CN105045296A - Extremely large telescope multiphase motor position tracking control method and control system thereof - Google Patents

Abstract

The invention discloses an extremely large telescope multiphase motor position tracking control method and a control system thereof. Software and hardware systems are comprised. The software system is c language programming based on DSPTMS320F2812. The method comprises the steps that (1) an industrial personal computer is started and initialized; (2) a bus controller and a DSP controller are used to issue an instruction to a multiphase inverter to drive a multiphase permanent magnet synchronous motor; (3) a feedback mechanism acquires the accurate positioning information of the position of the multiphase permanent magnet synchronous motor through current sampling, current closed-loop, speed closed-loop and position closed-loop, and the information is accordingly processed and sent into the DSP controller; and (4) the industrial personal computer and a motor control special fixed-point digital signal processor adjust the instruction issued to the multiphase inverter at any time according to accurate positioning information of the position of the multiphase permanent magnet synchronous motor and the operation requirement of an extremely large telescope to control the operation of the multiphase permanent magnet synchronous motor. According to the invention, control requirements of high precision, ultralow speed, large inertia and wide speed governing of the extremely large telescope are met, and various celestial targets can be observed.

Description

Very big telescope polyphase machine Position Tracking Control method and control system thereof

Technical field

The present invention relates to a kind of motor drive control method, be specifically related to a kind of greatly telescope polyphase machine Position Tracking Control method.The invention still further relates to the control system of this control method.The invention belongs to Chinese Academy of Sciences's knowledge innovation project important directions project: greatly bore optical/infrared telescope gordian technique Pre feasibility, the invention belongs to project of national nature science fund project: heavy caliber astronomical telescope frame drives parallel control technology research, approval number: 11303065.

Background technology

The exploration of the mankind to universe is of far-reaching significance, this has huge impetus to astronomical development, in order to explore fainter signal, must improve telescope light collecting light ability and resolution characteristic, need larger bore and larger visual field, be necessary to research and develop very big Aperture Telescope.No matter be optical telescope or radio telescope, all towards bigbore trend development, current countries in the world are all in cooperation or develop large aperture telescope alone.

Since 20th century, telescopical bore is substantially with the speed increment of about 2 times in every 35 years, along with the increase of telescope bore, the volume of tracking section, weight, moment of inertia become huge, the VLT telescope of European Southern Observatory, bore 8.2 meters, pointing accuracy is 1 ", tracking accuracy is 0.05 ", frame weighs 470 tons, yoke weight 120 tons, azimuth axis moment of inertia 12*10 ⁶kgm ², altitude axis moment of inertia 5*10 ⁶kgm ²; Middle America and Japan such as to add at the TMT telescope of multinational cooperative research and development, bore 30 meters, general assembly (TW) 1670 tons, altitude axis load 955 tons, azimuth axis moment of inertia 6*10 ⁸kgm ², altitude axis moment of inertia 1.5*10 ⁸kgm ², and sensitivity and other every integrated performance indexs require all very high, improve further this large weight, large inertia, high-precision control difficulty.

Consider the impact overcoming dome seeing and minute surface seeing, the observation mode that following large aperture telescope many employings dome is open, astronomical optics telescope platform location is general all in high altitude localities, and wind carries directly affects the control of telescopical pointer tracker to the effect of illuminating apparatus tool mechanism of looking in the distance.Wind carries the dynamic of applying, randomness and complicacy, and telescope truss is out of shape and presents irregularities, wind carries energy and is mainly distributed in low frequency range, close to the resonant frequency of telescope configuration, is extremely disadvantageous for the telescopical tracking accuracy of guarantee.In order to the signal that exploration of the universe is fainter, telescope is increasing bigbore while, higher requirement be it is also proposed to system sensitivity and tracking accuracy, but along with the increase of telescope bore, telescopical area becomes a square doubly increase, and it is also a square doubly increase that wind carries acting force, and this increases the difficulty of Position Tracking Control system further, in future very big telescope development process, the design of Position Tracking Control system is one of gordian technique that must solve.

Current VLT, GTC, ALAM etc. are Successful utilization Direct driver control technology, and motor is all the development of Italian PHASE company.Its altitude axis of VLT telescope has 12 unit motors, and azimuth axis has 16 unit motors, and what splicing motor adopted is that biaxially air gap controls, so all very high to the requirement of installation accuracy, machining precision.Its azimuth axis of GTC telescope has 4 unit motors, biaxially gap stators, and altitude axis has 4 arc electric motors, cylindrical air gap stator, and each motor has independently driving circuit.Above motor is all develop as required, expensive and be difficult to import, and gordian technique such as splicing design of electrical motor and control etc. relates to core technology, getable related electric control data is considerably less, based on above analysis, the applicant has carried out series of studies to correlation technique, build up other experiment porch of 4 meter levels at present, collection precision optical machinery, automatic control, the large inertia ultra-low speed accurate tracking platform that the advanced design technology such as computer software and hardware are integrated, comprise 8 unit motors, fictitious load etc., based on this platform, two unit permagnetic synchronous motors of independent research are combined, research polyphase machine Position Tracking Control technology, for greatly telescope Development reserve technical force of later China.

