CN104796048B - Alternating-current motor current loop parallelism digital control implementation method - Google Patents
Alternating-current motor current loop parallelism digital control implementation method Download PDFInfo
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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
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
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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
- Y02P80/00—Climate change mitigation technologies for sector-wide applications
- Y02P80/10—Efficient use of energy, e.g. using compressed air or pressurized fluid as energy carrier
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- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses an alternating-current motor current loop parallelism digital control implementation method, and belongs to the field of alternating-current motor control. The method includes dividing a motor current loop system task into a real-time control task and a non-real-time task, and dividing the real-time control task into a hardware implementation part and a software implementation part; executing the non-real-time task in an initial stage of a control cycle; performing the non-real-time task and the hardware implementation part of the real-time control task in the intermediate stage of the control cycle; executing the software implementation part of the real-time control task in a last stage of the control cycle; dispatching and switching the tasks through combination of software and hardware to enable a system current loop to have smallest control delay. The alternating-current motor current loop parallelism digital control implementation method has the advantages that the method is implemented on the basis of a micro controller and has high applicability, control delay of the current ring can be reduced effectively, the gain range of the current ring can be widened, dynamic current control performance can be improved, CPU execution efficiency can be improved, and a system control function can be enhanced.
Description
Technical field
The invention belongs to AC Motor Control technical field, more particularly, to a kind of alternating current generator electric current loop and line number
Word control method.
Background technology
Alternating current generator, especially permagnetic synchronous motor have the advantages that power density is high, performance is good, efficiency high, in servo
It is used widely with dragging system.General high performance servo control system, is made up of position, speed, the ring of electric current three, its
Middle electric current loop has crucial effect to overall system performance, therefore current loop control requires there is good dynamic characteristic.
In existing servo-control system, generally realized using digital control approach.Run in system microcontroller
Task had both included the core missions such as electric current, speed, position three close-loop control, also including outside input, display processing, PERCOM peripheral communication,
The periphery tasks such as troubleshooting.According to control system property, the former needs to be performed according to strict time requirement, belongs to control in real time
Task processed, specifically includes collection fed-back current signals, actuating motor control algolithm, output control result etc.；The latter is without strict
Time requirement, is performed using polling type mode, belongs to non real-time control task.
In motor current ring is realized, real-time control task postpones to include that sampling time delay, algorithm computing relay, state update
Postpone, constitute the main time delay of current loop control, be the key factor for affecting electric current loop dynamic property.Can by theory analysis
Know, reducing current loop control time delay can improve electric current loop controller gain scope, it is thus possible to improve electric current loop closed-loop bandwidth,
Accelerate electric current loop dynamic response, improve the overall performance of control system.
Fig. 1 show electric machine control system electric current loop task sequential chart of the prior art based on microcontroller implementation, in figure
The current loop control cycle is T.K-th controlling cycle start time, system is first carried out the higher real-time control of priority and appoints
Business, then performs un-real time job or enters idle waiting state.The process of real-time control task is performed by down trigger mode,
CPU is entered after interrupt handling routine, is controlled A/D module by software first and is completed current sample process, then performs current phasor
Control algolithm calculates PWM duty cycle.CPU updates the dutycycle calculated to pwm signal generation module, pwm signal generation
Module exports pwm pulse, and the module is the hardware outside CPU, and periodic duty is concurrency relation with CPU.Touch next time
Before, by result of calculation output to pwm signal generation module, it is allowed to generation control inverter switching device, follow current and changes
Effect.Electric current loop task SECO time delay shown in Fig. 1 is Td=2T.
In above-mentioned implementation, each controlling cycle only needs hardware timer triggering once to interrupt, and is simply easily achieved,
System has stronger robustness.But, in this manner, after the completion of each cycle PWM duty cycle is calculated, it is necessary to wait until down
When a cycle starts, could update to pwm signal generation module, increased the time delay of real-time control task.Additionally,
CPU adopts software mode control electric current sampling process, and in AD conversion processing procedure, CPU must constantly be inquired about and waited,
Reduce CPU execution efficiencys.
