CN105048893B - Method for long-distance speed regulation of DC brushless motor - Google Patents

Method for long-distance speed regulation of DC brushless motor Download PDF

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CN105048893B
CN105048893B CN201510386930.XA CN201510386930A CN105048893B CN 105048893 B CN105048893 B CN 105048893B CN 201510386930 A CN201510386930 A CN 201510386930A CN 105048893 B CN105048893 B CN 105048893B
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rectification
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CN105048893A (en
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凌云
曾红兵
肖会芹
陈刚
孔玲爽
文定都
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Hunan University of Technology
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Abstract

一种直流无刷电机远距离调速的方法,由整流控制单元、速度调节单元组成的装置实现。整流控制单元输入单相220V交流电源,输出经变压器降压后的可控整流电压,在可控整流电压中发送包含电机运行方向和运行速度等级的速度控制信号;速度控制信号包括由多个工频周期整流波和1个工频周期的交流波组成的引导波和多个工频周期组成的数据波;速度调节单元输入含速度控制信号的可控整流电压,控制直流无刷电机的速度。所述方法无需遥控器,无需单独敷设控制线,直接利用单相电源线传输速度控制信号,可实现远距离直流无刷电机速度的控制调节。

A method for long-distance speed regulation of a DC brushless motor is realized by a device composed of a rectification control unit and a speed regulation unit. The rectification control unit inputs a single-phase 220V AC power supply, outputs a controllable rectification voltage stepped down by a transformer, and sends a speed control signal including the motor running direction and running speed level in the controllable rectification voltage; the speed control signal includes The guide wave composed of frequency cycle rectification wave and AC wave of 1 power frequency cycle and the data wave composed of multiple power frequency cycles; the speed adjustment unit inputs the controllable rectification voltage containing speed control signal to control the speed of brushless DC motor. The method does not need a remote controller, does not need to lay a separate control line, and directly uses a single-phase power line to transmit a speed control signal, which can realize the control and adjustment of the speed of the long-distance brushless DC motor.

Description

一种直流无刷电机远距离调速的方法A method for long-distance speed regulation of DC brushless motor

技术领域technical field

本发明涉及一种电机调速技术,尤其是一种直流无刷电机远距离调速的方法。The invention relates to a motor speed regulation technology, in particular to a method for long-distance speed regulation of a DC brushless motor.

背景技术Background technique

需要对直流无刷电机的速度进行远程控制与调节时,通常的方法有:When it is necessary to remotely control and adjust the speed of the brushless DC motor, the usual methods are:

一是采用遥控器控制。直流无刷电机的驱动控制电路装有遥控器接收装置,可以通过遥控器对直流无刷电机进行有级调速或者是无级调速,其缺点是需要配备遥控器,管理麻烦,遥控器还容易丢失。One is to use remote control. The drive control circuit of the brushless DC motor is equipped with a remote control receiving device, and the brushless DC motor can be adjusted stepwise or steplessly through the remote control. The disadvantage is that it needs to be equipped with a remote control, which is troublesome to manage easy to lose.

二是采用数字控制技术。例如,采用RS-485总线来对直流无刷电机的速度进行控制。该方案技术先进,但成本高,系统除需要布设电力线外,还需要布设数字控制总线。The second is the use of digital control technology. For example, the RS-485 bus is used to control the speed of the DC brushless motor. This solution is advanced in technology, but the cost is high. In addition to power lines, the system also needs to lay out digital control buses.

三是采用模拟信号控制技术。例如,采用远程电位器进行速度控制,成本较低。但该方法同样需要增加控制线,且抗干扰能力较差。The third is to use analog signal control technology. For example, speed control using a remote potentiometer is less costly. But this method also needs to increase the control line, and the anti-interference ability is poor.

发明内容Contents of the invention

本发明的目的旨在提供一种在不增加控制信号线和不使用遥控器的情况下,利用单相电源线实现直流无刷电机远距离调速的方法。The purpose of the present invention is to provide a method for realizing long-distance speed regulation of a DC brushless motor by using a single-phase power line without adding control signal lines and without using a remote controller.

为达到上述目的,本发明采取的技术方案是:For achieving the above object, the technical scheme that the present invention takes is:

一种直流无刷电机远距离调速的方法,由整流控制单元和速度调节单元组成的装置实现。A method for long-distance speed regulation of a DC brushless motor is realized by a device composed of a rectification control unit and a speed regulation unit.

所述整流控制单元设有相线输入端子、零线输入端子、第一可控整流输出端子、第二可控整流输出端子;所述相线输入端子、零线输入端子输入单相220V交流电源;所述第一可控整流输出端子、第二可控整流输出端子输出可控整流电压。The rectification control unit is provided with a phase line input terminal, a neutral line input terminal, a first controllable rectification output terminal, and a second controllable rectification output terminal; the phase line input terminal and the neutral line input terminal are input to a single-phase 220V AC power supply ; The first controllable rectification output terminal and the second controllable rectification output terminal output a controllable rectification voltage.

所述速度调节单元设有第一可控整流输入端子、第二可控整流输入端子,所述第一可控整流输入端子、第二可控整流输入端子分别连接至整流控制单元的第一可控整流输出端子、第二可控整流输出端子。The speed adjustment unit is provided with a first controllable rectification input terminal and a second controllable rectification input terminal, and the first controllable rectification input terminal and the second controllable rectification input terminal are respectively connected to the first controllable rectification input terminal of the rectification control unit. Controlled rectification output terminal, second controllable rectification output terminal.

所述整流控制单元由变压器、控制电源模块、可控整流模块、过零检测模块、单片机控制模块、触发控制模块、速度给定模块组成。The rectification control unit is composed of a transformer, a control power supply module, a controllable rectification module, a zero-crossing detection module, a single-chip microcomputer control module, a trigger control module, and a speed setting module.

所述变压器的两个输入端子分别为相线输入端子、零线输入端子,两个输出端子分别为第一交流端子、第二交流端子;所述第一交流端子、第二交流端子输出第二交流电源。The two input terminals of the transformer are the phase line input terminal and the neutral line input terminal respectively, and the two output terminals are respectively the first AC terminal and the second AC terminal; the first AC terminal and the second AC terminal output the second AC power.

所述控制电源模块由控制电源单相整流桥和第一滤波稳压电路组成,输出第一直流工作电源;所述控制电源单相整流桥的两个交流输入端分别连接至第一交流端子、第二交流端子;所述控制电源单相整流桥的整流负极性端为公共地。控制电源模块输出的第一直流工作电源向单片机控制模块供电。The control power supply module is composed of a control power supply single-phase rectifier bridge and a first filtering and stabilizing circuit, and outputs a first DC working power supply; the two AC input ends of the control power supply single-phase rectifier bridge are respectively connected to the first AC terminal , the second AC terminal; the rectified negative terminal of the single-phase rectifier bridge of the control power supply is the common ground. The first DC working power outputted by the control power supply module supplies power to the single-chip microcomputer control module.

所述可控整流模块由整流桥UR1、双向晶闸管V1、双向晶闸管V2、双向晶闸管V3、双向晶闸管V4组成;所述整流桥UR1的2个交流输入端分别连接至第一交流端子和第二交流端子,整流输出正端连接至双向晶闸管V3的第二阳极,整流输出负端连接至双向晶闸管V4的第二阳极;双向晶闸管V1的第一阳极与双向晶闸管V3的第一阳极并联后连接至第一可控整流输出端子;双向晶闸管V1的第二阳极连接至第一交流端子;双向晶闸管V2的第一阳极与双向晶闸管V4的第一阳极并联后连接至第二可控整流输出端子;双向晶闸管V2的第二阳极连接至第二交流端子。The controllable rectification module is composed of a rectifier bridge UR1, a bidirectional thyristor V1, a bidirectional thyristor V2, a bidirectional thyristor V3, and a bidirectional thyristor V4; the two AC input terminals of the rectifier bridge UR1 are connected to the first AC terminal and the second AC terminal respectively. terminal, the rectification output positive terminal is connected to the second anode of the bidirectional thyristor V3, the rectification output negative terminal is connected to the second anode of the bidirectional thyristor V4; the first anode of the bidirectional thyristor V1 is connected in parallel with the first anode of the bidirectional thyristor V3 and then connected to the second A controllable rectification output terminal; the second anode of the bidirectional thyristor V1 is connected to the first AC terminal; the first anode of the bidirectional thyristor V2 is connected in parallel with the first anode of the bidirectional thyristor V4 and then connected to the second controllable rectification output terminal; the bidirectional thyristor The second anode of V2 is connected to the second AC terminal.

所述触发控制模块设有交流控制输入端、整流控制输入端;所述交流控制输入端输入的交流控制信号有效时,触发控制模块控制双向晶闸管V1和双向晶闸管V2过零时触发导通;所述交流控制输入端输入的交流控制信号无效时,触发控制模块控制双向晶闸管V1和双向晶闸管V2过零后截止;所述整流控制输入端输入的整流控制信号有效时,触发控制模块控制双向晶闸管V3和双向晶闸管V4过零时触发导通;所述整流控制输入端输入的整流控制信号无效时,触发控制模块控制双向晶闸管V3和双向晶闸管V4过零后截止。The trigger control module is provided with an AC control input terminal and a rectification control input terminal; when the AC control signal input by the AC control input terminal is valid, the trigger control module controls the bidirectional thyristor V1 and the bidirectional thyristor V2 to trigger conduction when they cross zero; When the AC control signal input by the AC control input terminal is invalid, the trigger control module controls the triac V1 and the triac V2 to stop after zero crossing; when the rectification control signal input by the rectification control input terminal is valid, the trigger control module controls the triac V3 and the bidirectional thyristor V4 are triggered to conduct when they cross zero; when the rectification control signal input by the rectification control input terminal is invalid, the trigger control module controls the bidirectional thyristor V3 and the bidirectional thyristor V4 to stop after zero crossing.

所述过零检测模块设有过零电压输入端、过零脉冲输出端;所述过零电压输入端连接至第一交流端子;所述过零脉冲输出端输出的过零脉冲是正脉冲;所述过零脉冲与第二交流电源正半波对应;所述过零脉冲的宽度小于第二交流电源正半波宽度;所述第二交流电源正半波为第一交流端子电位高于第二交流端子电位的第二交流电源半波。The zero-crossing detection module is provided with a zero-crossing voltage input terminal and a zero-crossing pulse output terminal; the zero-crossing voltage input terminal is connected to the first AC terminal; the zero-crossing pulse output by the zero-crossing pulse output terminal is a positive pulse; the The zero-crossing pulse corresponds to the positive half-wave of the second AC power supply; the width of the zero-crossing pulse is smaller than the positive half-wave width of the second AC power supply; the positive half-wave of the second AC power supply is that the potential of the first AC terminal is higher than that of the second The second AC mains half-wave of the AC terminal potential.

所述速度给定模块设有速度给定信号输出端和方向给定信号输出端。The speed given module is provided with a speed given signal output terminal and a direction given signal output terminal.

所述单片机控制模块包括有速度给定信号输入端、方向给定信号输入端、捕捉信号输入端和两路电平信号输出端;所述速度给定信号输入端连接至速度给定模块的速度给定信号输出端;所述方向给定信号输入端连接至速度给定模块的方向给定信号输出端;所述捕捉信号输入端连接至过零检测模块的过零脉冲输出端;所述两路电平信号输出端分别为交流控制输出端、整流控制输出端;所述交流控制输出端、整流控制输出端分别连接至触发控制模块的交流控制输入端、整流控制输入端。The single-chip microcomputer control module includes a speed given signal input end, a direction given signal input end, a capture signal input end and two-way level signal output ends; the speed given signal input end is connected to the speed of the given speed module. given signal output terminal; the direction given signal input terminal is connected to the direction given signal output terminal of the speed given module; the capture signal input terminal is connected to the zero-crossing pulse output terminal of the zero-crossing detection module; the two The circuit level signal output terminals are respectively the AC control output terminal and the rectification control output terminal; the AC control output terminal and the rectification control output terminal are respectively connected to the AC control input terminal and the rectification control input terminal of the trigger control module.

所述速度调节单元由调节电源模块、波形取样模块、单片机调节模块、电机驱动模块组成。The speed adjustment unit is composed of an adjustment power supply module, a waveform sampling module, a single-chip microcomputer adjustment module, and a motor drive module.

所述调节电源模块输入可控整流电压、输出第二直流工作电源,由调节电源单相整流桥和第二滤波稳压电路组成;所述调节电源单相整流桥的整流负极性端为参考地。调节电源模块输出的第二直流工作电源向单片机调节模块供电。The regulated power supply module inputs a controllable rectified voltage and outputs a second DC working power supply, and is composed of a regulated power supply single-phase rectifier bridge and a second filtering and stabilizing circuit; the rectified negative terminal of the regulated power supply single-phase rectifier bridge is a reference ground . The second DC working power outputted by the regulating power supply module supplies power to the regulating module of the single-chip microcomputer.