Polyphase machine has the advantages such as power is large, torque pulsation is little, fault-tolerant ability is strong, is particularly suitable for being applied in the high telescope tracking control system of tracking accuracy.Polyphase machine in contrast to three phase electric machine, and its number of phases increases, and in the work period, status number increases, and effectively reduces torque pulsation, is specially adapted to the state of stable operation in very big telescope tracing process.Along with the increase of the polyphase machine number of phases, under Same Efficieney, the phase current being evenly distributed to each brachium pontis reduces at double, and the electric current of each switching tube reduces in proportion, reduces design difficulty and the type selecting difficulty of power circuit.Meanwhile, polyphase machine also has very strong fault-tolerant ability relative to three phase electric machine, improves the reliability of system, is applicable to that the astronomical sight conditions such as space, the South Pole and Qinghai-Tibet Platean are very superior, the area of environmental baseline extreme.The application of polyphase machine, to the very big telescopical operation of observation time preciousness, provides more reliable and more stable running environment.The Chinese large aperture telescope that will develop oneself, is necessary development polyphase machine Drive Control Technique.

Polyphase machine has superiority in the application of high-power transmission very much, mainly concentrates on the application such as ship's electrical propulsion, aviation, and the research of some research institutions in polyphase machine and speed-adjusting and control system thereof also achieves great successes in the world.The domestic research to polyphase machine timing gearing system is started late and compares dispersion, high speed state is operated in more to the research controlled device of polyphase machine Driving technique both at home and abroad, and telescope tracking control system has, and moment of inertia is large, speed-regulating range width, tracking accuracy high, this causes normal drived control mode and control strategy to be difficult to reach performance index, so very meaningful to the research of polyphase machine Driving technique based on telescope tracker.

Summary of the invention

The object of this invention is to provide a kind of control method of very big telescope polyphase machine Position Tracking Control system, this control method can meet the control overflow of very big telescope high precision, Ultra-Low Speed, large inertia, wide range speed control, can also torque pulsation be reduced, improve tracking accuracy.

Completing technical scheme of the present invention is: a kind of greatly telescope polyphase machine Position Tracking Control method, software systems are the c Programming with Pascal Language based on DSPTMS320F2812, and it is characterized in that, step is as follows

(1). industrial computer is started shooting and is completed initialization;

(2). industrial computer sends instruction by bus controller and the special fixed-point dsp of Electric Machine Control (dsp controller) to polyphase inverter, drives multiphase permanent magnet synchronous motor to start;

(3). in multiphase permanent magnet synchronous motor running, feedback mechanism (comprising Hall current sensor and grating scale) is by the precise location information of the position of current sample, current closed-loop, speed closed loop, position closed loop collection multiphase permanent magnet synchronous motor; The special fixed-point dsp of Electric Machine Control is sent into after carrying out respective handling;

(4). industrial computer and the special fixed-point dsp of Electric Machine Control are according to the precise location information of the position of above-mentioned multiphase permanent magnet synchronous motor and very big telescopical running requirements, adjustment at any time issues the instruction of polyphase inverter, to control the running of multiphase permanent magnet synchronous motor;

(5). external CPLD protection circuit, when under-voltage protection, overcurrent protection appear in boostrap circuit, is warned in time.

The prioritization scheme of each step has above:

Wherein (2) step drives the power circuit of multiphase permanent magnet synchronous motor, according to multiphase permanent magnet synchronous motor vector control algorithm, produce six groups of pulse-width signal PWM1 ~ PWM12, power circuit is connected to through two pieces of boostrap circuit chip I R2136, form approximate circular rotating field, control polyphase machine and run.

Step be (3) to stator A, B, C, D tetra-phase current sample, wherein A, C, E three-phase current and be 0, B, D, F three-phase current and be 0, carry out after shaping amplifies conditioning, being connected to AD0 ~ AD3 passage of DSP, carrying out analog-converted sampling.

Step (3) in position and velocity measuring adopt the angular encoder ERA-780C of German Heidenhain company to obtain, its resolution is 3.6 ", export as peak value is the sine wave signal of 1V, segmented by sub-circuit.

Step (3) in " carrying out respective handling " refer to: code device signal is after four times of sub-circuit process, QEP1, QEP2, QEP3 of access events manager A, first parameter initialization, input parameter: scrambler groove, number of pole-pairs etc., output signal is electrical angle and mechanical angle, call timer interruption, in every Fixed Time Interval, this encoder data and last encoder data are subtracted each other, divided by the time, draw speed, direction and positional information.

Step (5) in protection circuit; arranging input end receives from the 12 road pwm pulse signals of DSP, from the fault-signal of power circuit, boostrap circuit, and driving circuit overvoltage, under-voltage, over-current signal etc.; output terminal is 12 road drive singal, and the PDPINT of DSP protects pin etc.

