CN104702169A - Automatic sliding door linear permanent magnetism synchronous motor sine control method - Google Patents
Automatic sliding door linear permanent magnetism synchronous motor sine control method Download PDFInfo
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- CN104702169A CN104702169A CN201510061489.8A CN201510061489A CN104702169A CN 104702169 A CN104702169 A CN 104702169A CN 201510061489 A CN201510061489 A CN 201510061489A CN 104702169 A CN104702169 A CN 104702169A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/006—Controlling linear motors
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Abstract
The invention relates to an automatic sliding door linear permanent magnetism synchronous motor sine control method. The automatic sliding door linear permanent magnetism synchronous motor sine control method includes: obtaining a relative position between a stator and a rotor by installing a three phase switch type Hall position sensor on the stator of a linear permanent magnetism synchronous motor, inputting a frequency doubling signal of a frequency doubling circuit into a capture port of a single chip computer, detecting running time of a last electrical angle of 60 degrees on the rotor relatively to the stator, and simultaneously detecting current running time of the rotor relatively to the stator in real time through a timer in the single chip computer, predicting a current relative position of the rotor and the stator, applying a sine interpolation method, providing sine voltage with mutual deviation of 120 degrees to a three phase stator coil to drive the linear permanent magnetism synchronous motor to run, suppressing fluctuation of the linear permanent magnetism synchronous motor, and improving running effects of an automatic sliding door.
Description
Technical field
The present invention relates to Motor Control Field, be specifically related to the sinusoidal control method of automatic smoothing door permanent magnet linear synchronous motor.
Background technology
Be linear reciprocating motion in automatic smoothing door field by the movement locus of control object, and linear electric motors are not owing to needing complicated mechanical transmission mechanism, easy for installation, production cost is low, operation stroke is unrestricted, and the power that is simultaneously hampered is little, use safety, directly can produce thrust, eliminate intermediate conversion mechanism, without any need for conversion equipment, system inertia is little, acceleration is high, is the ideal power device of automatic smoothing door.
But linear electric motors do not have reducing gear, to compare electric rotating machine, the speed of service is low, the force oscillation that its intrinsic end effect and slot effect cause is comparatively obvious in the performance of this field, if Machine Design is unreasonable, easily cause resonance in running and produce noise, and permanent magnet linear synchronous motor is owing to adopting permanent magnet excitation, under the double action of slot effect and end effect, thrust pad temperature can be produced in air gap between primary and secondary, and in order to reduce thrust pad temperature, the primary current waveform of permanent magnet linear synchronous motor and unloaded counter potential waveform should be made to try one's best close to sinusoidal waveform, adopt the effective measures of sinusoidal control mode.
On the other hand, the sine of permagnetic synchronous motor controls to be unable to do without the detection to rotor position, because linear electric motors directly produce rectilinear motion, and stroke is longer, the position transducer (as optical encoder, resolver etc.) that some electric rotating machines adopt cannot directly adopt on linear electric motors, if increase position probing (as grating scale, magnetic railings ruler etc.) omnidistance, cost is too high; Although linear Hall price is lower slightly, itself be vulnerable to interference, very high to sampling request, practical effect is not good; In recent years, the sinusoidal control method based on position-sensor-free becomes study hotspot, but control algolithm is complicated, is especially used in automatic smoothing door field and there is the problems such as toggle speed is slow.
Summary of the invention
The object of the invention is to suppress automatic smoothing door permanent magnet linear synchronous motor force oscillation, a kind of synchronous sinusoidal control method of automatic smoothing door permanent-magnet linear based on Hall switch position transducer is provided.