所述波形取样模块设有取样波形输入端和取样脉冲输出端;所述取样波形输入端连接至第二可控整流输入端子;所述波形取样模块将第二可控整流输入端子电位高于第一可控整流输入端子电位的波形检出并限幅得到取样脉冲;所述取样脉冲的正脉冲与第二可控整流输入端子电位高于第一可控整流输入端子电位的波形相对应。The waveform sampling module is provided with a sampling waveform input terminal and a sampling pulse output terminal; the sampling waveform input terminal is connected to the second controllable rectification input terminal; the waveform sampling module makes the potential of the second controllable rectification input terminal higher than the first The potential waveform of a controllable rectification input terminal is detected and limited to obtain a sampling pulse; the positive pulse of the sampling pulse corresponds to the waveform whose potential of the second controllable rectification input terminal is higher than that of the first controllable rectification input terminal.

所述单片机调节模块具有捕捉输入端和速度调节输出端、方向控制输出端、制动控制输出端;单片机调节模块的捕捉输入端连接至波形取样模块的取样脉冲输出端。The single-chip microcomputer adjustment module has a capture input end, a speed adjustment output end, a direction control output end, and a brake control output end; the capture input end of the single-chip microcomputer adjustment module is connected to the sampling pulse output end of the waveform sampling module.

所述电机驱动模块用于驱动直流无刷电机,设有速度调节输入端、方向控制输入端、制动控制输入端;所述速度调节输入端连接至单片机调节模块的速度调节输出端,方向控制输入端连接至单片机调节模块的方向控制输出端,制动控制输入端连接至单片机调节模块的制动控制输出端。The motor drive module is used to drive a DC brushless motor, and is provided with a speed adjustment input end, a direction control input end, and a brake control input end; the speed adjustment input end is connected to the speed adjustment output end of the single-chip microcomputer adjustment module, and the direction control The input end is connected to the direction control output end of the single-chip microcomputer adjustment module, and the brake control input end is connected to the brake control output end of the single-chip microcomputer adjustment module.

所述整流控制单元通过控制可控整流电压来发送速度控制信号,速度控制信号由引导波和数据波组成。The rectification control unit sends a speed control signal by controlling the controllable rectification voltage, and the speed control signal is composed of a pilot wave and a data wave.

所述引导波由y-1个工频周期的整流波和1个工频周期的交流波组成,整流波在前,交流波在后;y为大于等于2的整数。The guide wave is composed of a rectification wave of y-1 power frequency period and an AC wave of 1 power frequency period, the rectification wave is in front and the AC wave is in the rear; y is an integer greater than or equal to 2.

所述数据波为x个工频周期的可控整流电压波,x为大于等于2的整数。The data wave is a controllable rectified voltage wave of x power frequency periods, and x is an integer greater than or equal to 2.

所述速度控制信号共有速度1-n,共n个速度等级;所述速度给定信号的速度等级有速度1-n;n为大于等于2的整数。The speed control signal has a total of speed 1-n, and a total of n speed levels; the speed level of the speed given signal has speed 1-n; n is an integer greater than or equal to 2.

所述x个工频周期的可控整流电压波中,1个工频周期对应1位数据码;x个工频周期的可控整流电压波对应x位数据码。Among the controllable rectification voltage waves of x power frequency periods, 1 power frequency period corresponds to 1-bit data code; the controllable rectification voltage waves of x power frequency periods correspond to x-bit data codes.

所述x位数据码中包括x-1位速度码和1位方向码;所述n与x之间的关系为:n小于等于2x-1The x-bit data code includes x-1-bit speed code and 1-bit direction code; the relationship between n and x is: n is less than or equal to 2 x-1 .

所述数据码、速度码和方向码均为二进制码。The data code, speed code and direction code are all binary codes.

所述单片机控制模块发出一次速度控制信号的方法是,The method that described single-chip microcomputer control module sends a speed control signal is,

步骤1,等待,直到接收到过零脉冲的上升沿时进入步骤2;Step 1, wait until the rising edge of the zero-crossing pulse is received and enter step 2;

步骤2,停止交流输出,开始整流输出;Step 2, stop the AC output and start the rectification output;

步骤3,对接收到的过零脉冲上升沿计数,计数值达到y-1时进入步骤4;Step 3, count the rising edge of the received zero-crossing pulse, and enter step 4 when the count value reaches y-1;

步骤4,停止整流输出,开始交流输出;Step 4, stop the rectification output and start the AC output;

步骤5,等待,直到接收到过零脉冲的上升沿时进入步骤6;Step 5, wait until the rising edge of the zero-crossing pulse is received and enter step 6;

步骤6,发出1个工频周期的可控整流电压波;Step 6, sending out a controllable rectified voltage wave of one power frequency cycle;

步骤7,等待,直到接收到过零脉冲的上升沿时进入步骤8;Step 7, wait until the rising edge of the zero-crossing pulse is received and enter step 8;

步骤8,已经发出x个工频周期的可控整流电压波时转到步骤9,否则返回步骤6;Step 8, go to step 9 when the controllable rectified voltage wave of x power frequency periods has been issued, otherwise return to step 6;

步骤9,停止整流输出,开始交流输出。Step 9, stop the rectification output and start the AC output.

所述整流控制单元发送速度控制信号的方法是,The method of sending the speed control signal by the rectification control unit is:

步骤A,读取给定信号;Step A, read a given signal;

步骤B,发出一次速度控制信号;Step B, sending out a speed control signal;

步骤C,判断速度是否发生改变,速度发生改变,返回步骤B;速度没有发生改变,返回步骤C。Step C, judging whether the speed has changed, if the speed has changed, return to step B; if the speed has not changed, return to step C.

所述速度调节单元接收速度控制信号并调节直流无刷电机速度的方法是,The method for the speed adjustment unit to receive the speed control signal and adjust the speed of the brushless DC motor is:

步骤一,电机控制初始化,设定直流无刷电机为制动状态;Step 1, motor control initialization, set the brushless DC motor to the braking state;

步骤二,判断是否有速度控制信号;没有速度控制信号,返回步骤二;有速度控制信号,转到步骤三;Step 2, judge whether there is a speed control signal; if there is no speed control signal, return to step 2; if there is a speed control signal, go to step 3;

步骤三,接收速度控制信号;Step 3, receiving a speed control signal;

步骤四,调节直流无刷电机速度;返回步骤二。Step 4, adjust the speed of the brushless DC motor; return to step 2.

所述判断是否有速度控制信号,方法为判断可控整流电压中是否有引导波。所述判断可控整流电压中是否有引导波的方法是,判断取样脉冲中工频周期矩形波之后超过工频周期宽度的低电平区间工频周期数;若取样脉冲中有工频周期数为y-1的低电平区间,则可控整流电压中有引导波;若取样脉冲中没有工频周期数为y-1的低电平区间,则可控整流电压中没有引导波。The method of judging whether there is a speed control signal is judging whether there is a guide wave in the controllable rectified voltage. The method for judging whether there is a guide wave in the controllable rectification voltage is to judge the number of power frequency cycles in the low-level interval exceeding the power frequency cycle width after the power frequency cycle rectangular wave in the sampling pulse; if there is a power frequency cycle number in the sampling pulse If y-1 is a low-level interval, there is a pilot wave in the controllable rectification voltage; if there is no low-level interval with a power frequency period of y-1 in the sampling pulse, then there is no pilot wave in the controllable rectification voltage.

所述判断取样脉冲中工频周期矩形波之后超过工频周期宽度的低电平区间工频周期数的方法是,对取样脉冲中工频周期矩形波之后超过工频周期宽度的低电平脉冲测量宽度,设测量得到的超过工频周期宽度的低电平脉冲宽度为W,则该低电平区间的工频周期数为INT(W/20);INT函数的功能是舍去小数部分取整。The method for judging the number of power frequency cycles in the low-level interval of the power frequency cycle width beyond the power frequency cycle width after the power frequency cycle rectangular wave in the sampling pulse is, for the low level pulses that exceed the power frequency cycle width after the power frequency cycle rectangular wave in the sampling pulse Measure the width, let the measured low-level pulse width exceeding the width of the power frequency cycle be W, then the number of power frequency cycles in the low-level interval is INT(W/20); the function of the INT function is to discard the decimal part and take all.

所述接收速度控制信号的方法是,接收x个工频周期的可控整流电压波转换为x位数据码,将x位数据码转换为速度码和方向码,将速度码转换为速度控制信号的速度等级。The method for receiving the speed control signal is to convert the controllable rectified voltage wave of x power frequency cycles into x-bit data code, convert the x-bit data code into speed code and direction code, and convert the speed code into speed control signal speed rating.

所述接收x个工频周期的可控整流电压波转换为x位数据码,其方法是:在引导波之后的x个工频周期区间中,当1个工频周期区间的取样脉冲为低电平时,相应的该位数据码为1,当1个工频周期区间的取样脉冲为1个占空比小于50%的矩形波时,相应的该位数据码为0;The controllable rectified voltage wave receiving x power frequency cycles is converted into x bit data codes, the method is: in the x power frequency cycle intervals after the pilot wave, when the sampling pulse of 1 power frequency cycle interval is low When the level is high, the corresponding data code of this bit is 1, and when the sampling pulse of a power frequency cycle interval is a rectangular wave with a duty ratio less than 50%, the corresponding data code of this bit is 0;

其方法或者是:在引导波之后的x个工频周期区间中,当1个工频周期区间的取样脉冲为低电平时,相应的该位数据码为0,当1个工频周期区间的取样脉冲为1个占空比小于50%的矩形波时,相应的该位数据码为1。The method may be as follows: in the x power frequency period intervals after the guide wave, when the sampling pulse of 1 power frequency period interval is low level, the corresponding bit data code is 0, and when the sampling pulse of 1 power frequency period interval is When the sampling pulse is a rectangular wave whose duty ratio is less than 50%, the corresponding data code of this bit is 1.

所述停止交流输出,是指控制交流控制输出端输出无效信号;所述开始整流输出,是指控制整流控制输出端输出有效信号;所述开始交流输出,是指控制交流控制输出端输出有效信号;所述停止整流输出,是指控制整流控制输出端输出无效信号。The stop of the AC output refers to controlling the output of the AC control output terminal to output an invalid signal; the start of the rectification output refers to the control of the output of a valid signal at the rectification control output terminal; the start of the AC output refers to the control of the output of a valid signal at the AC control output terminal ; The said stopping the rectification output refers to controlling the rectification control output terminal to output an invalid signal.

所述判断速度是否发生改变的方法是,速度给定信号的速度等级发生改变,或者方向给定信号发生改变,则速度发生改变。The method for judging whether the speed changes is that the speed changes when the speed grade of the speed given signal changes or the direction given signal changes.

所述速度控制信号的速度等级为等级1时,控制直流无刷电机制动。When the speed level of the speed control signal is level 1, the DC brushless motor is controlled to brake.

本发明的有益效果是,采用电源线远距离控制直流无刷电机速度,无需遥控器,无需控制线;直流无刷电机速度可以根据需要分成多个等级;采用整流波传送速度控制信号,其有效值与交流波相同,不会造成直流无刷电机速度调节时供电电源的不稳定。The beneficial effect of the present invention is that the speed of the DC brushless motor can be controlled remotely by using the power line, without the need for a remote controller or control line; the speed of the DC brushless motor can be divided into multiple levels according to needs; The value is the same as that of the AC wave, which will not cause instability of the power supply when the speed of the brushless DC motor is adjusted.

附图说明Description of drawings

图1是系统结构框图。Figure 1 is a block diagram of the system structure.

图2是整流控制单元结构图。Figure 2 is a structural diagram of the rectification control unit.

图3是可控整流模块实施例电路图。Fig. 3 is a circuit diagram of an embodiment of a controllable rectification module.

图4是触发控制模块实施例电路图。Fig. 4 is a circuit diagram of an embodiment of a trigger control module.

图5是整流控制单元中控制部分实施例电路图。Fig. 5 is a circuit diagram of an embodiment of the control part in the rectification control unit.

图6是实施例发送速度等级为速度15的速度控制信号时波形示意图。Fig. 6 is a schematic diagram of the waveform when the embodiment sends a speed control signal whose speed level is speed 15.

图7是速度控制信号发送方法。Fig. 7 is a speed control signal transmission method.

图8是速度调节单元结构图。Fig. 8 is a structural diagram of the speed regulating unit.

图9是速度调节单元调节部分实施例电路图。Fig. 9 is a circuit diagram of an embodiment of the adjustment part of the speed adjustment unit.

图10是电机驱动模块实施例1电路图。Fig. 10 is a circuit diagram of Embodiment 1 of the motor drive module.

图11是电机驱动模块实施例2电路图。Fig. 11 is a circuit diagram of Embodiment 2 of the motor drive module.

图12是速度接收与调节方法。Fig. 12 is the speed receiving and adjusting method.

具体实施方式detailed description

下面通过附图并结合实施例对本发明作进一步详细的描述,但本发明的实施方式不限于此。The present invention will be described in further detail below with reference to the accompanying drawings and examples, but the embodiments of the present invention are not limited thereto.