Dsp software control system in above scheme is core with space voltage vector control, mainly comprises: initialize routine, timer interrupt program, capture interrupt program etc.Timer interrupt program comprises current digital filtering algorithm, clark conversion, park conversion, anti-park conversion, polyphase machine svpwm algorithm, closed-loop control etc.

Polyphase machine space voltage vector control in above scheme: multiphase permanent magnet synchronous motor is driven by polyphase inverter, polyphase inverter is controlled by dsp controller, and the calculating for each brachium pontis dutycycle of power circuit is the key of polyphase machine space voltage vector control.First derivation polyphase machine Clarke converts, Park converts and anti-Park converts, and then determines sector, reference vector place, effective vector duty cycle in each subregion of deriving.

The present invention adopts polyphase machine space voltage vector control algorithm, utilizes core controller rich in natural resources, realizes control algolithm.Definition mathematical formulae, quick derivation sector judges computing method; Table look-up and to obtain in this sector effective vector zero vector action time; Corresponding DSP comparand register numerical value is set after data are processed, produces the PWM waveform of duty ratio corresponding.

The technical scheme completing the application's second invention task is, the very big telescope multiphase permanent magnet synchronous motor Position Tracking Control system that said method uses, native system comprises software systems and hardware system, this multiphase permanent magnet synchronous motor is that employing 200 connects motor to pole Ultra-Low Speed multipole splicing camber line, whole rotor comprises 400 blocks of magnet steel, it is characterized in that:

Described hardware system comprises control circuit, driving circuit, feedback circuit and protection circuit, and industrial computer wherein connects the special fixed-point dsp of Electric Machine Control (dsp controller) by bus controller; The special fixed-point dsp of this Electric Machine Control couples polyphase inverter control end by high-speed light; Three-phase commutation bridge is powered this polyphase inverter simultaneously, drives multiphase permanent magnet synchronous motor; Virtual protection circuit on this polyphase inverter connects the special fixed-point dsp of described Electric Machine Control; Described multiphase permanent magnet synchronous motor by feedback mechanism to Electric Machine Control special fixed-point dsp outgoing position signal.

Described feedback mechanism, can comprise Hall current sensor and grating scale;

Described software systems, comprise position closed loop, current closed-loop, polyphase machine space vector of voltage control algolithm;

Described polyphase inverter is also connected with auxiliary insulating power supply;

Described polyphase inverter is also connected with malfunction coefficient mechanism.

Described hardware protection circuit adopts CPLD.

The motor that telescope polyphase machine Position Tracking Control system of the present invention adopts is a kind of multipole splicing arc electric motor of special development, its stator is fixed on the peripheral pedestal of telescope, rotor is directly installed on telescope azimuth axis, arc electric motor and telescope body share a set of bearing, electromagnetic torque is driven evenly to be added on telescope by magnetic circuit, splicing design of electrical motor is considered the radial force that balance circumference is symmetrical to make rotor only produce tangential force.Select two groups of unit motors, composition multiphase permanent magnet synchronous motor, research control algolithm, reduces telescope torque pulsation.

The motor adopted in described hardware system is a kind of 200 arc electric motors spliced pole (i.e. 400 poles) Ultra-Low Speed multipole for very big telescope tracker, be a kind of moment AC permanent magnet synchronous motor, this permagnetic synchronous motor and telescope load are integrated; This permagnetic synchronous motor has 8 unit motor compositions, and each motor has independently driving circuit.

Described control system adopts high speed numerical processor to be core controller, and its inner abundant peripheral hardware simplifies control circuit and control algolithm; Driving circuit is formed with boostrap circuit and IGBT module, all arranges protection circuit to each brachium pontis; Feedback circuit wherein adopts increment type grating scale.

The present invention adopts polyphase machine space voltage vector control algorithm, utilizes core controller rich in natural resources, realizes control algolithm.Definition mathematical formulae, quick derivation sector judges computing method; Table look-up and to obtain in this sector effective vector zero vector action time; Corresponding DSP comparand register numerical value is set after data are processed, produces the PWM waveform of duty ratio corresponding.

More specifically and more optimally say:

1. in the technical program, adopt motor be a kind of special development multipole splicing arc electric motor, motor be 200 to pole Ultra-Low Speed camber line splicing motor, whole rotor comprises 400 blocks of magnet steel, in order to reduce cogging torque impact, the physical construction of magnetic links has carried out some special processings.Rotor and load are integrated, and principle is moment AC permanent magnet synchronous motor, number of poles is more, and Driving Torque fluctuation is less.Because motor size is huge, consider machining precision, development difficulty, installation difficulty and manufacturing cost, stators and rotators is all spliced by some parts.In telescope tracing control process, radial force can make angled beating, and the design balance of magnetic circuit radial force, makes rotor only produce tangential force.