Updated twice by the way of dutycycle using the Single switch cycle, real-time control tasks carrying frequency can be improved, effectively
Reduce electric current loop to postpone.But this mode increased CPU task loads, the disposal ability of microcontroller is also had higher requirements.
Real time motor control algolithm is realized by way of FPGA is using hardware concurrent process, electric current loop real-time control can be greatly speeded up
The speed of performing task, reduces electric current loop and postpones.But the program is different from traditional software implementation, complexity is higher, has
Necessarily realize difficulty.
The content of the invention
For the disadvantages described above or Improvement requirement of prior art, the present invention provides a kind of alternating current generator electric current loop Parallel Digital
Control method, its object is to reduce current loop control delay, improve electric current loop dynamic property, while improve CPU performing
Efficiency.
The present invention provides a kind of alternating current generator electric current loop Parallel Digital control method, comprises the following steps：
System task is divided into timing real-time task and un-real time job by step 1, wherein, the real-time task is divided into
Current sample part, real time motor control algolithm part and PWM output par, cs, are used to trigger described using the first hardware timer
PWM output par, cs, refresh PWM duty cycle and produce output pwm pulse, are used to trigger the electric current using the second hardware timer
Sampling process, is used to trigger the execution of the real time motor control algolithm, if control system is first using the 3rd hardware timer
Secondary operation, then execution step 2, otherwise execution step 3；
Step 2 pair second hardware timer, the triggering moment of the 3rd hardware timer are optimized, including with
Lower sub-step：
(2-1) by triggering moment T of second hardware timeraInitial value is set to 0, the 3rd hardware timer
Triggering moment TbInitial value is set to the half of controlling cycle, while arranging automatic measurement number of times；
(2-2) after system brings into operation, second hardware timer, the counting of the 3rd hardware timer are read
Value, automatic measurement simultaneously records the current sample process time and real time motor control algolithm execution time；
(2-3) according to measurement result, triggering moment T is calculatedaWith triggering moment TbOptimal value, prolong control
When it is minimum；
Step 3 carries out task switching and scheduling, including following sub-step according to the triggering moment after optimization：
(3-1) in controlling cycle initial time, the first hardware timer triggering PWM duty cycle refreshes, and produces institute
Output pwm pulse is stated, CPU performs the non real-time control task according to normal program flow；
(3-2) triggering moment T is begun to pass through in the controlling cycleaAfter moment, second hardware timer is touched
Send out current sample process described and perform, while the CPU continues executing with the non real-time control task；
(3-3) triggering moment T is begun to pass through in the controlling cyclebAfterwards, the 3rd hardware timer triggers CPU
Interrupt, the CPU starts to perform the real time motor control algolithm calculating PWM duty cycle, and above-mentioned PWM duty cycle is calculated and completes it
Afterwards, the CPU exits interruption, returns normal program flow and performs the non real-time control task until this controlling cycle terminates.
In general, by the contemplated above technical scheme of the present invention compared with prior art, with following beneficial effect
Really：
1st, system is performed in controlling cycle part stage using software and hardware parallel mode, improves system CPU operational efficiency；
2nd, to the scheduling scheme of real-time control task, the time delay of real-time control task is reduced, electricity can be effectively improved
Stream ring control gain, lift system dynamic characteristic；
3rd, by hardware controls current sample process, realize that multiple over-sampling is processed, the random wave of unitary sampling can be suppressed
It is dynamic to affect, feedback current sampling precision is improved, realize high precision electro flow control.
Description of the drawings
Fig. 1 is electric machine control system electric current loop task sequential chart of the prior art based on microcontroller implementation；
Fig. 2 is AC Motor Control system construction drawing of the present invention；
Fig. 3 is the principle schematic of alternating current generator electric current loop Parallel Digital control method of the present invention；
Fig. 4 is the sequential chart of the inventive method control task；
Fig. 5 is the mode of operation schematic diagram of hardware timer of the present invention.