实现本发明方法的装置系统结构框图如图1所示,由整流控制单元和速度调节单元组成。整流控制单元由相线输入端子L、零线输入端子N输入单相220V交流电源,由第一可控整流输出端子AC1、第二可控整流输出端子AC2输出可控整流电压。速度调节单元由第一可控整流输入端子AC1、第二可控整流输入端子AC2输入可控整流电压并控制直流无刷电机速度。The structure block diagram of the device system for realizing the method of the present invention is shown in Fig. 1, which is composed of a rectification control unit and a speed adjustment unit. The rectification control unit receives single-phase 220V AC power from phase line input terminal L and neutral line input terminal N, and outputs controllable rectification voltage from the first controllable rectification output terminal AC1 and the second controllable rectification output terminal AC2. The speed adjustment unit inputs the controllable rectification voltage from the first controllable rectification input terminal AC1 and the second controllable rectification input terminal AC2 to control the speed of the brushless DC motor.

整流控制单元的结构如图2所示,由变压器、控制电源模块、可控整流模块、过零检测模块、单片机控制模块、触发控制模块、速度给定模块组成。The structure of the rectification control unit is shown in Figure 2. It consists of a transformer, a control power supply module, a controllable rectification module, a zero-crossing detection module, a single-chip microcomputer control module, a trigger control module, and a speed given module.

变压器的两个输入端子分别为相线输入端子L、零线输入端子N,两个输出端子分别为第一交流端子L1、第二交流端子N1。第一交流端子L1、第二交流端子N1输出第二交流电源。第二交流电源的电压有效值低于整流控制单元输入的单相220V交流电源的电压有效值。The two input terminals of the transformer are the phase line input terminal L and the neutral line input terminal N, and the two output terminals are the first AC terminal L1 and the second AC terminal N1 respectively. The first AC terminal L1 and the second AC terminal N1 output the second AC power. The voltage effective value of the second AC power supply is lower than the voltage effective value of the single-phase 220V AC power supply input by the rectification control unit.

可控整流模块的实施例如图3所示,由整流桥UR1、双向晶闸管V1、双向晶闸管V2、双向晶闸管V3、双向晶闸管V4组成。整流桥UR1的2个交流输入端分别连接至第一交流端子L1和第二交流端子N1,整流输出正端连接至双向晶闸管V3的第二阳极,整流输出负端连接至双向晶闸管V4的第二阳极;双向晶闸管V1的第一阳极与双向晶闸管V3的第一阳极并联后连接至第一可控整流输出端子AC1;双向晶闸管V1的第二阳极连接至第一交流端子L1;双向晶闸管V2的第一阳极与双向晶闸管V4的第一阳极并联后连接至第二可控整流输出端子AC2;双向晶闸管V2的第二阳极连接至第二交流端子N1。The embodiment of the controllable rectification module is shown in FIG. 3 , which consists of a rectifier bridge UR1 , a triac V1 , a triac V2 , a triac V3 , and a triac V4. The two AC input terminals of the rectifier bridge UR1 are respectively connected to the first AC terminal L1 and the second AC terminal N1, the rectification output positive terminal is connected to the second anode of the bidirectional thyristor V3, and the rectification output negative terminal is connected to the second anode of the bidirectional thyristor V4. Anode; the first anode of the bidirectional thyristor V1 is connected in parallel with the first anode of the bidirectional thyristor V3 and then connected to the first controllable rectification output terminal AC1; the second anode of the bidirectional thyristor V1 is connected to the first AC terminal L1; the second anode of the bidirectional thyristor V2 An anode is connected in parallel with the first anode of the bidirectional thyristor V4 and then connected to the second controllable rectification output terminal AC2; the second anode of the bidirectional thyristor V2 is connected to the second AC terminal N1.

双向晶闸管V1的触发脉冲从其控制极K11和第一阳极K12输入,双向晶闸管V2的触发脉冲从其控制极K21和第一阳极K22输入,双向晶闸管V3的触发脉冲从其控制极K31和第一阳极K32输入,双向晶闸管V4的触发脉冲从其控制极K41和第一阳极K42输入。The trigger pulse of the bidirectional thyristor V1 is input from its control pole K11 and the first anode K12, the trigger pulse of the bidirectional thyristor V2 is input from its control pole K21 and the first anode K22, and the trigger pulse of the bidirectional thyristor V3 is input from its control pole K31 and the first anode The anode K32 is input, and the trigger pulse of the bidirectional thyristor V4 is input from its control pole K41 and the first anode K42.

整流桥UR1采用单相整流桥堆,或者是采用4个二极管组成单相整流桥代替。The rectifier bridge UR1 adopts a single-phase rectifier bridge pile, or uses 4 diodes to form a single-phase rectifier bridge instead.

触发控制模块为满足以下功能的电路:设有交流控制输入端、整流控制输入端;交流控制输入端输入的交流控制信号有效时,触发控制模块控制双向晶闸管V1和双向晶闸管V2过零时触发导通;交流控制输入端输入的交流控制信号无效时,触发控制模块控制双向晶闸管V1和双向晶闸管V2过零后截止;整流控制输入端输入的整流控制信号有效时,触发控制模块控制双向晶闸管V3和双向晶闸管V4过零时触发导通;整流控制输入端输入的整流控制信号无效时,触发控制模块控制双向晶闸管V3和双向晶闸管V4过零后截止。The trigger control module is a circuit that satisfies the following functions: it is provided with an AC control input terminal and a rectification control input terminal; when the AC control signal input by the AC control input terminal is valid, the trigger control module controls the bidirectional thyristor V1 and the bidirectional thyristor V2 to trigger the triac when they cross zero. When the AC control signal input by the AC control input terminal is invalid, the trigger control module controls the triac V1 and the triac V2 to stop after zero crossing; when the rectification control signal input by the rectification control input terminal is valid, the trigger control module controls the triac V3 and V3 The bidirectional thyristor V4 is triggered to conduct when it crosses zero; when the rectification control signal input by the rectification control input terminal is invalid, the trigger control module controls the bidirectional thyristor V3 and the bidirectional thyristor V4 to stop after zero crossing.

触发控制模块的实施例如图4所示,由过零触发光耦U1-U4和输入限流电阻R1-R4、输出限流电阻R5-R8组成,设有交流控制输入端KJ、整流控制输入端KZ。过零触发光耦U1-U4的内部包括有输入发光二极管、输出光控双向晶闸管,以及过零触发电路。过零触发光耦U1-U4的型号在MOC3041、MOC3042、MOC3043、MOC3061、MOC3062、MOC3063中选择。The implementation of the trigger control module is shown in Figure 4. It consists of zero-cross trigger optocoupler U1-U4, input current-limiting resistor R1-R4, and output current-limiting resistor R5-R8. It is equipped with an AC control input terminal KJ and a rectification control input terminal. KZ. The interior of the zero-cross trigger optocoupler U1-U4 includes an input light-emitting diode, an output light-controlled bidirectional thyristor, and a zero-cross trigger circuit. The model of the zero-cross trigger optocoupler U1-U4 can be selected from MOC3041, MOC3042, MOC3043, MOC3061, MOC3062, and MOC3063.

输入限流电阻R1与过零触发光耦U1的输入发光二极管串联,串联电路再并联至第一直流工作电源VDD1和交流控制输入端KJ。输入限流电阻R1串联在过零触发光耦U1的输入发光二极管阳极,如图4所示;输入限流电阻R1也可以串联在过零触发光耦U1的输入发光二极管的阴极。The input current limiting resistor R1 is connected in series with the input light-emitting diode of the zero-crossing trigger optocoupler U1, and the series circuit is then connected in parallel to the first DC working power supply VDD1 and the AC control input terminal KJ. The input current limiting resistor R1 is connected in series with the anode of the input light-emitting diode of the zero-crossing trigger optocoupler U1, as shown in Figure 4; the input current-limiting resistor R1 can also be connected in series with the cathode of the input light-emitting diode of the zero-crossing trigger optocoupler U1.

输入限流电阻R2与过零触发光耦U2的输入发光二极管串联,串联电路再并联至第一直流工作电源VDD1和交流控制输入端KJ。输入限流电阻R3与过零触发光耦U3的输入发光二极管串联,串联电路再并联至第一直流工作电源VDD1和整流控制输入端KZ。输入限流电阻R4与过零触发光耦U4的输入发光二极管串联,串联电路再并联至第一直流工作电源VDD1和整流控制输入端KZ。输入限流电阻R2-R4可以串联在相应过零触发光耦的输入发光二极管阳极,如图4所示;也可以串联在相应过零触发光耦的输入发光二极管阴极。The input current limiting resistor R2 is connected in series with the input LED of the zero-crossing trigger optocoupler U2, and the series circuit is connected in parallel to the first DC working power supply VDD1 and the AC control input terminal KJ. The input current limiting resistor R3 is connected in series with the input LED of the zero-crossing trigger optocoupler U3, and the series circuit is then connected in parallel to the first DC working power supply VDD1 and the rectification control input terminal KZ. The input current limiting resistor R4 is connected in series with the input light-emitting diode of the zero-crossing trigger optocoupler U4, and the series circuit is then connected in parallel to the first DC working power supply VDD1 and the rectification control input terminal KZ. The input current-limiting resistors R2-R4 can be connected in series with the anode of the input light-emitting diode of the corresponding zero-crossing trigger optocoupler, as shown in Figure 4; they can also be connected in series with the cathode of the input light-emitting diode of the corresponding zero-crossing trigger optocoupler.

输出限流电阻R5与过零触发光耦U1内部输出光控双向晶闸管串联后再并联至双向晶闸管V1的控制极K11和第一阳极K12;输出限流电阻R6与过零触发光耦U2内部输出光控双向晶闸管串联后再并联至双向晶闸管V2的控制极K21和第一阳极K22;输出限流电阻R7与过零触发光耦U3内部输出光控双向晶闸管串联后再并联至双向晶闸管V3的控制极K31和第一阳极K32;输出限流电阻R8与过零触发光耦U4内部输出光控双向晶闸管串联后再并联至双向晶闸管V4的控制极K41和第一阳极K42。The output current-limiting resistor R5 is connected in series with the internal output photo-controlled bidirectional thyristor of the zero-crossing trigger optocoupler U1, and then connected in parallel to the control pole K11 and the first anode K12 of the bidirectional thyristor V1; the output current-limiting resistor R6 is connected to the internal output of the zero-crossing trigger optocoupler U2 The light-controlled bidirectional thyristor is connected in series and then connected in parallel to the control pole K21 and the first anode K22 of the bidirectional thyristor V2; the output current limiting resistor R7 is connected in series with the internal output of the zero-crossing trigger optocoupler U3 and then connected in parallel to the control of the bidirectional thyristor V3 The pole K31 and the first anode K32; the output current limiting resistor R8 is connected in series with the internal output photo-controlled bidirectional thyristor of the zero-crossing trigger optocoupler U4 and then connected in parallel to the control pole K41 and the first anode K42 of the bidirectional thyristor V4.

整流控制单元中控制部分包括控制电源模块、过零检测模块、单片机控制模块、速度给定模块,其实施例电路如图5所示。The control part of the rectification control unit includes a control power supply module, a zero-crossing detection module, a single-chip microcomputer control module, and a speed setting module, and its embodiment circuit is shown in FIG. 5 .

控制电源模块输入为第二交流电源,输出为向整流控制单元提供的第一直流工作电源VDD1。图5实施例中,控制电源模块由二极管D01、二极管D02、二极管D03、二极管D04、电容C1、三端稳压器U5组成。二极管D01、二极管D02、二极管D03、二极管D04组成控制电源单相整流桥;电容C1并联在控制电源单相整流桥的直流电压输出端,起滤波作用;三端稳压器U5输入端VIN连接至控制电源单相整流桥的整流正极性端;第一直流工作电源VDD1从三端稳压器U5输出端VOUT输出。控制电源单相整流桥的整流负极性端为公共地。三端稳压器U5选择H7133。The input of the control power supply module is the second AC power supply, and the output is the first DC working power supply VDD1 provided to the rectification control unit. In the embodiment shown in Fig. 5, the control power supply module is composed of diode D01, diode D02, diode D03, diode D04, capacitor C1, and three-terminal regulator U5. Diode D01, diode D02, diode D03, and diode D04 form a control power supply single-phase rectifier bridge; capacitor C1 is connected in parallel to the DC voltage output end of the control power supply single-phase rectifier bridge, and acts as a filter; the input terminal VIN of the three-terminal regulator U5 is connected to The rectified positive terminal of the single-phase rectifier bridge of the control power supply; the first DC working power supply VDD1 is output from the output terminal VOUT of the three-terminal regulator U5. The rectification negative terminal of the single-phase rectification bridge of the control power supply is the common ground. The three-terminal regulator U5 chooses H7133.

控制电源模块还可以采用其他实现方案。二极管D01、二极管D02、二极管D03、二极管D04组成的控制电源单相整流桥可以用单相整流桥堆代替,三端稳压器U5可以采用稳压管稳压电路或者DC/DC稳压器。The control power supply module can also adopt other implementation schemes. The control power supply single-phase rectifier bridge composed of diode D01, diode D02, diode D03 and diode D04 can be replaced by a single-phase rectifier bridge stack, and the three-terminal voltage regulator U5 can use a voltage regulator circuit or a DC/DC voltage regulator.