The present invention is achieved through the following technical solutions: the sinusoidal control method of automatic smoothing door permanent magnet linear synchronous motor, and step is as follows:
Step one, according to the given speed of service of automatic smoothing door, obtains under square wave type of drive, need the PWM being supplied to U, V, W three-phase drive circuit to be F-PWM by " speed-PWM " mapping table;
Step 2, at the stator of permanent magnet linear synchronous motor, threephase switch type hall position sensor is installed, the hall signal that threephase switch type hall position sensor sends is simultaneously input to single-chip processor i/o port S1 after shaping after filtering, S2, S3 and frequency multiplier circuit, frequency multiplier circuit will input a capture-port of single-chip microcomputer again after the hall signal frequency tripling of shaping after filtering, allow mover relative to stator often mobile 60 ° of electrical degrees, single-chip microcomputer just can catch a rising edge or trailing edge, and can obtain by trapped inside unit SIN-N running time that mover often runs 60 ° of electrical degrees,
Step 3, be input to the signal of single-chip processor i/o port with regard to read switch type hall position sensor after single-chip microcomputer catches a rising edge or trailing edge at every turn, after mover often runs 360 ° of electrical degrees, on single-chip processor i/o port S1, S2, S3, circulation obtains 6 different mover original position level signal value successively;
Step 4, the timer just starting single-chip microcomputer inside after single-chip microcomputer catches a rising edge or trailing edge at every turn immediately starts to detect in real time the time SIN-K that after this mover runs;
Step 5, according to before mover once relative to stator move running time of 60 ° of electrical degrees and current run time can predict mover relative to previous 60 ° after the electrical degree of process;
Step 6, by obtaining different mover original positions at single-chip processor i/o port S1, S2, S3, and calculates the position of the current electrical degree of mover;
Step 7, according to the current residing electrical degree position of the mover calculated, in conjunction with under square wave type of drive, the PWM value needing the PWM being supplied to drive circuit to calculate subsequent time respectively to need to be supplied to U, V, W three-phase H-bridge drive circuit;
Step 8, is assigned to Single Chip Microcomputer (SCM) PWM duty ratio matching unit respectively by PWM-U, PWM-V, PWM-W, produce the upper brachium pontis PWM drive waveforms Spwm-U of U, V, W three-phase H-bridge drive circuit
+, Spwm-V
+, Spwm-W
+; The lower brachium pontis PWM drive waveforms Spwm-U of U, V, W three-phase H-bridge drive circuit
-, Spwm-V
-, Spwm-W
-identical with brachium pontis in respective side, but polarity is contrary; After mover runs 360 ° of electrical degrees, just can obtain the saddle-shape synthesis sine terminal voltage of mutual deviation 120 ° of electrical degrees at U, V, W three-phase coil of permanent magnet linear synchronous motor, suppress the force oscillation of linear electric motors.
When not increasing cost, the present invention adopts threephase switch type hall position sensor to obtain the relative position of permanent magnet linear synchronous motor stator and mover, be more prone to detect mover 60 ° electrical degree running times previous relative to stator through frequency multiplier circuit again, the inner mover that detects in real time of single-chip microcomputer is relative to stator current run time simultaneously, and predict mover and stator current relative position, adopt Sine Interpolation method, the PWM drive waveforms of the three phase sine numerical value of mutual deviation 120 ° of electrical degrees is provided to stator coil, thus make threephase stator coil obtain the sinusoidal drive voltage of mutual deviation 120 °.
As preferably, the lower brachium pontis PWM drive waveforms of described U, V, W three-phase H-bridge drive circuit is identical with brachium pontis in respective side, but polarity is contrary, by this three-phase H-bridge drive circuit, the PWM drive waveforms of the three phase sine numerical value of mutual deviation 120 ° of electrical degrees is provided to stator coil, thus makes threephase stator coil obtain the sinusoidal drive voltage of mutual deviation 120 °.
As preferably, described threephase switch type hall position sensor is evenly distributed on stator relative to a pair mover magnetic pole length with mutual deviation 120 ° of electrical degrees, ensure that threephase switch type hall position sensor can better spreading out of hall signal.
As preferably, utilize described threephase switch type hall position sensor to detect the rotor position information of described permanent magnet linear synchronous motor, and obtain hall signal, described hall signal is as described rotor position signal.
Usefulness of the present invention is: the position signalling precision 1) adopting threephase switch type hall position sensor to draw is high, and can meet the requirement of sine wave drive under high velocity or relative low speeds, motor operates steadily, and velocity accuracy is high; 2) adopt threephase switch type hall position sensor that control system for permanent-magnet synchronous motor cost is reduced greatly, make it have very strong competitiveness; 3) sinusoidal control method of the present invention is adopted can to obtain the saddle-shape synthesis sine terminal voltage of mutual deviation 120 ° of electrical degrees at U, V, W three-phase coil of permanent magnet linear synchronous motor, traditional square wave of comparing drives can obviously suppress permanent magnet linear synchronous motor force oscillation, reduce the running noises of automatic smoothing door, be conducive to improving automatic smoothing door performance.
Accompanying drawing explanation
Fig. 1 is the sinusoidal control method block diagram of automatic smoothing door permanent magnet linear synchronous motor.
Fig. 2 is automatic smoothing door permanent magnet linear synchronous motor sine control theory diagram.
Fig. 3 is the input of threephase switch type hall position sensor and frequency multiplier circuit figure.
Fig. 4 is oscillogram after threephase switch type hall position sensor signal and frequency multiplication.
Fig. 5 is permanent magnet linear synchronous motor U, V, W three-phase H-bridge drive circuit figure.
Fig. 6 is that after permanent magnet linear synchronous motor U, V, W three-phase PWM value sineization, curve chart--abscissa is electrical degree.
Fig. 7 is that oscillogram--abscissa is electrical degree to the equivalence of permanent magnet linear synchronous motor U, V, W threephase stator coil-end voltage.
Embodiment
Below in conjunction with accompanying drawing and embodiment, the invention will be further described.