Specific embodiment
In order that the objects, technical solutions and advantages of the present invention become more apparent, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only to explain the present invention, and
It is not used in the restriction present invention.As long as additionally, technical characteristic involved in invention described below each embodiment
Not constituting conflict each other just can be mutually combined.
Fig. 2 show AC Motor Control system construction drawing of the present invention, including the control section with microcontroller as core,
Power section and AC permanent magnet synchronous motor with inverter bridge as core.Control section instructs according to outside input, by piece
Integrated A/D module detection AC permanent magnet synchronous motor stator current, by position detecting module the feedback signal of encoder is received
Motor rotor position is obtained, according to vector control algorithm, is calculated and is produced having for space vector pulse width modulation (SVPWM)
Effect duty cycle time, final updating to pwm signal generation module exports PWM switching pulse signals, drives inverter bridge that direct current is female
Line voltage is converted to expectation three-phase alternating voltage, realizes the control to stator current, and then realizes the control to motor operating state
System.Additionally, control section also has, communication interface, I/O signal interface, other interfaces (such as Man Machine Interface) etc. are outside to be connect
Mouth mold block, for realizing non real-time control task, enriches systemic-function.
Fig. 3 show the principle schematic of alternating current generator electric current loop Parallel Digital control method of the present invention, the present invention
Based on microcontroller Resources on Chip, current loop control is realized by software and hardware combining, traditional electric current loop implementation is carried out
Improve, specifically include following steps：
Step 1 carries out task division to control system.According to control system property, the task in control system can be divided into
Real-time task and polling type un-real time job that timing is completed, real-time task completes the control of current of electric, speed, position, main
Will include current sample part, real time motor control algolithm part and PWM output par, cs, un-real time job include outside input,
The periphery tasks such as display processing, PERCOM peripheral communication, troubleshooting.In embodiments of the present invention, system (needs 3 triggerings using 3
Event) hardware timer triggering task switching, realize task scheduling：Refreshed using hardware timer T1 triggering PWM duty cycles, and
Produce output pwm pulse；Using hardware timer T2 trigger current sampling processes；Real time motor is triggered using hardware timer T3
The execution of control algolithm.If control system is first operation, otherwise execution step 2, execution step 3.
Step 2 is optimized to hardware timer T2, T3.If hardware timer T2, T3 are relative to controlling cycle starting
Moment, the time of the respective correspondence event of triggering is respectively Ta、Tb, can be obtained by way of software automatic measurement, specifically include with
Lower sub-step：
(2-1) during system initialization, by triggering moment T of hardware timer T2aInitial value is set to 0, hardware timer T3
Triggering moment TbInitial value is set to the half of controlling cycle, while arranging automatic measurement number of times；
(2-2) after system brings into operation, software reads hardware in current sample finish time and interrupt routine finish time
The count value of timer T2, T3, automatic measurement and record current sampling process perform the time and real time motor control algolithm is performed
Time, the maximum taken in multiple measurement results is respectively Ta1、Tb1；
(2-3) according to above-mentioned measurement result, according to equation below triggering moment T is calculateda、Tb：
Ta=T- (Ta1+Tb1)×γ
Tb=T-Tb1×γ
Wherein, T represents the current loop control cycle；γ is nargin coefficient, and value is slightly larger than 1.Calculate according to above-mentioned formula and touch
The moment is sent out, control time delay can be made minimum.