过零检测模块为具有以下功能的电路:设有过零电压输入端、过零脉冲输出端;过零电压输入端连接至第一交流端子;过零脉冲输出端输出的过零脉冲是正脉冲;过零脉冲与第二交流电源正半波对应;过零脉冲的宽度小于第二交流电源正半波宽度;第二交流电源正半波为第一交流端子电位高于第二交流端子电位的第二交流电源半波。The zero-crossing detection module is a circuit with the following functions: a zero-crossing voltage input terminal and a zero-crossing pulse output terminal are provided; the zero-crossing voltage input terminal is connected to the first AC terminal; the zero-crossing pulse output by the zero-crossing pulse output terminal is a positive pulse; The zero-crossing pulse corresponds to the positive half-wave of the second AC power supply; the width of the zero-crossing pulse is smaller than the width of the positive half-wave of the second AC power supply; the positive half-wave of the second AC power supply is the first AC terminal potential higher than the second AC terminal potential Two half-wave AC power.

图5实施例中,过零检测模块为检波整形电路,由二极管D1、电阻R9、稳压管DW1组成。电阻R9的两端分别连接至二极管D1阴极与稳压管DW1阴极,二极管D1阳极连接至第一交流端子L1,稳压管DW1阳极连接至公共地。稳压管DW1阴极为输出过零脉冲的过零脉冲输出端。In the embodiment of FIG. 5, the zero-crossing detection module is a wave detection and shaping circuit, which is composed of a diode D1, a resistor R9, and a voltage regulator tube DW1. Both ends of the resistor R9 are respectively connected to the cathode of the diode D1 and the cathode of the voltage regulator DW1 , the anode of the diode D1 is connected to the first AC terminal L1 , and the anode of the voltage regulator DW1 is connected to the common ground. The cathode of the Zener tube DW1 is the zero-crossing pulse output terminal for outputting the zero-crossing pulse.

速度给定模块设有速度给定信号输出端和方向给定信号输出端,速度给定信号输出端输出速度给定信号,方向给定信号输出端输出方向给定信号。图5实施例中,速度给定模块采用电位器RW1对第一直流工作电源VDD1进行分压,得到的速度给定信号为速度给定电压。将电位器RW1输出的速度给定电压平均分成n个区间,最低电压区间速度给定信号的速度等级为速度1,最高电压区间速度给定信号的速度等级为速度n;速度给定电压的n个区间分别与速度等级的速度1-n对应;n为大于等于2的整数。速度给定模块也可以采用旋转编码器、拨码开关、脉冲电位器等其他装置实现。图5实施例中,速度给定模块采用方向开关SWD输出方向给定信号,方向开关SWD的一端接公共地,另外一端为方向给定信号输出端。The speed given module is provided with a speed given signal output terminal and a given direction signal output terminal, the speed given signal output terminal outputs a given speed signal, and the given direction signal output terminal outputs a given direction signal. In the embodiment shown in FIG. 5 , the speed setting module uses the potentiometer RW1 to divide the voltage of the first DC working power supply VDD1 , and the obtained speed setting signal is the speed setting voltage. Divide the given speed voltage output by the potentiometer RW1 into n intervals on average, the speed grade of the speed given signal in the lowest voltage interval is speed 1, and the speed grade of the speed given signal in the highest voltage interval is speed n; the n of the speed given voltage The intervals correspond to the speed 1-n of the speed grade; n is an integer greater than or equal to 2. The speed given module can also be realized by other devices such as rotary encoder, dial switch, pulse potentiometer, etc. In the embodiment of Fig. 5, the speed given module uses the direction switch SWD to output the given direction signal, one end of the direction switch SWD is connected to the common ground, and the other end is the output end of the given direction signal.

单片机控制模块包括有1路速度给定信号输入端,1路方向给定信号输入端,1路捕捉信号输入端,2路电平信号输出端。1路速度给定信号输入端连接至速度给定模块的速度给定信号输出端;1路方向给定信号输入端连接至速度给定模块的方向给定信号输出端;1路捕捉信号输入端连接至过零检测模块的过零脉冲输出端,输入过零脉冲;2路电平信号输出端为交流控制输出端KJ、整流控制输出端KZ,分别连接至触发控制模块的交流控制输入端KJ、整流控制输入端KZ。The single-chip microcomputer control module includes 1 speed given signal input terminal, 1 direction given signal input terminal, 1 captured signal input terminal, and 2 level signal output terminals. 1 speed reference signal input terminal is connected to the speed reference signal output terminal of the speed reference module; 1 direction reference signal input terminal is connected to the direction reference signal output terminal of the speed reference module; 1 capture signal input terminal Connect to the zero-crossing pulse output terminal of the zero-crossing detection module and input the zero-crossing pulse; the two level signal output terminals are the AC control output terminal KJ and the rectification control output terminal KZ, respectively connected to the AC control input terminal KJ of the trigger control module , Rectification control input terminal KZ.

图5实施例中,单片机控制模块由单片机MCU1、晶体振荡器XT1组成,单片机MCU1的型号是MSP430G2553。单片机MCU1的模拟电压输入端A0(P1.0)为速度给定信号输入端,电位器RW1的输出电压连接至单片机MCU1的模拟电压输入端A0(P1.0)。如果采用其他装置发出开关量、数字量形式的速度给定信号,可以从单片机MCU1的I/O口输入。单片机MCU1通过对模拟电压输入端A0输入的速度给定电压进行A/D转换,或者是读取I/O口的输入信号,得到速度给定信号的速度等级。单片机MCU1的P2.0是捕捉信号输入端,连接至过零检测模块的过零脉冲输出端。单片机MCU1的P1.3是方向给定信号输入端,连接至速度给定模块的方向给定信号输出端。单片机MCU1的P1.1、P1.2是电平信号输出端,其中P1.1是交流控制输出端KJ,P1.2是整流控制输出端KZ;交流控制输出端KJ、整流控制输出端KZ分别连接至触发控制模块的交流控制输入端KJ、整流控制输入端KZ。In the embodiment of Fig. 5, the single-chip microcomputer control module is composed of a single-chip microcomputer MCU1 and a crystal oscillator XT1, and the model of the single-chip microcomputer MCU1 is MSP430G2553. The analog voltage input terminal A0 (P1.0) of the single-chip microcomputer MCU1 is the input terminal of the speed given signal, and the output voltage of the potentiometer RW1 is connected to the analog voltage input terminal A0 (P1.0) of the single-chip microcomputer MCU1. If other devices are used to send the speed given signal in the form of switch value and digital value, it can be input from the I/O port of the single-chip microcomputer MCU1. The single-chip microcomputer MCU1 performs A/D conversion on the speed reference voltage input by the analog voltage input terminal A0, or reads the input signal of the I/O port to obtain the speed grade of the speed reference signal. P2.0 of the single-chip microcomputer MCU1 is the capture signal input terminal, which is connected to the zero-crossing pulse output terminal of the zero-crossing detection module. P1.3 of the single-chip microcomputer MCU1 is the input terminal of the direction given signal, which is connected to the output terminal of the given direction signal of the speed given module. P1.1 and P1.2 of the MCU1 are level signal output terminals, among which P1.1 is the AC control output terminal KJ, and P1.2 is the rectification control output terminal KZ; the AC control output terminal KJ and the rectification control output terminal KZ are respectively Connect to the AC control input terminal KJ and the rectification control input terminal KZ of the trigger control module.

整流控制单元的第一可控整流输出端子AC1、第二可控整流输出端子AC2输出可控整流电压,整流控制单元通过控制可控整流电压来发送速度控制信号,速度控制信号由引导波和数据波组成。可控整流电压的有效值与第二交流电源的电压有效值相同。The first controllable rectification output terminal AC1 and the second controllable rectification output terminal AC2 of the rectification control unit output the controllable rectification voltage, and the rectification control unit sends the speed control signal by controlling the controllable rectification voltage, and the speed control signal is composed of the guide wave and the data wave composition. The effective value of the controllable rectified voltage is the same as the effective value of the voltage of the second AC power supply.

所述速度控制信号共有速度1-n,共n个速度等级。The speed control signal has a total of speeds 1-n, and a total of n speed levels.

所述引导波由y-1个工频周期整流波和1个工频周期的交流波组成,整流波在前,交流波在后;y为大于等于2的整数。The guide wave is composed of y-1 rectified waves of power frequency cycle and 1 AC wave of power frequency cycle, the rectified wave is in front and the AC wave is behind; y is an integer greater than or equal to 2.

所述数据波为x个工频周期的可控整流电压波,x为大于等于2的整数。所述速度控制信号共有速度1-n,共n个速度等级;速度控制信号速度等级的速度1-n与速度给定信号速度等级的速度1-n之间一一对应。速度等级的速度1对应的直流无刷电机状态为制动状态。The data wave is a controllable rectified voltage wave of x power frequency periods, and x is an integer greater than or equal to 2. The speed control signal has a total of speed 1-n, and a total of n speed grades; the speed 1-n of the speed grade of the speed control signal corresponds to the speed 1-n of the speed reference signal speed grade. The state of the brushless DC motor corresponding to speed 1 of the speed level is the braking state.

x个工频周期的可控整流电压波中,1个工频周期对应1位数据码,x个工频周期的可控整流电压波对应x位数据码;每个工频周期中,其可控整流电压波为交流波时,对应的1位数据码是0;每个工频周期中,其可控整流电压波为整流波时,对应的1位数据码是1。或者是x个工频周期的可控整流电压波中,1个工频周期对应1位数据码;每个工频周期中,其可控整流电压波为交流波时,对应的1位数据码是1;每个工频周期中,其可控整流电压波为整流波时,对应的1位数据码是0。Among the controllable rectification voltage waves of x power frequency cycles, 1 power frequency cycle corresponds to 1-bit data code, and the controllable rectification voltage wave of x power frequency cycles corresponds to x-bit data codes; in each power frequency cycle, it can When the controllable rectification voltage wave is an AC wave, the corresponding 1-bit data code is 0; in each power frequency cycle, when the controllable rectification voltage wave is a rectification wave, the corresponding 1-bit data code is 1. Or in the controllable rectification voltage wave of x power frequency cycles, 1 power frequency cycle corresponds to 1-bit data code; in each power frequency cycle, when the controllable rectification voltage wave is an AC wave, the corresponding 1-bit data code is 1; in each power frequency cycle, when the controllable rectification voltage wave is a rectification wave, the corresponding 1-bit data code is 0.

所述x位数据码中包括x-1位速度码和1位方向码,此时n与x之间的关系为:n小于等于2x-1。组成数据码时,x-1位速度码在前,1位方向码在后。速度码由速度给定信号确定,方向码由方向给定信号确定。The x-bit data code includes x-1-bit speed code and 1-bit direction code. At this time, the relationship between n and x is: n is less than or equal to 2 x-1 . When composing the data code, the x-1 bit speed code is in front, and the 1 bit direction code is behind. The speed code is determined by the speed given signal, and the direction code is determined by the direction given signal.

所述数据码、速度码和方向码均为二进制码。The data code, speed code and direction code are all binary codes.

整流控制单元发送速度控制信号时波形实施例如图6所示。图6所示实施例中y等于3,x等于6,速度控制信号共有速度1-32,共32个速度等级。The embodiment of the waveform when the rectification control unit sends the speed control signal is shown in Figure 6. In the embodiment shown in Fig. 6, y is equal to 3, x is equal to 6, and the speed control signal has a total speed of 1-32, a total of 32 speed levels.

图6发送的是速度等级为速度15的速度控制信号。图6(a)为可控整流电压的波形,其中的T1区间为引导波,由2个工频周期的整流波和1个工频周期的交流波组成。T2区间为数据波,即6个工频周期的可控整流电压波。实施例的6个工频周期的可控整流电压波中,1个工频周期对应1位数据码;每个工频周期中,其可控整流电压波为交流波时,对应的数据码是0;每个工频周期中,其可控整流电压波为整流波时,对应的数据码是1;6个工频周期依次为交流波、整流波、整流波、整流波、交流波、交流波,相应的6位数据码是011100。6位数据码的前5位是速度码,速度码的范围是00000-11111,代表的速度等级范围是速度1-32。图6所示实施例的数据波中,对应5位数据码为01110,该速度控制信号的速度等级为速度15。6位数据码的最后1位是方向码,方向码与T3区间对应,实施例中是1个工频周期的交流波,方向码为0。Figure 6 sends the speed control signal whose speed level is speed 15. Figure 6(a) shows the waveform of the controllable rectification voltage, in which the T1 interval is the guide wave, which consists of two power frequency cycles of rectification waves and one power frequency cycle of AC waves. The T2 interval is a data wave, that is, a controllable rectified voltage wave of 6 power frequency cycles. Among the controllable rectification voltage waves of 6 power frequency cycles in the embodiment, 1 power frequency cycle corresponds to 1 bit of data code; in each power frequency cycle, when the controllable rectification voltage wave is an AC wave, the corresponding data code is 0; in each power frequency cycle, when the controllable rectification voltage wave is a rectification wave, the corresponding data code is 1; the 6 power frequency cycles are AC wave, rectification wave, rectification wave, rectification wave, AC wave, AC Wave, the corresponding 6-digit data code is 011100. The first 5 digits of the 6-digit data code is the speed code, the range of the speed code is 00000-11111, and the range of the representative speed level is speed 1-32. In the data wave of the embodiment shown in Figure 6, the corresponding 5-bit data code is 01110, and the speed grade of the speed control signal is speed 15. The last 1 bit of the 6-bit data code is a direction code, and the direction code corresponds to the T3 interval. In the example, it is an AC wave with one power frequency cycle, and the direction code is 0.

x-1位速度码和1位方向码组成数据码,还可以采用1位方向码在前,x-1位速度码在后的方式,此时,仍然发送图6所示的可控整流电压波形,则6位数据码的第1位是方向码,方向码是0;5位数据码为11100,代表的速度控制信号的速度等级为速度29。x-1-bit speed code and 1-bit direction code form the data code. It is also possible to use the method of 1-bit direction code in front and x-1-bit speed code in the back. At this time, the controllable rectified voltage shown in Figure 6 is still sent Waveform, the first bit of the 6-bit data code is the direction code, and the direction code is 0; the 5-bit data code is 11100, representing the speed level of the speed control signal as speed 29.