2., in the technical program, software systems are the c Programming with Pascal Language based on DSPTMS320F2812, mainly complete the functions such as current sample, current closed-loop, speed closed loop, position closed loop.Position closed loop ensures that position of telescope tracking control system is accurately located tracking target, and current closed-loop ensures the stability of polyphase machine Driving Torque, is the basis forming high-performance, high precision position tracking control system.

3. control system is made up of control gear, driving mechanism and feedback mechanism, and system, control circuit adopts microprocessor TMS320F2812 to be core controller; Driving mechanism with boostrap circuit and IGBT for core; Feedback mechanism adopts Heidenhain high precision increment type grating scale ERA780C, and current sampling circuit adopts high-precision hall current sensor; Hardware protection circuit adopt CPLD, when power circuit overcurrent, overvoltage, under-voltage or driving circuit breaks down time, protection driving circuit.

4., in the technical program, adopt polyphase machine space voltage vector control algorithm.To polyphase machine A, B, C, D wherein tetra-phase current carry out current detecting respectively, direct-axis current, quadrature axis current is obtained through polyphase machine Clarke conversion, Park conversion, adopt the control method of Id=0, convert through current closed-loop and anti-Park, obtain space vector of voltage V _α ^*, V _β ^*, first judge sector, reference vector place, table look-up and to obtain in the subregion of place vector action time, dutycycle being loaded into the comparand register of corresponding DSP, producing PWM waveform.

The present invention is based on very big position of telescope tracker very meaningful to the research of polyphase machine Driving technique, control system of the present invention can meet the control overflow of very big telescope high precision, Ultra-Low Speed, large inertia, wide range speed control.

Accompanying drawing explanation

Fig. 1 is the polyphase machine coordinate system of the embodiment of the present invention 1; Wherein A, C, E electrical angle differs 120 °, and B, D, F electrical angle differs 120 °, and A, B electrical angle differs 30 °, and α, β are static two phase coordinate systems, and d, q are rotation two phase coordinate system;

Fig. 2 is the polyphase machine drive system of the embodiment of the present invention 1; V48, V56 ... V49 is respectively 12 basic voltage vectors;

Fig. 3 is the polyphase machine space voltage vector figure of the embodiment of the present invention 1;

Fig. 4 is the polyphase machine space vector of voltage control algolithm process flow diagram of the embodiment of the present invention 1;

Fig. 5 is the position of telescope tracking control system hardware system structure figure of the embodiment of the present invention 1; Wherein, three-phase commutation bridge 1, malfunction coefficient mechanism 2, auxiliary insulating power supply 3,6 phase GBT inverter 4, polyphase machine 5, virtual protection electricity 6, high speed photo coupling 7, industrial computer 8, bus controller 9, photoelectric encoder 10; Overcurrent a, overvoltage b, under-voltage c, excess temperature f;

Fig. 6 is the position of telescope tracking control system driving circuit figure of the embodiment of the present invention 1.

Embodiment

Embodiment 1, very big telescope polyphase machine Position Tracking Control system, this system is made up of control gear, driving mechanism and feedback mechanism, control gear is made up of master control PC, DSP slave computer software, for realizing man-machine interface, transmission order, display in real time, SVPWM control algolithm, output pwm signal, position closed loop etc.; Driving mechanism is made up of multiphase permanent magnet synchronous motor and driving circuit, and driving circuit comprises high speed photo coupling isolation, CPLD protection circuit, Bootstrapping drive circuit etc.; Feedback mechanism comprises Hall current sensor and grating scale, gathers the electric current of polyphase machine, speed and position signalling, sends into dsp controller after carrying out respective handling.

Very big telescope polyphase machine Position Tracking Control system, forms primarily of with lower part for core with dsp processor and power circuit:

1.DSP processor

Control circuit is with TI company's T MS320LF2812 for core, and it incorporates the optkmal characteristics of microcontroller and DSP, and be the special fixed-point dsp of Electric Machine Control (DSP) of current main flow, the control for polyphase machine has the following advantages:

There is stronger digital signal processing capability, there is again powerful incident management ability and embedded Control function, control algolithm also has its original advantage.

Dominant frequency, up to 150Mhz, breathes out not bus structure, fast operation;

There is EVA and EVB two independently task manager, comprising general purpose timer, comparator module/pwm circuit, capturing unit CAP, quadrature coding pulse circuit etc., just can realize the leak control and check of polyphase machine by arranging control register.

2. power circuit

Adopt N raceway groove IGBT module, collector current 20A, maximum permission supply voltage is 600V, adopts 12 to form six brachium pontis drive systems altogether.Utilize task manager EVA, EVB of TMS320F2812, according to multiphase permanent magnet synchronous motor vector control algorithm, produce six groups of pulse-width signal PWM1 ~ PWM12, power circuit is connected to through two pieces of boostrap circuit chip I R2136, form approximate circular rotating field, control polyphase machine runs, and driving circuit figure as shown in Figure 6.