See Fig. 1 to Fig. 7, the sinusoidal control method of automatic smoothing door permanent magnet linear synchronous motor, comprises the steps:
Step one, according to the given speed of service V(t0 of automatic smoothing door subsequent time), obtain by " speed-PWM " mapping table the PWM needing to be supplied to U, V, W three-phase drive circuit under square wave type of drive, be expressed as F-PWM;
Step 2, the U of threephase switch type hall position sensor, V, W output outgoing position signal HuoEr-U, HuoEr-V, HuoEr-W is simultaneously input to the I/O port S1 on single-chip microcomputer after filtering after shaping, S2, in S3 and frequency multiplier circuit, received signal frequency multiplication is formed treble frequency signal HALL-CAP by frequency multiplier circuit, be input to the capture-port of single-chip microcomputer, make mover for stator often mobile 60 ° of electrical degrees, single-chip microcomputer is just more prone to capture rising edge or trailing edge, and run SIN-N running time required for 60 ° of electrical degrees by trapped inside port acquisition mover,
Step 3, single-chip microcomputer will read the position signalling that threephase switch type hall position sensor outputs to single-chip processor i/o port after often catching a rising edge or trailing edge, after mover often runs 360 ° of electrical degrees, on S1, S2, S3 port, circulation obtains 6 different mover original position level signal value successively, binary numeral is respectively 001,101,100,110,010,011, and representing the current residing initial electrical degree position of mover is respectively 0 °, 60 °, 120 °, 180 °, 240 °, 300 °;
Step 4, after single-chip microcomputer often captures a rising edge or trailing edge, starts the inner timer units of single-chip microcomputer immediately and starts to detect in real time the time SIN-K that after this mover run;
Step 5, according to mover front a time 60 ° of running times and current run time can predict mover relative to previous 60 ° after the relative electrical degree of process;
θ = ( SIN-K × 60 ) / SIN-N；
θ: mover current the electrical degree of process;
SIN-N: the running time of mover front 60 ° of electrical degree;
SIN-K: mover current run time;
Step 6, obtains the current electrical degree position of mover according to the mover original position signal obtained on single-chip processor i/o port S1, S2, S3;
When original position is 0 °, the current residing electrical degree of mover is: β=0+θ;
When original position is 60 °, the current residing electrical degree of mover is: β=60+θ;
When original position is 300 °, the current residing electrical degree of mover is: β=300+θ;
Step 7, by the current residing electrical degree position of mover, under being combined in square wave type of drive, need the PWM being supplied to drive circuit to calculate respectively PWM value that subsequent time need be supplied to U, V, W three-phase H-bridge drive circuit, wherein:
In U phase, brachium pontis PWM value is: PWM-U
=[1/2+F-PWM × SIN (β)/2] × T-MAT;
In V phase, brachium pontis PWM value is: PWM-V
=[1/2+F-PWM × SIN (β-120)/2] × T-MAT;
In W phase, brachium pontis PWM value is: PWM-W=[1/2+F-PWM × SIN (β+120)/2] × T-MAT;
F-PWM: the PWM value being supplied to three-phase drive circuit needed under square wave control mode;
T-MAT: Single Chip Microcomputer (SCM) PWM period register matching value;
Step 8, is assigned to Single Chip Microcomputer (SCM) PWM duty ratio matching unit respectively by PWM-U, PWM-V, PWM-W, produce the upper brachium pontis PWM drive waveforms Spwm-U of U, V, W three-phase H-bridge drive circuit
+, Spwm-V
+, Spwm-W
+; The lower brachium pontis PWM drive waveforms Spwm-U of U, V, W three-phase H-bridge drive circuit
-, Spwm-V
-, Spwm-W
-identical with brachium pontis in respective side, but polarity is contrary.
Through above-mentioned steps, after mover runs 360 ° of electrical degrees, equivalent terminal voltage Vin-U as shown in Figure 7, Vin-V, Vin-W can be obtained in the threephase stator coil-end of linear electric motors, it is the sinusoidal drive voltage of mutual deviation 120 °, drive can obviously suppress linear motor pushing force to fluctuate compared to traditional square wave, reduce the running noises of automatic smoothing door, be conducive to improving automatic smoothing door performance.
Protection scope of the present invention includes but not limited to above execution mode, and protection scope of the present invention is as the criterion with claims, and any replacement that those skilled in the art will find apparent that, distortion, improvement made this technology all falls into protection scope of the present invention.