直流无刷电机无需控制方向时,所述x位数据码组成x位速度码,数据码中无方向码,此时n与x之间的关系为:n小于等于2xWhen the brushless DC motor does not need to control the direction, the x-bit data code constitutes the x-bit speed code, and there is no direction code in the data code. At this time, the relationship between n and x is: n is less than or equal to 2 x .

单片机控制模块发出一次速度控制信号的步骤如下:The steps of sending a speed control signal by the single-chip microcomputer control module are as follows:

步骤1,等待,直到接收到过零脉冲的上升沿时进入步骤2;Step 1, wait until the rising edge of the zero-crossing pulse is received and enter step 2;

步骤2,停止交流输出,开始整流输出;Step 2, stop the AC output and start the rectification output;

步骤3,对接收到的过零脉冲上升沿计数,计数值达到y-1时进入步骤4;Step 3, count the rising edge of the received zero-crossing pulse, and enter step 4 when the count value reaches y-1;

步骤4,停止整流输出,开始交流输出;Step 4, stop the rectification output and start the AC output;

步骤5,等待,直到接收到过零脉冲的上升沿时进入步骤6;Step 5, wait until the rising edge of the zero-crossing pulse is received and enter step 6;

步骤6,发出1个工频周期的可控整流电压波;Step 6, sending out a controllable rectified voltage wave of one power frequency cycle;

步骤7,等待,直到接收到过零脉冲的上升沿时进入步骤8;Step 7, wait until the rising edge of the zero-crossing pulse is received and enter step 8;

步骤8,已经发出x个工频周期的可控整流电压波时转到步骤9,否则返回步骤6;Step 8, go to step 9 when the controllable rectified voltage wave of x power frequency periods has been issued, otherwise return to step 6;

步骤9,停止整流输出,开始交流输出。Step 9, stop the rectification output and start the AC output.

整流控制单元在正常的维持不发出速度控制信号状态时,单片机控制模块控制交流控制输出端KJ输出有效信号,整流控制输出端KZ输出无效信号,过零触发光耦U1和U2的输入发光二极管导通,过零触发光耦U3和U4的输入发光二极管截止,双向晶闸管V1、双向晶闸管V2导通,双向晶闸管V3、双向晶闸管V4截止,第一可控整流输出端子AC1、第二可控整流输出端子AC2输出的可控整流电压为交流电压。在图4所示的实施例中,单片机控制模块输出的交流控制输出端KJ、整流控制输出端KZ的信号为低电平有效。When the rectifier control unit maintains the normal state of not sending out speed control signals, the single-chip control module controls the AC control output terminal KJ to output a valid signal, and the rectifier control output terminal KZ outputs an invalid signal, and the zero-crossing triggers the input light-emitting diodes of the optocouplers U1 and U2 to conduct On, the zero-crossing triggers the input light-emitting diodes of optocoupler U3 and U4 to cut off, the triac V1 and triac V2 are turned on, the triac V3 and triac V4 are cut off, the first controllable rectification output terminal AC1, the second controllable rectification output terminal The controllable rectified voltage output by terminal AC2 is AC voltage. In the embodiment shown in FIG. 4 , the signals of the AC control output terminal KJ and the rectification control output terminal KZ output by the single-chip microcomputer control module are low-level active.

图5所示过零检测模块输出的过零脉冲与第二交流电源的正半波对应,且过零脉冲的宽度小于第二交流电源正半波宽度。所述第二交流电源正半波为第一交流端子电位高于第二交流端子电位的第二交流电源半波。The zero-crossing pulse output by the zero-crossing detection module shown in FIG. 5 corresponds to the positive half-wave of the second AC power supply, and the width of the zero-crossing pulse is smaller than the width of the positive half-wave of the second AC power supply. The positive half-wave of the second AC power source is the second AC power half-wave in which the potential of the first AC terminal is higher than the potential of the second AC terminal.

单片机控制模块检测到与图6中半波1相对应的过零脉冲上升沿后,进入步骤2。所述停止交流输出,是指控制交流控制输出端KJ输出无效信号,从第二交流电源的下一个过零点开始,双向晶闸管V1、双向晶闸管V2截止;所述开始整流输出,是指控制整流控制输出端KZ输出有效信号,从第二交流电源的下一个过零点开始,双向晶闸管V3、双向晶闸管V4导通,第一可控整流输出端子AC1、第二可控整流输出端子AC2输出的可控整流电压为整流电压。After the single-chip microcomputer control module detects the rising edge of the zero-crossing pulse corresponding to half-wave 1 in Figure 6, enter step 2. Said stopping the AC output refers to controlling the AC control output terminal KJ to output an invalid signal, and starting from the next zero-crossing point of the second AC power supply, the bidirectional thyristor V1 and the bidirectional thyristor V2 are cut off; said starting rectification output refers to controlling the rectification control The output terminal KZ outputs a valid signal. From the next zero-crossing point of the second AC power supply, the bidirectional thyristor V3 and the bidirectional thyristor V4 are turned on, and the controllable output of the first controllable rectification output terminal AC1 and the second controllable rectification output terminal AC2 The rectified voltage is a rectified voltage.

所述停止整流输出,是指控制整流控制输出端KZ输出无效信号,从第二交流电源的下一个过零点开始,双向晶闸管V3、双向晶闸管V4截止;所述开始交流输出,是指控制交流控制输出端KJ输出有效信号,从第二交流电源的下一个过零点开始,双向晶闸管V1、双向晶闸管V2导通,第一可控整流输出端子AC1、第二可控整流输出端子AC2输出的可控整流电压为交流电压。The said stop rectification output means to control the rectification control output terminal KZ to output an invalid signal, starting from the next zero-crossing point of the second AC power supply, the bidirectional thyristor V3 and the bidirectional thyristor V4 are cut off; the said start of the AC output means to control the AC control The output terminal KJ outputs a valid signal. Starting from the next zero-crossing point of the second AC power supply, the bidirectional thyristor V1 and the bidirectional thyristor V2 are turned on, and the controllable output of the first controllable rectification output terminal AC1 and the second controllable rectification output terminal AC2 The rectified voltage is AC voltage.

所述发出1个工频周期的可控整流电压波,其方法是,判断需要发出的该工频周期的可控整流电压波是交流波还是整流波,如果是交流波,则停止整流输出,开始交流输出;如果是整流波,则停止交流输出,开始整流输出。The method for sending the controllable rectified voltage wave of one power frequency cycle is to judge whether the controllable rectified voltage wave of the power frequency cycle to be sent is an AC wave or a rectified wave, and if it is an AC wave, stop the rectification output, Start the AC output; if it is a rectified wave, stop the AC output and start the rectified output.

所述可控整流电压波中的每个单工频周期是交流波,或者是整流波;单工频周期的交流波由1个单相交流电源正半波和1个单相交流电源负半波组成,正半波在前,负半波在后;单工频周期的整流波由2个整流半波组成,第一个整流半波与第二交流电源正半波对应,第二个整流半波与第二交流电源负半波对应。所述工频周期的时间为20ms。所述单工频周期为1个工频周期。Each single power frequency cycle in the controllable rectified voltage wave is an AC wave or a rectified wave; the AC wave of a single power frequency cycle consists of a positive half wave of a single-phase AC power supply and a negative half wave of a single-phase AC power supply The positive half wave is in the front, and the negative half wave is in the back; the rectification wave of the single power frequency cycle is composed of two rectification half waves, the first rectification half wave corresponds to the second AC power positive half wave, and the second rectification wave The half-wave corresponds to the negative half-wave of the second AC power supply. The time of the power frequency cycle is 20ms. The single power frequency cycle is 1 power frequency cycle.

整流控制单元发送速度控制信号的方法如图7所示,包括:The method for sending the speed control signal by the rectification control unit is shown in Figure 7, including:

步骤A,读取给定信号;Step A, read a given signal;

步骤B,发出一次速度控制信号;Step B, sending out a speed control signal;

步骤C,判断速度是否发生改变,速度发生改变,返回步骤B;速度没有发生改变,返回步骤C。Step C, judging whether the speed has changed, if the speed has changed, return to step B; if the speed has not changed, return to step C.

判断速度是否发生改变的方法是,速度给定信号的速度等级发生改变,或者方向给定信号发生改变,则速度发生改变。The method of judging whether the speed changes is that the speed level of the speed given signal changes, or the direction given signal changes, and the speed changes.

速度调节单元的结构如图8所示,由调节电源模块、波形取样模块、单片机调节模块、电机驱动模块组成。The structure of the speed adjustment unit is shown in Figure 8, which consists of an adjustment power supply module, a waveform sampling module, a single-chip microcomputer adjustment module, and a motor drive module.

速度调节单元的调节部分包括调节电源模块、波形取样模块、单片机调节模块,其实施例如图9所示。The adjustment part of the speed adjustment unit includes an adjustment power supply module, a waveform sampling module, and a single-chip microcomputer adjustment module, the embodiment of which is shown in FIG. 9 .

调节电源模块为速度调节单元提供第二直流工作电源VDD2。图9实施例中,调节电源模块由二极管D05、二极管D06、二极管D07、二极管D08、电容C2、三端稳压器U6组成。二极管D05、二极管D06、二极管D07、二极管D08组成调节电源单相整流桥;电容C2并联在调节电源单相整流桥的直流电压输出端,起滤波作用;三端稳压器U6输入端VIN连接至调节电源单相整流桥的整流正极性端;第二直流工作电源VDD2从三端稳压器U6输出端VOUT输出。调节电源单相整流桥的整流负极性端为参考地。三端稳压器U6选择H7133。The regulating power supply module provides the second DC working power supply VDD2 for the speed regulating unit. In the embodiment of FIG. 9 , the regulating power supply module is composed of a diode D05 , a diode D06 , a diode D07 , a diode D08 , a capacitor C2 and a three-terminal regulator U6. Diode D05, diode D06, diode D07, and diode D08 form a single-phase rectifier bridge for regulating power supply; capacitor C2 is connected in parallel to the DC voltage output end of the single-phase rectifier bridge for regulating power supply, and acts as a filter; the input terminal VIN of the three-terminal regulator U6 is connected to Regulate the rectified positive terminal of the single-phase rectifier bridge of the power supply; the second DC working power supply VDD2 is output from the output terminal VOUT of the three-terminal regulator U6. The rectification negative terminal of the single-phase rectification bridge of the regulating power supply is the reference ground. The three-terminal regulator U6 chooses H7133.

调节电源模块还可以采用其他实现方案。二极管D05、二极管D06、二极管D07、二极管D08组成的调节电源单相整流桥可以用单相整流桥堆代替,三端稳压器U6可以采用稳压管稳压电路或者DC/DC稳压器。The regulating power supply module can also adopt other implementation schemes. The adjustable power single-phase rectifier bridge composed of diode D05, diode D06, diode D07, and diode D08 can be replaced by a single-phase rectifier bridge stack, and the three-terminal voltage regulator U6 can use a voltage regulator circuit or a DC/DC voltage regulator.

波形取样模块为具有以下功能的电路:设有取样波形输入端和取样脉冲输出端;取样波形输入端连接至第二可控整流输入端子;波形取样模块将第二可控整流输入端子电位高于第一可控整流输入端子电位的波形检出并限幅得到取样脉冲;取样脉冲的正脉冲与第二可控整流输入端子电位高于第一可控整流输入端子电位的波形相对应。The waveform sampling module is a circuit with the following functions: a sampling waveform input terminal and a sampling pulse output terminal are provided; the sampling waveform input terminal is connected to the second controllable rectification input terminal; the waveform sampling module sets the potential of the second controllable rectification input terminal higher than The waveform of the potential of the first controllable rectification input terminal is detected and limited to obtain a sampling pulse; the positive pulse of the sampling pulse corresponds to the waveform whose potential of the second controllable rectification input terminal is higher than that of the first controllable rectification input terminal.