Bootstrapping driving chip IR2136 circuit is simple, and frequency of operation is wide, low in energy consumption, improves stability and the reliability of whole power circuit, has external sampling resistance, has the functions such as under-voltage locking protection, overcurrent protection, the event protection of integrated dead band.IR2136 is Hexamermis spp high pressure, High Speed I GBT, MOSFET gate drivers; the compatible cmos level of input signal; voltage is up to 600V; driving force is strong, chip volume is little; three-phase inverter circuitry is driven reliably to facilitate; external circuits when there is under-voltage protection, overcurrent protection in boostrap circuit, protection of warning in time.This power circuit adopts two panels bootstrapping chip altogether, and wherein one piece controls A, C, E phase of polyphase machine, other one piece of control B, D, F phase.

Power circuit DC voltage input end P and N adopted connects DC bus-bar voltage, inverter output end A, B, C, D, E, F connect multiphase permanent magnet synchronous motor control end, pwm1 ~ pwm12 signal that DSP2812 task manager A, B export, after high speed photo coupling isolation, is connected to boostrap circuit input control end.

3. Hall current detects

Current detecting adopts high-precision hall current sensor, and measuring accuracy is high, the linearity good, fast response time, electric isolution performance are good.Select suitable range, supply voltage is 5V, to stator A, B, C, D tetra-phase current sample, wherein A, C, E three-phase current and be 0, B, D, F three-phase current and be 0, carry out after shaping amplifies conditioning, be connected to AD0 ~ AD3 passage of DSP, carry out analog-converted sampling.

4. position and velocity measuring

Position and velocity measuring adopt the angular encoder ERA-780C of German Heidenhain company to obtain, and its resolution is 3.6 ", export as peak value is the sine wave signal of 1V, can be segmented by sub-circuit.

Code device signal is after four times of sub-circuit process, QEP1, QEP2, QEP3 of access events manager A, first parameter initialization, input parameter: scrambler groove, number of pole-pairs etc., output signal is electrical angle and mechanical angle, call timer interruption, in every Fixed Time Interval, this encoder data and last encoder data are subtracted each other, divided by the time, draw speed, direction and positional information.

5.CPLD protection circuit

For protection circuit; arranging input end receives from the 12 road pwm pulse signals of DSP, from the fault-signal of power circuit, boostrap circuit, and driving circuit overvoltage, under-voltage, over-current signal etc.; output terminal is 12 road drive singal, and the PDPINT of DSP protects pin etc.Utilize hardware language verilog to consider various factors, ensure whole system safe and reliable operation, when there is arbitrary fault, hardware protection circuit can make protection and diagnosis in time.

6.DSP software control system

Dsp software control system is core with space voltage vector control, mainly comprises: initialize routine, timer interrupt program, capture interrupt program etc.Timer interrupt program comprises current digital filtering algorithm, clark conversion, park conversion, anti-park conversion, polyphase machine svpwm algorithm, closed-loop control etc.

7. polyphase machine space voltage vector control

Multiphase permanent magnet synchronous motor is driven by polyphase inverter, and polyphase inverter is controlled by controller, and the calculating for each brachium pontis dutycycle of power circuit is the key of polyphase machine space voltage vector control.First derivation polyphase machine Clarke converts, Park converts and anti-Park converts, and then determines sector, reference vector place, effective vector duty cycle in each subregion of deriving.

Multiphase permanent magnet synchronous motor is under A-B-C coordinate system, alpha-beta coordinate system, d-q coordinate system, and follow rotating magnetic field equivalence, principle that power is constant, transformation for mula is as follows.

Clarke converts:

$\left|\begin{array}{c}{i}_{\mathrm{\α}}\\ i_{\mathrm{\β}}\end{array}\right|=\sqrt{\frac{1}{3}}\left|\begin{array}{cccccc}1& \frac{\sqrt{3}}{2}& -\frac{1}{2}& -\frac{\sqrt{3}}{2}& -\frac{1}{2}& 0\\ 0& \frac{1}{2}& \frac{\sqrt{3}}{2}& \frac{1}{2}& -\frac{\sqrt{3}}{2}& -1\end{array}\right|\left|\begin{array}{c}{i}_a\\ i_b\\ i_c\\ i_d\\ i_e\\ i_f\end{array}\right|$

Park converts:

$\left|\begin{array}{c}{i}_d\\ i_q\end{array}\right|=\left|\begin{array}{cc}cos\mathrm{\θ}& sin\mathrm{\θ}\\ -sin\mathrm{\θ}& \cos \mathrm{\θ}\end{array}\right|\left|\begin{array}{c}{i}_{\mathrm{\α}}\\ i_{\mathrm{\β}}\end{array}\right|$

Anti-park conversion:

$\left|\begin{array}{c}{i}_{\mathrm{\α}}\\ i_{\mathrm{\β}}\end{array}\right|=\left|\begin{array}{cc}cos\mathrm{\θ}& -sin\mathrm{\θ}\\ sin\mathrm{\θ}& \cos \mathrm{\θ}\end{array}\right|\left|\begin{array}{c}{i}_d\\ i_q\end{array}\right|$