Step 3 system carries out task switching and scheduling according to the triggered time after optimization, and un-real time job is first carried out,
Then executed in parallel un-real time job and current sample process, finally start to perform real time motor control algolithm.Fig. 4 show this
The sequential chart of inventive method system task, idiographic flow is as follows：
(3-1) k-th controlling cycle start time, hardware timer T1 triggering PWM duty cycles refresh, by -1 week of kth
Phase gained dutycycle result refreshes to pwm signal generation module, and pwm signal generation module produces PWM using hardware timer T1
Pulse, CPU performs un-real time job according to normal program flow.In embodiments of the present invention, hardware timer T1 is using increase and decrease
Count mode, in the maximum or minimum of a value position that count, triggers PWM duty cycle update event.The triggering of hardware timer T1
Cycle is system controlling cycle.When updating by the way of dutycycle twice per switch periods, controlling cycle is carrier cycle
Phase half；
(3-2) k-th controlling cycle is through TaAfter time, hardware timer T2 triggering A/D modules start, and start electric current and adopt
Sample process.A/D module carries out multiple repairing weld and conversion according to software sampling configuration set in advance to feedback current, realizes electric current
Over-sampling.The built-in DMA control modules of microcontroller, by each transformation result of A/D module software RAM set in advance is transferred to
Middle preservation.The process is intervened without the need for CPU, and CPU now continues executing with non real-time control task；
(3-3) k-th controlling cycle is through TbAfter time, hardware timer T3 produces triggering CPU interrupt events, and CPU is temporary
Stop normal program flow, into interrupt handling routine, start to perform vector control algorithm, electric current regulation algorithm, calculate PWM duties
Than.PWM duty cycle is calculated after completing, and CPU exits interruption, is returned normal program flow and is performed non real-time control task.Through
(size of nargin coefficient gamma is depended on, nargin is bigger, and the time is longer) for a period of time, k-th controlling cycle terminates, and system will be entered
Enter next cycle.System repeats the flow process described in (3-1) to (3-3) according to the fixed cycle, and controlled motor is run, directly
Halt instruction is received to system or break down and terminate operation.
Fig. 5 show the mode of operation schematic diagram of hardware timer of the present invention, and above-mentioned each hardware timer is using with for the moment
Clock drives synchronous operation.In embodiments of the present invention, hardware timer T1 is using increase and decrease count mode, hardware timer T2, T3
Using monotone increasing count mode, corresponding event is not each being triggered in the same time, realizing the scheduling of different task, reaching soft or hard
The purpose of part parallel processing, completes the parallel optimization scheduling and switching of different task function.
If system controlling cycle is T, then when using the task sequential shown in Fig. 4, current loop control time delay is Td=
2T-Ta.And the existing conventional implementation methods of Fig. 1, current loop control delay is Td=2T.TaSize and microcontroller computing capability,
Control algolithm complexity is relevant, in present example, Ta30% of controlling cycle or so can be reached.It can be seen that, using this
Current loop control postpones to be obviously reduced after inventive method, and electric current loop can have more preferable dynamic property.
Additionally, than existing, it is of the invention during current sample, in a kind of software and hardware parallel running shape
State.Therefore CPU possesses more computing resource bandwidth, and for processing other non real-time control tasks, system effectiveness can be had
Effect is improved.
Hardware timer triggering moment automatic obtaining method in the present invention so that the inventive method has good applicability
And robustness.
As it will be easily appreciated by one skilled in the art that the foregoing is only presently preferred embodiments of the present invention, not to
The present invention, all any modification, equivalent and improvement made within the spirit and principles in the present invention etc. are limited, all should be included
Within protection scope of the present invention.