图9实施例中,波形取样模块为检波整形电路,由二极管D2、电阻R12、稳压管DW2组成。电阻R12的两端分别连接至二极管D2阴极与稳压管DW2阴极;二极管D2阳极为取样波形输入端,连接至第二可控整流输入端子AC2;稳压管DW2阳极连接至参考地;稳压管DW2阴极为取样脉冲输出端。In the embodiment of FIG. 9, the waveform sampling module is a wave detection and shaping circuit, which is composed of a diode D2, a resistor R12, and a voltage regulator tube DW2. The two ends of the resistor R12 are respectively connected to the cathode of the diode D2 and the cathode of the voltage regulator DW2; the anode of the diode D2 is the sampling waveform input terminal, which is connected to the second controllable rectification input terminal AC2; the anode of the voltage regulator DW2 is connected to the reference ground; The cathode of tube DW2 is the sampling pulse output terminal.

单片机调节模块具有捕捉输入端和速度调节输出端ADJ、方向控制输出端DIR、制动控制输出端BRAK,捕捉输入端连接至波形取样模块的取样脉冲输出端。方向控制输出端DIR、制动控制输出端BRAK的输出类型是开关量;速度调节输出端ADJ的输出类型是PWM脉冲或者模拟电压。The single-chip microcomputer adjustment module has a capture input terminal, a speed adjustment output terminal ADJ, a direction control output terminal DIR, and a brake control output terminal BRAK, and the capture input terminal is connected to the sampling pulse output terminal of the waveform sampling module. The output type of the direction control output terminal DIR and the brake control output terminal BRAK is switch value; the output type of the speed adjustment output terminal ADJ is PWM pulse or analog voltage.

图9实施例中,单片机调节模块由单片机MCU2、晶体振荡器XT2组成,单片机MCU2的型号是MSP430G2553,单片机MCU2的捕捉输入端为P2.0,速度调节输出端ADJ为P1.2,输出类型是PWM脉冲;方向控制输出端DIR为P1.4,制动控制输出端BRAK为P1.5,P1.4、P1.5输出电平控制信号。In the embodiment of Fig. 9, the single-chip microcomputer adjustment module is composed of single-chip microcomputer MCU2 and crystal oscillator XT2. PWM pulse; direction control output DIR is P1.4, brake control output BRAK is P1.5, P1.4, P1.5 output level control signal.

电机驱动模块用于驱动直流无刷电机,设有PWM脉冲调速输入端或者模拟电压调速输入端的直流无刷电机驱动器、直流无刷电机驱动芯片都可以适用于本发明。图10所示为采用直流无刷电机驱动芯片的实施例1的电路,图11所示为采用直流无刷电机驱动器的实施例2的电路。The motor drive module is used to drive the DC brushless motor, and the DC brushless motor driver and the DC brushless motor drive chip provided with a PWM pulse speed regulation input terminal or an analog voltage speed regulation input terminal are applicable to the present invention. FIG. 10 shows the circuit of Embodiment 1 using a DC brushless motor drive chip, and FIG. 11 shows the circuit of Embodiment 2 using a DC brushless motor driver.

图10所示实施例中,电机驱动模块由电机驱动芯片F310、三相全桥MOSFET驱动芯片U7以及二极管D31-D34、电容C31-C32、电阻R31-R48、三极管V31、电位器RW31、热敏电阻NTC组成。In the embodiment shown in Figure 10, the motor drive module consists of a motor drive chip F310, a three-phase full-bridge MOSFET drive chip U7, diodes D31-D34, capacitors C31-C32, resistors R31-R48, triode V31, potentiometer RW31, thermistor Resistor NTC composition.

图10实施例中,二极管D31-D34组成单相桥式整流电路对第一可控整流输入端子AC1、第二可控整流输入端子AC2输入的可控整流电压进行整流,再经电容C31滤波后得到电机驱动电源U+,向电机驱动芯片F310、三相全桥MOSFET驱动芯片U7供电。单相桥式整流电路的负极性端连接至参考地。In the embodiment shown in Fig. 10, diodes D31-D34 form a single-phase bridge rectifier circuit to rectify the controllable rectification voltage input from the first controllable rectification input terminal AC1 and the second controllable rectification input terminal AC2, and then filter through the capacitor C31 Get the motor drive power U+, and supply power to the motor drive chip F310 and the three-phase full-bridge MOSFET drive chip U7. The negative terminal of the single-phase bridge rectifier circuit is connected to the reference ground.

图10实施例中,电阻R31、电阻R32、三极管V31、电容C32组成PWM脉冲/模拟电压转换电路,将速度调节输入端ADJ的PWM脉冲转换为模拟电压速度调节信号,模拟电压速度调节信号连接至电机驱动芯片F310的调速电压输入端SREF。直流电源VDD6由电机驱动芯片F310的+6V电源输出端提供。如果单片机调节模块速度调节输出端ADJ的输出类型是模拟电压,则电机驱动芯片F310的调速电压输入端SREF直接连接至速度调节输出端ADJ,无需PWM脉冲/模拟电压转换电路。In the embodiment of Fig. 10, resistor R31, resistor R32, triode V31, and capacitor C32 form a PWM pulse/analog voltage conversion circuit, which converts the PWM pulse of the speed adjustment input ADJ into an analog voltage speed adjustment signal, and the analog voltage speed adjustment signal is connected to The speed regulation voltage input terminal SREF of the motor drive chip F310. The DC power VDD6 is provided by the +6V power output terminal of the motor drive chip F310. If the output type of the speed adjustment output terminal ADJ of the single chip microcomputer adjustment module is an analog voltage, then the speed adjustment voltage input terminal SREF of the motor drive chip F310 is directly connected to the speed adjustment output terminal ADJ, without a PWM pulse/analog voltage conversion circuit.

图10实施例中,三相全桥MOSFET驱动芯片U7的驱动输入端HU、LU、HV、LV、HW、LW分别连接至电机驱动芯片F310的驱动输出端PWM_HU、PWM_LU、PWM_HV、PWM_LV、PWM_HW、PWM_LW;三相全桥MOSFET驱动芯片U7的三相输出端U、V、W连接至直流无刷电机M31的三相输入端;三相全桥MOSFET驱动芯片U7的负电源输入端V-经电阻R39连接至参考地。电阻R39上的取样电压连接至电机驱动芯片F310的取样电流输入端ITRIP;限流门限电压ILIMIT由电位器RW31确定。In the embodiment of FIG. 10, the drive input terminals HU, LU, HV, LV, HW, and LW of the three-phase full-bridge MOSFET drive chip U7 are respectively connected to the drive output terminals PWM_HU, PWM_LU, PWM_HV, PWM_LV, PWM_HW, PWM_LW; the three-phase output terminals U, V, and W of the three-phase full-bridge MOSFET driver chip U7 are connected to the three-phase input terminal of the brushless DC motor M31; the negative power supply input terminal V of the three-phase full-bridge MOSFET driver chip U7 is connected to the resistor R39 is connected to reference ground. The sampling voltage on the resistor R39 is connected to the sampling current input terminal ITRIP of the motor drive chip F310; the current-limiting threshold voltage ILIMIT is determined by the potentiometer RW31.

图10实施例中,RPI电压由电阻R33、电阻R34确定,RPI电压大小决定电机启动电流的大小;RSF电压由电阻R35、电阻R36确定,RSF电压大小决定电机启动时换向频率的大小;RSD电压由电阻R37、电阻R38确定,过流后自动重启的时间由RSD设置。In the embodiment of Fig. 10, the RPI voltage is determined by the resistor R33 and the resistor R34, and the RPI voltage determines the size of the motor starting current; the RSF voltage is determined by the resistor R35 and the resistor R36, and the RSF voltage determines the commutation frequency when the motor starts; RSD The voltage is determined by resistors R37 and R38, and the automatic restart time after overcurrent is set by RSD.

图10实施例中,VLIMIT为过热保护参考门限电压,由电阻R41、电阻R42确定;VTH为输入判决电压,由电阻R40、热敏电阻NTC确定。In the embodiment shown in FIG. 10 , VLIMIT is the reference threshold voltage for overheating protection, determined by resistors R41 and R42; VTH is the input decision voltage, determined by resistor R40 and thermistor NTC.

图10实施例中,电阻R43-R48组成分压电路采集相端反馈电压来检测反电动势,三相反馈电压分别连接至电机驱动芯片F310的反馈输入端EMF_U、EMF_V、EMF_W。In the embodiment shown in Fig. 10, the resistors R43-R48 form a voltage divider circuit to collect the feedback voltage of the phase terminals to detect the counter electromotive force, and the three-phase feedback voltages are respectively connected to the feedback input terminals EMF_U, EMF_V, and EMF_W of the motor driver chip F310.

图10实施例中,单片机调节模块的方向控制输出端DIR、制动控制输出端BRAK分别连接至电机驱动芯片F310的方向控制输入端F/R、制动输入端RESET。电机驱动芯片F310的制动输入端RESET又称复位控制端RESET。In the embodiment of FIG. 10 , the direction control output terminal DIR and the brake control output terminal BRAK of the single-chip adjustment module are respectively connected to the direction control input terminal F/R and the brake input terminal RESET of the motor drive chip F310. The brake input terminal RESET of the motor drive chip F310 is also called the reset control terminal RESET.

图10实施例中,电机驱动芯片F310的电源端VCC连接至电机驱动电源U+,地端GND连接至参考地。In the embodiment of FIG. 10 , the power supply terminal VCC of the motor driving chip F310 is connected to the motor driving power supply U+, and the ground terminal GND is connected to the reference ground.

图10实施例中,直流无刷电机M31为无霍尔传感器的直流无刷电机。In the embodiment of FIG. 10 , the DC brushless motor M31 is a DC brushless motor without a Hall sensor.

图11所示实施例中,电机驱动模块由无刷电机驱动器U61以及二极管D61-D64、电容C61-C62、电阻R61-R62、三极管V61组成。无刷电机驱动器U61的型号是BLD-70。In the embodiment shown in FIG. 11 , the motor drive module is composed of a brushless motor driver U61, diodes D61-D64, capacitors C61-C62, resistors R61-R62, and a transistor V61. The model of brushless motor driver U61 is BLD-70.

图11实施例中,二极管D61-D64组成单相桥式整流电路对第一可控整流输入端子AC1、第二可控整流输入端子AC2输入的可控整流电压进行整流,再经电容C61滤波后得到电机驱动电源V+,向无刷电机驱动器U61供电。单相桥式整流电路的负极性端连接至参考地。In the embodiment shown in Fig. 11, diodes D61-D64 form a single-phase bridge rectification circuit to rectify the controllable rectification voltage input from the first controllable rectification input terminal AC1 and the second controllable rectification input terminal AC2, and then filter through the capacitor C61 Get the motor driving power supply V+, and supply power to the brushless motor driver U61. The negative terminal of the single-phase bridge rectifier circuit is connected to the reference ground.

图11实施例中,电阻R61、电阻R62、三极管V61、电容C62组成PWM脉冲/模拟电压转换电路,将速度调节输入端ADJ的PWM脉冲转换为模拟电压速度调节信号,模拟电压速度调节信号连接至无刷电机驱动器U61的调速电压输入端SV。直流电源VDD62由无刷电机驱动器U61的电源输出端VCC(+6.25V)提供。In the embodiment of Fig. 11, resistor R61, resistor R62, transistor V61, and capacitor C62 form a PWM pulse/analog voltage conversion circuit, which converts the PWM pulse of the speed adjustment input ADJ into an analog voltage speed adjustment signal, and the analog voltage speed adjustment signal is connected to The speed regulation voltage input terminal SV of the brushless motor driver U61. The DC power VDD62 is provided by the power output terminal VCC (+6.25V) of the brushless motor driver U61.

图11实施例中,无刷直流电机M61的三相相线端子U、V、W连接至无刷电机驱动器U61的三相输出端U、V、W;无刷直流电机M61的霍尔信号输出端HU、HV、HW连接至无刷电机驱动器U61的霍尔信号输入端HU、HV、HW;无刷直流电机M61的霍尔电源由无刷电机驱动器U61的电源输出端VCC(+6.25V)提供,H+连接至无刷电机驱动器U61的电源输出端VCC、H-连接至参考地。In the embodiment of Fig. 11, the three-phase phase line terminals U, V, W of the brushless DC motor M61 are connected to the three-phase output terminals U, V, W of the brushless motor driver U61; the Hall signal output of the brushless DC motor M61 The terminals HU, HV, and HW are connected to the Hall signal input terminals HU, HV, and HW of the brushless motor driver U61; the Hall power supply of the brushless DC motor M61 is supplied by the power output terminal VCC (+6.25V) of the brushless motor driver U61 Provided, H+ is connected to the power output terminal VCC of the brushless motor driver U61, and H- is connected to the reference ground.