Choose maximum vector and zero vector synthesized reference voltage vector in d-q space and as shown in Figure 3, have 12 sectors, for the 2nd sector, choose V ₄₈, V ₅₆with zero vector synthesized reference vector V, definition V ₄₈, V ₅₆with zero vector respectively action time be: T ₁, T ₂, T ₀, sampling period PWM is T _s, θ is reference vector and sector lower boundary angle, have according to voltage-second balance principle: $\left\{\begin{array}{c}{T}_{s}V=T_1{V}_{48}+T_2{V}_{56}+T_0{V}_0\\ T_s=T_1+T_2+T_0\\ T_{0}V=0\end{array}\right.$

Wherein, $\left|V_{48}\right|=\left|V_{56}\right|=\left|V_D\right|=\frac{\sqrt{2}(\sqrt{3}+1)}{6}{U}_{dc},$ U _dcfor DC bus-bar voltage.

The form being write as alpha-beta axle component is as follows:

$\left\{\begin{array}{c}{V}_{\mathrm{\α}}=\frac{T_1}{T_s}\left|V_D\right|cos\frac{\mathrm{\π}}{12}+\frac{T_2}{T_s}\left|V_D\right|cos\frac{\mathrm{\π}}{4}\\ V_{\mathrm{\β}}=\frac{T_1}{T_s}\left|V_D\right|sin\frac{\mathrm{\π}}{12}+\frac{T_2}{T_s}\left|V_D\right|\sin \frac{\mathrm{\π}}{4}\end{array}\right.$

Solve T ₁, T ₂:

$\left\{\begin{array}{c}{T}_1=\frac{\left(V_{\mathrm{\α}}-V_{\mathrm{\β}}\right)}{\left(\cos \frac{\mathrm{\π}}{12}-\sin \frac{\mathrm{\π}}{12}\right)}\frac{T_s}{\left|V_D\right|}\\ T_2=\frac{\left(-\sin \frac{\mathrm{\π}}{12}{V}_{\mathrm{\α}}+\cos \frac{\mathrm{\π}}{12}{V}_{\mathrm{\β}}\right)}{\cos \frac{\mathrm{\π}}{4}\left(\cos \frac{\mathrm{\π}}{12}-\sin \frac{\mathrm{\π}}{12}\right)}\frac{T_s}{\left|V_D\right|}\\ T_0=T_s-T_1-T_2\end{array}\right.$

For in the n-thth district, the vector equation of n ∈ [1,12] is as follows:

$\left\{\begin{array}{c}{V}_{\mathrm{\α}}=\frac{T_1}{T_s}\left|V_D\right|cos(\frac{\mathrm{\π}}{6}*n-\frac{\mathrm{\π}}{4})+\frac{T_2}{T_s}\left|V_D\right|cos(\frac{\mathrm{\π}}{6}*n-\frac{\mathrm{\π}}{12})\\ V_{\mathrm{\β}}=\frac{T_1}{T_s}\left|V_D\right|sin(\frac{\mathrm{\π}}{6}*n-\frac{\mathrm{\π}}{4})+\frac{T_2}{T_s}\left|V_D\right|sin(\frac{\mathrm{\π}}{6}*n-\frac{\mathrm{\π}}{12})\end{array}\right.$

Calculate vector in 12 subregions respectively according to trigonometric function to obtain action time:

The calculating of table 112 sector neighboring voltage space vector action time

1

2

3

4

5

6

7

8

9

10

11

12

t1

A1

-A1

-A3

A6

A4

-A4

-A2

-A3

-A5

A5

A6

-A2

t2

A2

A3

A5

-A5

-A6

A2

-A1

A1

A3

-A6

-A4

A4

$\begin{array}{cc}{A}_1=(V_{\mathrm{\α}}sin\frac{\mathrm{\π}}{12}-V_{\mathrm{\β}}cos\frac{\mathrm{\π}}{12})\frac{T_s}{\left|V_D\right|}& A_2=(V_{\mathrm{\α}}sin\frac{\mathrm{\π}}{12}+V_{\mathrm{\β}}cos\frac{\mathrm{\π}}{12})\frac{T_s}{\left|V_D\right|}\end{array}$

$\begin{array}{cc}{A}_3=\frac{(V_{\mathrm{\α}}-V_{\mathrm{\β}})}{2(\cos \frac{\mathrm{\π}}{12}-sin\frac{\mathrm{\π}}{12})}\frac{T_s}{\left|V_D\right|}& A_4=\frac{(V_{\mathrm{\α}}+V_{\mathrm{\β}})}{2(\cos \frac{\mathrm{\π}}{12}-sin\frac{\mathrm{\π}}{12})}\frac{T_s}{\left|V_D\right|}\end{array}$

$\begin{array}{cc}{A}_5=(V_{\mathrm{\α}}cos\frac{\mathrm{\π}}{12}-V_{\mathrm{\β}}sin\frac{\mathrm{\π}}{12})\frac{T_s}{\left|V_D\right|}& A_6=(V_{\mathrm{\α}}cos\frac{\mathrm{\π}}{12}+V_{\mathrm{\β}}sin\frac{\mathrm{\π}}{12})\frac{T_s}{\left|V_D\right|}\end{array};$