Claims (4)
1. the sinusoidal control method of automatic smoothing door permanent magnet linear synchronous motor, is characterized in that, comprising:
Step one, according to the given speed of service of automatic smoothing door, obtains under square wave type of drive, need the PWM being supplied to U, V, W three-phase drive circuit to be F-PWM by " speed-PWM " mapping table;
Step 2, at the stator of permanent magnet linear synchronous motor, threephase switch type hall position sensor is installed, the hall signal that threephase switch type hall position sensor sends is simultaneously input to single-chip processor i/o port S1 after shaping after filtering, S2, S3 and frequency multiplier circuit, frequency multiplier circuit will input a capture-port of single-chip microcomputer again after the hall signal frequency tripling of shaping after filtering, allow mover relative to stator often mobile 60 ° of electrical degrees, single-chip microcomputer just can catch a rising edge or trailing edge, and can obtain by trapped inside unit SIN-N running time that mover often runs 60 ° of electrical degrees,
Step 3, be input to the signal of single-chip processor i/o port with regard to read switch type hall position sensor after single-chip microcomputer catches a rising edge or trailing edge at every turn, after mover often runs 360 ° of electrical degrees, on single-chip processor i/o port S1, S2, S3, circulation obtains 6 different mover original position level signal value successively;
Step 4, the timer just starting single-chip microcomputer inside after single-chip microcomputer catches a rising edge or trailing edge at every turn immediately starts to detect in real time the time SIN-K that after this mover runs;
Step 5, according to before mover once relative to stator move running time of 60 ° of electrical degrees and current run time can predict mover relative to previous 60 ° after the electrical degree of process;
Step 6, by obtaining different mover original positions at single-chip processor i/o port S1, S2, S3, and calculates the position of the current electrical degree of mover;
Step 7, according to the current residing electrical degree position of the mover calculated, in conjunction with under square wave type of drive, the PWM value needing the PWM being supplied to drive circuit to calculate subsequent time respectively to need to be supplied to U, V, W three-phase H-bridge drive circuit;
Step 8, is assigned to Single Chip Microcomputer (SCM) PWM duty ratio matching unit respectively by PWM-U, PWM-V, PWM-W, produce the upper brachium pontis PWM drive waveforms Spwm-U of U, V, W three-phase H-bridge drive circuit
+, Spwm-V
+, Spwm-W
+; The lower brachium pontis PWM drive waveforms Spwm-U of U, V, W three-phase H-bridge drive circuit
-, Spwm-V
-, Spwm-W
-identical with brachium pontis in respective side, but polarity is contrary; After mover runs 360 ° of electrical degrees, just can obtain the saddle-shape synthesis sine terminal voltage of mutual deviation 120 ° of electrical degrees at U, V, W three-phase coil of permanent magnet linear synchronous motor, suppress the force oscillation of linear electric motors.
2. the sinusoidal control method of automatic smoothing door permanent magnet linear synchronous motor according to claim 1, is characterized in that: the lower brachium pontis PWM drive waveforms of described U, V, W three-phase H-bridge drive circuit is identical with brachium pontis in respective side, but polarity is contrary.
3. the sinusoidal control method of automatic smoothing door permanent magnet linear synchronous motor according to claim 1, is characterized in that: described threephase switch type hall position sensor is evenly distributed on stator with mutual deviation 120 ° of electrical degrees relative to a pair mover magnetic pole length.
4. the sinusoidal control method of automatic smoothing door permanent magnet linear synchronous motor according to claim 3, it is characterized in that: utilize described threephase switch type hall position sensor to detect the rotor position information of described permanent magnet linear synchronous motor, and obtaining hall signal, described hall signal is as described rotor position signal.
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| CN201510061489.8A CN104702169A (en) | 2015-02-06 | 2015-02-06 | Automatic sliding door linear permanent magnetism synchronous motor sine control method |
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| CN201510061489.8A CN104702169A (en) | 2015-02-06 | 2015-02-06 | Automatic sliding door linear permanent magnetism synchronous motor sine control method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106612083A (en) * | 2015-10-19 | 2017-05-03 | 沈阳新松机器人自动化股份有限公司 | Motor rotor initial position and motor rotor position detection methods and devices |
| CN110365168A (en) * | 2018-04-02 | 2019-10-22 | 中山市欧派克五金制品有限公司 | A kind of linear motor and mover displacement measurement method for sliding door |
| CN113125955A (en) * | 2021-04-22 | 2021-07-16 | 山东凯信德电子科技有限公司 | Electric automobile and method and system for monitoring performance of driving system of electric automobile |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106612083A (en) * | 2015-10-19 | 2017-05-03 | 沈阳新松机器人自动化股份有限公司 | Motor rotor initial position and motor rotor position detection methods and devices |
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| CN113125955A (en) * | 2021-04-22 | 2021-07-16 | 山东凯信德电子科技有限公司 | Electric automobile and method and system for monitoring performance of driving system of electric automobile |
| CN113125955B (en) * | 2021-04-22 | 2022-12-27 | 山东凯信德电子科技有限公司 | Electric automobile and method and system for monitoring performance of driving system of electric automobile |
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