图11实施例中,单片机调节模块的方向控制输出端DIR、制动控制输出端BRAK分别连接至无刷电机驱动器U61的方向控制输入端F/R、制动输入端BRK。In the embodiment of FIG. 11 , the direction control output terminal DIR and the brake control output terminal BRAK of the single-chip adjustment module are respectively connected to the direction control input terminal F/R and the brake input terminal BRK of the brushless motor driver U61.

图11实施例中,无刷电机驱动器U61的电源正端DC+连接至电机驱动电源V+,电源负端DC-连接至参考地。In the embodiment of FIG. 11 , the positive power terminal DC+ of the brushless motor driver U61 is connected to the motor driving power V+, and the negative power terminal DC− is connected to the reference ground.

速度调节单元接收速度控制信号并调节直流无刷电机的速度,其方法如图12所示,包括:The speed adjustment unit receives the speed control signal and adjusts the speed of the brushless DC motor. The method is shown in Figure 12, including:

步骤一,电机控制初始化,设定直流无刷电机为制动状态;Step 1, motor control initialization, set the brushless DC motor to the braking state;

步骤二,判断是否有速度控制信号;没有速度控制信号,返回步骤二;有速度控制信号,转到步骤三;Step 2, judge whether there is a speed control signal; if there is no speed control signal, return to step 2; if there is a speed control signal, go to step 3;

步骤三,接收速度控制信号;Step 3, receiving a speed control signal;

步骤四,调节直流无刷电机速度;返回步骤二。Step 4, adjust the speed of the brushless DC motor; return to step 2.

在正反转切换时,需要先通过制动控制输出端BRAK输出制动信号使电机制动,制动结束后,再从方向控制输出端DIR输出方向控制信号,实现电机反转。不经制动直接切换实现正反转可能会导致负载电流急剧增大而损坏驱动电路。When switching between forward and reverse rotation, it is necessary to first output a braking signal through the brake control output terminal BRAK to brake the motor. After the braking is completed, output a direction control signal from the direction control output terminal DIR to realize the reverse rotation of the motor. Direct switching without braking to achieve forward and reverse may cause a sharp increase in load current and damage the drive circuit.

调节直流无刷电机速度的方法是,单片机调节模块接收到的速度控制信号中,方向码没有改变时,根据速度码对应的速度等级控制直流无刷电机的速度;单片机调节模块接收到的速度控制信号中,方向码发生改变时,先控制直流无刷电机制动,再根据速度码对应的速度等级控制直流无刷电机的速度。The method of adjusting the speed of the brushless DC motor is to control the speed of the brushless DC motor according to the speed level corresponding to the speed code when the direction code does not change in the speed control signal received by the single-chip adjustment module; the speed control signal received by the single-chip adjustment module In the signal, when the direction code changes, first control the braking of the brushless DC motor, and then control the speed of the brushless DC motor according to the speed level corresponding to the speed code.

调节直流无刷电机速度的方法时,当单片机调节模块接收到的速度控制信号对应的速度等级为等级1时,控制直流无刷电机制动。In the method for adjusting the speed of the DC brushless motor, when the speed level corresponding to the speed control signal received by the single-chip microcomputer adjustment module is level 1, the DC brushless motor is controlled to brake.

判断是否有速度控制信号,方法为判断从第一可控整流输入端子AC1、第二可控整流输入端子AC2输入的可控整流电压是否有引导波。To determine whether there is a speed control signal, the method is to determine whether there is a guide wave in the controllable rectification voltage input from the first controllable rectification input terminal AC1 and the second controllable rectification input terminal AC2.

接收速度控制信号,方法是接收x个工频周期的可控整流电压波,将x个工频周期的可控整流电压波转换为x位数据码。The speed control signal is received by receiving controllable rectification voltage waves of x power frequency periods and converting the controllable rectification voltage waves of x power frequency periods into x-bit data codes.

波形取样模块的功能是对可控整流电压进行检波整形。图9实施例中,波形取样模块将第一可控整流输入端子AC1电位低于第二可控整流输入端子AC2的波形检出并限幅得到取样脉冲,输出至单片机调节模块的捕捉输入端;取样脉冲的正脉冲与第一可控整流输入端子电位低于第二可控整流输入端子电位的半波相对应,取样脉冲正脉冲宽度小于该半波宽度。速度控制信号中速度等级为速度15的取样脉冲示例如图6(b)所示;当可控整流电压为交流电压时,取样脉冲为占空比小于50%、与第二交流电源同频率的矩形波;当可控整流电压为整流电压时,取样脉冲为低电平。The function of the waveform sampling module is to detect and shape the controllable rectified voltage. In the embodiment of Fig. 9, the waveform sampling module detects and limits the waveform whose potential of the first controllable rectification input terminal AC1 is lower than that of the second controllable rectification input terminal AC2 to obtain a sampling pulse, and outputs it to the capture input terminal of the single-chip microcomputer adjustment module; The positive pulse of the sampling pulse corresponds to the half-wave in which the potential of the first controllable rectification input terminal is lower than the potential of the second controllable rectification input terminal, and the positive pulse width of the sampling pulse is smaller than the half-wave width. An example of the sampling pulse whose speed level is speed 15 in the speed control signal is shown in Figure 6(b); when the controllable rectified voltage is an AC voltage, the sampling pulse is a pulse with a duty cycle less than 50% and the same frequency as the second AC power supply Rectangular wave; when the controllable rectified voltage is a rectified voltage, the sampling pulse is at low level.

图6所示实施例中,引导波由2个工频周期的整流波和1个工频周期的交流波组成,引导波之前的取样脉冲是周期为工频周期的矩形波。2个工频周期的整流波应该使取样脉冲中出现宽度为40ms、即2个工频周期区间的低电平,但实际上引导波使取样脉冲中出现宽度为接近50ms、即2.5个工频周期区间的低电平,如图6所示的低电平区间T4;多出的0.5个工频周期区间的低电平是由紧接之后的1个工频周期交流波的正半波产生的;引导波1个工频周期的交流波的负半波使取样脉冲中出现宽度为0.5个工频周期区间的高电平,如图6所示的高电平区间T5。In the embodiment shown in FIG. 6 , the guiding wave is composed of a rectified wave of 2 power frequency periods and an AC wave of 1 power frequency period, and the sampling pulse before the guiding wave is a rectangular wave whose period is the power frequency period. The rectified wave of 2 power frequency cycles should make the sampling pulse appear at a low level with a width of 40ms, that is, the interval of 2 power frequency cycles, but in fact, the guiding wave makes the sampling pulse appear with a width close to 50ms, that is, 2.5 power frequencies The low level in the cycle interval is the low level interval T4 shown in Figure 6; the low level in the extra 0.5 power frequency cycle interval is generated by the positive half wave of the AC wave in the following 1 power frequency cycle The negative half-wave of the AC wave of 1 power frequency cycle of the guide wave causes a high level with a width of 0.5 power frequency cycle interval to appear in the sampling pulse, such as the high level interval T5 shown in Figure 6 .

判断可控整流电压是否有引导波,方法是,判断取样脉冲中工频周期矩形波之后超过工频周期宽度的低电平区间工频周期数;若取样脉冲中有工频周期数为y-1的低电平区间,则可控整流电压中有引导波;若取样脉冲中没有工频周期数为y-1的低电平区间,则可控整流电压中没有引导波。To judge whether the controllable rectification voltage has a guide wave, the method is to judge the number of power frequency cycles in the low-level interval exceeding the power frequency cycle width after the power frequency cycle rectangular wave in the sampling pulse; if there is a power frequency cycle number in the sampling pulse, it is y- In the low-level interval of 1, there is a pilot wave in the controllable rectification voltage; if there is no low-level interval with a power frequency period of y-1 in the sampling pulse, there is no pilot wave in the controllable rectification voltage.

判断取样脉冲中工频周期矩形波之后超过工频周期宽度的低电平区间工频周期数的方法是,对取样脉冲中工频周期矩形波之后超过工频周期宽度的低电平脉冲测量宽度,设测量得到的超过工频周期宽度的低电平脉冲宽度为W,则该低电平区间的工频周期数为INT(W/20);INT函数的功能是舍去小数部分取整。The method of judging the number of power frequency cycles in the low-level interval exceeding the width of the power frequency cycle after the power frequency cycle rectangular wave in the sampling pulse is to measure the width of the low level pulse exceeding the power frequency cycle width after the power frequency cycle rectangular wave in the sampling pulse , assuming that the measured low-level pulse width exceeding the width of the power frequency cycle is W, then the number of power frequency cycles in the low-level interval is INT(W/20); the function of the INT function is to round off the decimal part.

数据波的x个工频周期的可控整流电压波中,1个工频周期对应1位数据码,每个工频周期的电压波可以是交流波,也可以是整流波。当1个工频周期的电压波是整流波时,与其对应的取样脉冲为1个工频周期区间的低电平;当1个工频周期的电压波是交流波时,与其对应的取样脉冲为1个占空比小于50%的矩形波。图6所示实施例中,数据波为连续6个工频周期的可控整流电压波,即区间T6对应的交流波、区间T7对应的整流波、区间T8对应的整流波、区间T9对应的整流波、区间T10对应的交流波和区间T11对应的交流波;5位速度码为01110,1位方向码为0。速度等级为速度15。Among the controllable rectified voltage waves of x power frequency cycles of the data wave, one power frequency cycle corresponds to one bit of data code, and the voltage wave of each power frequency cycle can be an AC wave or a rectified wave. When the voltage wave of one power frequency cycle is a rectified wave, the corresponding sampling pulse is a low level in the interval of one power frequency cycle; when the voltage wave of one power frequency cycle is an AC wave, the corresponding sampling pulse It is a rectangular wave whose duty cycle is less than 50%. In the embodiment shown in Figure 6, the data wave is a controllable rectified voltage wave of six consecutive power frequency cycles, that is, the AC wave corresponding to the interval T6, the rectified wave corresponding to the interval T7, the rectified wave corresponding to the interval T8, and the rectified wave corresponding to the interval T9. The rectified wave, the AC wave corresponding to interval T10 and the AC wave corresponding to interval T11; the 5-bit speed code is 01110, and the 1-bit direction code is 0. The speed rating is speed 15.

将x个工频周期的可控整流电压波转换为x位数据码的方法是,在引导波之后的x个工频周期区间中,当1个工频周期区间的取样脉冲为低电平时,相应的该位数据码为1,当1个工频周期区间的取样脉冲为1个占空比小于50%的矩形波时,相应的该位数据码为0。或者是,在引导波之后的x个工频周期区间中,当1个工频周期区间的取样脉冲为低电平时,相应的该位数据码为0,当1个工频周期区间的取样脉冲为1个占空比小于50%的矩形波时,相应的该位数据码为1。The method of converting the controllable rectified voltage wave of x power frequency periods into x-bit data codes is that in the x power frequency period intervals after the pilot wave, when the sampling pulse of 1 power frequency period interval is low level, The corresponding data code of this bit is 1, and when the sampling pulse of one power frequency cycle interval is a rectangular wave with a duty ratio less than 50%, the corresponding data code of this bit is 0. Or, in the x power frequency period interval after the guide wave, when the sampling pulse of 1 power frequency period interval is low level, the corresponding bit data code is 0, when the sampling pulse of 1 power frequency period interval When it is a rectangular wave whose duty cycle is less than 50%, the corresponding data code of this bit is 1.

速度码转换为速度等级可以使用计算、查表等方法。实施例中,5位速度码的范围是00000-11111,代表的速度等级范围是速度1-32;速度码为00000时,速度等级为速度1;速度码为00001时,速度等级为速度2;速度码为00010时,速度等级为速度3;以此类推,速度码为11111时,速度等级为速度32。Speed codes can be converted into speed grades by methods such as calculation and table lookup. In the embodiment, the range of the 5-digit speed code is 00000-11111, representing the range of speed grades from speed 1-32; when the speed code is 00000, the speed grade is speed 1; when the speed code is 00001, the speed grade is speed 2; When the speed code is 00010, the speed grade is speed 3; by analogy, when the speed code is 11111, the speed grade is speed 32.

直流无刷电机不需要控制方向时,速度给定模块无需方向给定信号输出端,单片机控制模块无需方向给定信号输入端,单片机调节模块无需方向控制输出端,电机驱动模块无需方向控制输入端。When the DC brushless motor does not need to control the direction, the speed given module does not need the direction given signal output terminal, the single-chip microcomputer control module does not need the direction given signal input terminal, the single-chip microcomputer adjustment module does not need the direction control output terminal, and the motor drive module does not need the direction control input terminal .