Space vector of voltage has 12 sectors, from mathematical coordinates system angle, is divided equally by six roots of sensation line, and the judgement computing method of sector, first define:

a: $V_{ref1}=V_{\mathrm{\β}}-V_{\mathrm{\α}}tan\frac{\mathrm{\π}}{12}$

b:V _ref2＝V _β-V _α

c: $V_{ref3}=V_{\mathrm{\β}}-V_{\mathrm{\α}}tan\frac{5\mathrm{\π}}{12}$

d: $V_{ref4}=V_{\mathrm{\β}}+V_{\mathrm{\α}}tan\frac{5\mathrm{\π}}{12}$

e:V _ref5＝V _β+V _α

f: $V_{ref6}=V_{\mathrm{\β}}+V_{\mathrm{\α}}tan\frac{5\mathrm{\π}}{12}$

Can judge the current sector needing the reference voltage place of synthesis by the data make-up formula of a, b, c, d, e, f, setting rule is as follows:

$a=\left\{\begin{array}{c}1,V_{ref1}>0\\ 0,V_{ref1}\≤0\end{array}\right.,b=\left\{\begin{array}{c}1,V_{ref2}>0\\ 0,V_{ref2}\≤0\end{array}\right.,c=\left\{\begin{array}{c}1,V_{ref3}>0\\ 0,V_{ref3}\≤0\end{array}\right.$

$d=\left\{\begin{array}{c}1,V_{ref4}>0\\ 0,V_{ref4}\≤0\end{array}\right.,e=\left\{\begin{array}{c}1,V_{ref5}>0\\ 0,V_{ref5}\≤0\end{array}\right.,f=\left\{\begin{array}{c}1,V_{ref6}>0\\ 0,V_{ref6}\≤0\end{array}\right.$

L＝a+2b+4c+8d+16e+32f；

Then sector number and L numerical value corresponding relation as follows:

Sector number	L	Sector number	L	Sector number	L
						1	57	2	59	3	63
4	55	5	39	6	7
						7	6	8	4	9	0
10	8	11	24	12	56

Because base is symmetrical during PWM, if first it is judged, if

$t1=\left\{\begin{array}{c}t1,t1+t2<\frac{T}{2}\\ \frac{t1}{t1+t2},t1+t2\&GreaterEqual;\frac{T}{2}\end{array}\right.,t2=\left\{\begin{array}{c}t2,t1+t2<\frac{T}{2}\\ \frac{t2}{t1+t2},t1+t2\&GreaterEqual;\frac{T}{2}\end{array}\right.;$

Because PWM ripple produces in Central Symmetry mode, if t _aon, t _bon, t _confor three seeervice cycles of DSP, be defined as follows:

$\left\{\begin{array}{c}{t}_{aon}=\frac{T-t_1-t_2}{2}\\ t_{bon}=t_{aon}+t_1\\ t_{con}=t_{bon}+t_2=t_{aon}+t_1+t_2\end{array}\right.;$

According to table 1, t1, t2 numerical value is set, as shown in table 2 to full comparand register value CMPR1, CMPR2, CMPR3, CMPR4, CMPR5, CMPR6 assignment in different sectors.

Table 2 comparand register assignment table

1

2

3

4

5

6

CMPR1

t aon

t aon

t bon

t con

t con

t con

CMPR2

t bon

t aon

t aon

t aon

t aon

t aon

CMPR3

t con

t con

t con

t con

t bon

t aon

CMPR4

t aon

t aon

t aon

t bon

t con

t con

CMPR5

t con

t bon

t aon

t aon

t aon

t aon

CMPR6

t con

t con

t con

t con

t con

t bon

7

8

9

10

11

12

CMPR1

t con

t con

t bon

t aon

t aon

t aon

CMPR2

t bon

t con

t con

t con

t con

t con

CMPR3

t aon

t aon

t aon

t aon

t bon

t con

CMPR4

t con

t con

t con

t bon

t aon

t aon

CMPR5

t aon

t bon

t con

t con

t con

t con

CMPR6

t aon

t aon

t aon

t aon

t aon

t bon

。

Claims (10)

1. a very big telescope polyphase machine Position Tracking Control method, software systems are the c Programming with Pascal Language based on DSPTMS320F2812, and it is characterized in that, step is as follows

(1). industrial computer is started shooting and is completed initialization;

(2). industrial computer sends instruction by bus controller and the special fixed-point dsp of Electric Machine Control (dsp controller) to polyphase inverter, drives multiphase permanent magnet synchronous motor to start;

(3). in multiphase permanent magnet synchronous motor running, feedback mechanism (comprising Hall current sensor and grating scale) is by the precise location information of the position of current sample, current closed-loop, speed closed loop, position closed loop collection multiphase permanent magnet synchronous motor; The special fixed-point dsp of Electric Machine Control is sent into after carrying out respective handling;

(4). industrial computer and the special fixed-point dsp of Electric Machine Control are according to the precise location information of the position of above-mentioned multiphase permanent magnet synchronous motor and very big telescopical running requirements, adjustment at any time issues the instruction of polyphase inverter, to control the running of multiphase permanent magnet synchronous motor;

(5). external CPLD protection circuit, when under-voltage protection, overcurrent protection appear in boostrap circuit, is warned in time.

