for performing rapid control prototyping using a plurality of graphical programs that share a single graphical user interface |
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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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