Claims (5)
1. a kind of alternating current generator electric current loop Parallel Digital control method, it is characterised in that include：
System task is divided into timing real-time task and un-real time job by step 1, wherein, the real-time task is divided into electric current
Sampling section, real time motor control algolithm part and PWM output par, cs, are used to trigger the PWM using the first hardware timer
Output par, c, refreshes PWM duty cycle and produces output pwm pulse, is sampled for trigger current using the second hardware timer
Journey, is used to trigger the execution of real time motor control algolithm using the 3rd hardware timer, if control system is first operation, holds
Row step 2, otherwise execution step 3；
Step 2 pair second hardware timer, the triggering moment of the 3rd hardware timer are optimized, including following son
Step：
(2-1) by triggering moment T of second hardware timeraInitial value is set to 0, the triggering of the 3rd hardware timer
Moment TbInitial value is set to the half of controlling cycle, while arranging automatic measurement number of times；
(2-2) after system brings into operation, second hardware timer, the count value of the 3rd hardware timer are read, from
Dynamic measurement simultaneously records the current sample process time and real time motor control algolithm execution time；
(2-3) according to measurement result, triggering moment T is calculatedaWith triggering moment TbOptimal value, make control time delay most
It is little；
Step 3 carries out task switching and scheduling, including following sub-step according to the triggering moment after optimization：
(3-1) in controlling cycle initial time, the first hardware timer triggering PWM duty cycle refreshes, and produces described defeated
Go out pwm pulse, CPU performs un-real time job according to normal program flow；
(3-2) triggering moment T is begun to pass through in the controlling cycleaAfter moment, the second hardware timer triggering is described
Current sample process is performed, while the CPU continues executing with the un-real time job；
(3-3) triggering moment T is begun to pass through in the controlling cyclebAfterwards, the 3rd hardware timer triggering CPU interrupts,
The CPU starts to perform the real time motor control algolithm calculating PWM duty cycle, and above-mentioned PWM duty cycle is calculated after completing, institute
State CPU and exit interruption, return normal program flow and perform the un-real time job until this controlling cycle terminates.
2. the method for claim 1, it is characterised in that the second hardware timing is read in the sub-step (2-2)
Device, the count value of the 3rd hardware timer calculate the current sample process execution time and real time motor control is calculated
Method performs the time, and the maximum taken in multiple measurement results is respectively Ta1、Tb1。
3. method as claimed in claim 2, it is characterised in that calculate described according to equation below in the sub-step (2-3)
Triggering moment TaWith triggering moment TbOptimal value：
Ta=T- (Ta1+Tb1)×γ
Tb=T-Tb1×γ
Wherein, T represents the current loop control cycle；γ represents nargin coefficient.
4. the method as any one of claim 1-3, it is characterised in that triggering is described in the sub-step (3-2)
Current sample process is to carry out multiple repairing weld and conversion to feedback current, to realize current sample process.
5. the method as any one of claim 1-3, it is characterised in that first hardware timer is using increase and decrease meter
Digital modeling, second hardware timer and the 3rd hardware timer T3 adopt monotone increasing count mode.
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| CN105978432A (en) * | 2016-05-03 | 2016-09-28 | 杭州电子科技大学 | Method of improving six-axis industrial robot current loop bandwidth |
| CN107453668B (en) * | 2017-09-21 | 2021-03-30 | 上海辛格林纳新时达电机有限公司 | Phase current detection method and device |
| CN108134525B (en) * | 2017-12-16 | 2020-05-22 | 西安翌飞核能装备股份有限公司 | Digital control method without control delay based on DSP |
| CN108225389B (en) * | 2017-12-22 | 2020-10-23 | 联创汽车电子有限公司 | Ultrasonic sensor driving device and driving method thereof |
| CN108494313B (en) * | 2018-03-29 | 2020-05-05 | 广州视源电子科技股份有限公司 | Time sequence control method and device and servo system |
| CN112003535A (en) * | 2020-08-20 | 2020-11-27 | 深圳戴普森新能源技术有限公司 | Control system and method for multi-axis servo motor current loop |
| CN112506152B (en) * | 2020-12-02 | 2022-03-22 | 三一重型装备有限公司 | Coal mining machine and controller and control method thereof |
| WO2023102704A1 (en) * | 2021-12-07 | 2023-06-15 | 华为技术有限公司 | Electric motor control system, method for controlling electric motor, and electric device |
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| US20060186846A1 (en) * | 2005-02-18 | 2006-08-24 | Lassen Jacob L | Sensorless control of two-phase brushless DC motor |
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