2. very big telescope polyphase machine Position Tracking Control method according to claim 1, it is characterized in that, the power circuit that (2) step drives multiphase permanent magnet synchronous motor to start, according to multiphase permanent magnet synchronous motor vector control algorithm, produce six groups of pulse-width signal PWM1 ~ PWM12, be connected to power circuit through two pieces of boostrap circuit chip I R2136, form approximate circular rotating field, control polyphase machine and run.

3. very big telescope polyphase machine Position Tracking Control method according to claim 1, it is characterized in that, step be (3) to stator A, B, C, D tetra-phase current sample, wherein A, C, E three-phase current and be 0, B, D, F three-phase current and be 0, after carrying out shaping amplification conditioning, be connected to AD0 ~ AD3 passage of DSP, carry out analog-converted sampling.

4. very big telescope polyphase machine Position Tracking Control method according to claim 1, it is characterized in that, step (3) in position and velocity measuring adopt the angular encoder ERA-780C of German Heidenhain company to obtain, its resolution is 3.6'', export as peak value is the sine wave signal of 1V, segmented by sub-circuit.

5. very big telescope polyphase machine Position Tracking Control method according to claim 1, it is characterized in that, step (3) in " carrying out respective handling " refer to: code device signal is after four times of sub-circuit process, the QEP1 of access events manager A, QEP2, QEP3, first parameter initialization, input parameter: scrambler groove, number of pole-pairs etc., output signal is electrical angle and mechanical angle, call timer interruption, in every Fixed Time Interval, this encoder data and last encoder data are subtracted each other, divided by the time, draw speed, direction and positional information.

6. very big telescope polyphase machine Position Tracking Control method according to claim 1; it is characterized in that; step (5) in protection circuit; the ten two road pwm pulse signals of input end reception from DSP are set; from the fault-signal of power circuit, boostrap circuit; and driving circuit overvoltage, under-voltage, over-current signal etc., output terminal is 12 road drive singal, the PDPINT of DSP protects pin.

7. according to the very big telescope polyphase machine Position Tracking Control method one of claim 1-6 Suo Shu, it is characterized in that, dsp software control system in above scheme is core with space voltage vector control, mainly comprises: initialize routine, timer interrupt program, capture interrupt program;

Timer interrupt program comprises current digital filtering algorithm, clark conversion, park conversion, anti-park conversion, polyphase machine svpwm algorithm, closed-loop control;

Wherein polyphase machine space voltage vector control: multiphase permanent magnet synchronous motor is driven by polyphase inverter, polyphase inverter is controlled by dsp controller, and the calculating for each brachium pontis dutycycle of power circuit is the key of polyphase machine space voltage vector control;

First derivation polyphase machine Clarke converts, Park converts and anti-Park converts, and then determines sector, reference vector place, effective vector duty cycle in each subregion of deriving.

8. the very big telescope multiphase permanent magnet synchronous motor Position Tracking Control system that uses of very big telescope polyphase machine Position Tracking Control method according to claim 1, native system comprises software systems and hardware system, this multiphase permanent magnet synchronous motor is that employing 200 connects motor to pole Ultra-Low Speed multipole splicing camber line, whole rotor comprises 400 blocks of magnet steel, it is characterized in that:

Described hardware system comprises control circuit, driving circuit, feedback circuit and protection circuit, and industrial computer wherein connects the special fixed-point dsp of Electric Machine Control (dsp controller) by bus controller; The special fixed-point dsp of this Electric Machine Control couples polyphase inverter control end by high-speed light; Three-phase commutation bridge is powered this polyphase inverter, drives multiphase permanent magnet synchronous motor; Virtual protection circuit on this polyphase inverter connects the special fixed-point dsp of described Electric Machine Control; Described multiphase permanent magnet synchronous motor by feedback mechanism to Electric Machine Control special fixed-point dsp outgoing position signal.

9. very big telescope multiphase permanent magnet synchronous motor Position Tracking Control system according to claim 8, is characterized in that: described feedback mechanism, comprises Hall current sensor and grating scale; Described software systems, comprise position closed loop, current closed-loop, polyphase machine space vector of voltage control algolithm.

10. very big telescope multiphase permanent magnet synchronous motor Position Tracking Control system according to claim 8 or claim 9, is characterized in that:

Described polyphase inverter is also connected with auxiliary insulating power supply;

Described polyphase inverter is also connected with malfunction coefficient mechanism;

Described hardware protection circuit adopts CPLD.