可控整流电压向速度调节单元的调节电源模块、电机驱动模块和波形取样模块直接供电,其中的调节电源模块、电机驱动模块首先对可控整流电压进行整流,再经电容滤波后,向相关电路提供电源;可控整流电压为零时,调节电源模块、电机驱动模块的电源电流也为零;波形取样模块为非线性电阻性负载,可控整流电压为零时,波形取样模块的电源电流为零。因此,可控整流电压为零时,其向速度调节单元提供的电源电流为零。所以,整流控制单元在第二交流电源的过零点进行停止交流输出、开始整流输出,或者是停止整流输出、开始交流输出的切换时,双向晶闸管V1、双向晶闸管V2与双向晶闸管V3、双向晶闸管V4之间可以成功换流,不致造成电源短路。The controllable rectification voltage directly supplies power to the adjustment power supply module, motor drive module and waveform sampling module of the speed adjustment unit. Provide power; when the controllable rectification voltage is zero, the power supply current of the adjustable power supply module and the motor drive module is also zero; the waveform sampling module is a non-linear resistive load, and when the controllable rectification voltage is zero, the power supply current of the waveform sampling module is zero. Therefore, when the controllable rectification voltage is zero, the power supply current it provides to the speed regulating unit is zero. Therefore, when the rectification control unit stops the AC output, starts the rectification output, or stops the rectification output and starts the switching of the AC output at the zero crossing point of the second AC power supply, the triac V1, the triac V2 and the triac V3, V4 The current can be successfully commutated without causing a short circuit of the power supply.

本发明具有如下特点:The present invention has following characteristics:

①采用电源线远距离控制直流无刷电机速度,无需遥控器,无需控制线;①Use the power line to control the speed of the brushless DC motor from a long distance, without remote control or control line;

②直流无刷电机速度可以根据需要分成多个等级;②The speed of brushless DC motor can be divided into multiple levels according to the needs;

③采用整流波传送速度控制信号,其有效值与交流波相同,不会造成直流无刷电机速度调节时供电电源的不稳定。③The rectified wave is used to transmit the speed control signal, and its effective value is the same as that of the AC wave, which will not cause the instability of the power supply when the speed of the brushless DC motor is adjusted.

Claims (10)

1.一种直流无刷电机远距离调速的方法,其特征在于:1. A method for long-distance speed regulation of a brushless DC motor, characterized in that: 由整流控制单元和速度调节单元组成的装置实现;It is realized by a device composed of a rectification control unit and a speed regulation unit; 所述整流控制单元设有相线输入端子、零线输入端子、第一可控整流输出端子、第二可控整流输出端子;所述相线输入端子、零线输入端子输入单相220V交流电源;所述第一可控整流输出端子、第二可控整流输出端子输出可控整流电压;The rectification control unit is provided with a phase line input terminal, a neutral line input terminal, a first controllable rectification output terminal, and a second controllable rectification output terminal; the phase line input terminal and the neutral line input terminal are input to a single-phase 220V AC power supply ; The first controllable rectification output terminal and the second controllable rectification output terminal output a controllable rectification voltage; 所述速度调节单元设有第一可控整流输入端子、第二可控整流输入端子,所述第一可控整流输入端子、第二可控整流输入端子分别连接至整流控制单元的第一可控整流输出端子、第二可控整流输出端子;The speed adjustment unit is provided with a first controllable rectification input terminal and a second controllable rectification input terminal, and the first controllable rectification input terminal and the second controllable rectification input terminal are respectively connected to the first controllable rectification input terminal of the rectification control unit. Controlled rectification output terminal, second controllable rectification output terminal; 所述整流控制单元由变压器、控制电源模块、可控整流模块、过零检测模块、单片机控制模块、触发控制模块、速度给定模块组成;The rectification control unit is composed of a transformer, a control power supply module, a controllable rectification module, a zero-crossing detection module, a single-chip microcomputer control module, a trigger control module, and a given speed module; 所述变压器的两个输入端子分别为相线输入端子、零线输入端子,两个输出端子分别为第一交流端子、第二交流端子;所述第一交流端子、第二交流端子输出第二交流电源;The two input terminals of the transformer are the phase line input terminal and the neutral line input terminal respectively, and the two output terminals are respectively the first AC terminal and the second AC terminal; the first AC terminal and the second AC terminal output the second AC power; 所述控制电源模块由控制电源单相整流桥和第一滤波稳压电路组成,输出第一直流工作电源;所述控制电源单相整流桥的两个交流输入端分别连接至第一交流端子、第二交流端子;The control power supply module is composed of a control power supply single-phase rectifier bridge and a first filtering and stabilizing circuit, and outputs a first DC working power supply; the two AC input ends of the control power supply single-phase rectifier bridge are respectively connected to the first AC terminal , the second AC terminal; 所述控制电源单相整流桥的整流负极性端为公共地;控制电源模块输出的第一直流工作电源向单片机控制模块供电;The rectified negative terminal of the single-phase rectifier bridge of the control power supply is a common ground; the first DC working power outputted by the control power supply module supplies power to the single-chip microcomputer control module; 所述可控整流模块由整流桥UR1、双向晶闸管V1、双向晶闸管V2、双向晶闸管V3、双向晶闸管V4组成;所述整流桥UR1的2个交流输入端分别连接至第一交流端子和第二交流端子,整流输出正端连接至双向晶闸管V3的第二阳极,整流输出负端连接至双向晶闸管V4的第二阳极;双向晶闸管V1的第一阳极与双向晶闸管V3的第一阳极并联后连接至第一可控整流输出端子;双向晶闸管V1的第二阳极连接至第一交流端子;双向晶闸管V2的第一阳极与双向晶闸管V4的第一阳极并联后连接至第二可控整流输出端子;双向晶闸管V2的第二阳极连接至第二交流端子;The controllable rectification module is composed of a rectifier bridge UR1, a bidirectional thyristor V1, a bidirectional thyristor V2, a bidirectional thyristor V3, and a bidirectional thyristor V4; the two AC input terminals of the rectifier bridge UR1 are connected to the first AC terminal and the second AC terminal respectively. terminal, the rectification output positive terminal is connected to the second anode of the bidirectional thyristor V3, the rectification output negative terminal is connected to the second anode of the bidirectional thyristor V4; the first anode of the bidirectional thyristor V1 is connected in parallel with the first anode of the bidirectional thyristor V3 and then connected to the second A controllable rectification output terminal; the second anode of the bidirectional thyristor V1 is connected to the first AC terminal; the first anode of the bidirectional thyristor V2 is connected in parallel with the first anode of the bidirectional thyristor V4 and then connected to the second controllable rectification output terminal; the bidirectional thyristor The second anode of V2 is connected to the second AC terminal; 所述触发控制模块设有交流控制输入端、整流控制输入端;所述交流控制输入端输入的交流控制信号有效时,触发控制模块控制双向晶闸管V1和双向晶闸管V2过零时触发导通;所述交流控制输入端输入的交流控制信号无效时,触发控制模块控制双向晶闸管V1和双向晶闸管V2过零后截止;所述整流控制输入端输入的整流控制信号有效时,触发控制模块控制双向晶闸管V3和双向晶闸管V4过零时触发导通;所述整流控制输入端输入的整流控制信号无效时,触发控制模块控制双向晶闸管V3和双向晶闸管V4过零后截止;The trigger control module is provided with an AC control input terminal and a rectification control input terminal; when the AC control signal input by the AC control input terminal is valid, the trigger control module controls the bidirectional thyristor V1 and the bidirectional thyristor V2 to trigger conduction when they cross zero; When the AC control signal input by the AC control input terminal is invalid, the trigger control module controls the triac V1 and the triac V2 to stop after zero crossing; when the rectification control signal input by the rectification control input terminal is valid, the trigger control module controls the triac V3 trigger conduction when the triac V4 and the triac V4 cross zero; when the rectification control signal input by the rectification control input terminal is invalid, the trigger control module controls the bidirectional thyristor V3 and the bidirectional thyristor V4 to stop after zero crossing; 所述过零检测模块设有过零电压输入端、过零脉冲输出端;所述过零电压输入端连接至第一交流端子;所述过零脉冲输出端输出的过零脉冲是正脉冲;所述过零脉冲与第二交流电源正半波对应;所述过零脉冲的宽度小于第二交流电源正半波宽度;所述第二交流电源正半波为第一交流端子电位高于第二交流端子电位的第二交流电源半波;The zero-crossing detection module is provided with a zero-crossing voltage input terminal and a zero-crossing pulse output terminal; the zero-crossing voltage input terminal is connected to the first AC terminal; the zero-crossing pulse output by the zero-crossing pulse output terminal is a positive pulse; the The zero-crossing pulse corresponds to the positive half-wave of the second AC power supply; the width of the zero-crossing pulse is smaller than the positive half-wave width of the second AC power supply; the positive half-wave of the second AC power supply is that the potential of the first AC terminal is higher than that of the second the second AC mains half-wave of the AC terminal potential; 所述速度给定模块设有速度给定信号输出端和方向给定信号输出端;The speed given module is provided with a speed given signal output terminal and a direction given signal output terminal; 所述单片机控制模块包括有速度给定信号输入端、方向给定信号输入端、捕捉信号输入端和两路电平信号输出端;所述速度给定信号输入端连接至速度给定模块的速度给定信号输出端;所述方向给定信号输入端连接至速度给定模块的方向给定信号输出端;所述捕捉信号输入端连接至过零检测模块的过零脉冲输出端;所述两路电平信号输出端分别为交流控制输出端、整流控制输出端;所述交流控制输出端、整流控制输出端分别连接至触发控制模块的交流控制输入端、整流控制输入端;The single-chip microcomputer control module includes a speed given signal input end, a direction given signal input end, a capture signal input end and two-way level signal output ends; the speed given signal input end is connected to the speed of the given speed module. given signal output terminal; the direction given signal input terminal is connected to the direction given signal output terminal of the speed given module; the capture signal input terminal is connected to the zero-crossing pulse output terminal of the zero-crossing detection module; the two The circuit level signal output terminals are respectively the AC control output terminal and the rectification control output terminal; the AC control output terminal and the rectification control output terminal are respectively connected to the AC control input terminal and the rectification control input terminal of the trigger control module; 所述速度调节单元由调节电源模块、波形取样模块、单片机调节模块、电机驱动模块组成;所述调节电源模块输入可控整流电压、输出第二直流工作电源,由调节电源单相整流桥和第二滤波稳压电路组成;所述调节电源单相整流桥的整流负极性端为参考地;调节电源模块输出的第二直流工作电源向单片机调节模块供电;The speed adjustment unit is composed of an adjustable power supply module, a waveform sampling module, a single-chip microcomputer adjustment module, and a motor drive module; the adjustable power supply module inputs a controllable rectified voltage and outputs a second DC working power supply, and is composed of a single-phase rectifier bridge and a second DC working power supply. Two filtering and voltage stabilizing circuits; the rectifying negative terminal of the single-phase rectifying bridge of the regulating power supply is a reference ground; the second DC working power outputted by the regulating power supply module supplies power to the single-chip microcomputer regulating module; 所述波形取样模块设有取样波形输入端和取样脉冲输出端;所述取样波形输入端连接至第二可控整流输入端子;所述波形取样模块将第二可控整流输入端子电位高于第一可控整流输入端子电位的波形检出并限幅得到取样脉冲;所述取样脉冲的正脉冲与第二可控整流输入端子电位高于第一可控整流输入端子电位的波形相对应;The waveform sampling module is provided with a sampling waveform input terminal and a sampling pulse output terminal; the sampling waveform input terminal is connected to the second controllable rectification input terminal; the waveform sampling module makes the potential of the second controllable rectification input terminal higher than the first Detecting and limiting the potential waveform of a controllable rectification input terminal to obtain a sampling pulse; the positive pulse of the sampling pulse corresponds to the waveform whose potential of the second controllable rectification input terminal is higher than the potential of the first controllable rectification input terminal; 所述单片机调节模块具有捕捉输入端和速度调节输出端、方向控制输出端、制动控制输出端;单片机调节模块的捕捉输入端连接至波形取样模块的取样脉冲输出端;The single-chip microcomputer adjustment module has a capture input end, a speed adjustment output end, a direction control output end, and a braking control output end; the capture input end of the single-chip microcomputer adjustment module is connected to the sampling pulse output end of the waveform sampling module; 所述电机驱动模块用于驱动直流无刷电机,设有速度调节输入端、方向控制输入端、制动控制输入端;所述速度调节输入端连接至单片机调节模块的速度调节输出端,方向控制输入端连接至单片机调节模块的方向控制输出端,制动控制输入端连接至单片机调节模块的制动控制输出端;The motor drive module is used to drive a DC brushless motor, and is provided with a speed adjustment input end, a direction control input end, and a brake control input end; the speed adjustment input end is connected to the speed adjustment output end of the single-chip microcomputer adjustment module, and the direction control The input end is connected to the direction control output end of the single-chip microcomputer adjustment module, and the brake control input end is connected to the brake control output end of the single-chip microcomputer adjustment module; 所述整流控制单元通过控制可控整流电压来发送速度控制信号,速度控制信号由引导波和数据波组成;The rectification control unit sends a speed control signal by controlling the controllable rectification voltage, and the speed control signal is composed of a pilot wave and a data wave; 所述引导波由y-1个工频周期的整流波和1个工频周期的交流波组成,整流波在前,交流波在后;y为大于等于2的整数;The guide wave is composed of a rectification wave of y-1 power frequency period and an AC wave of 1 power frequency period, the rectification wave is in front and the AC wave is in the back; y is an integer greater than or equal to 2; 所述数据波为x个工频周期的可控整流电压波,x为大于等于2的整数;The data wave is a controllable rectified voltage wave of x power frequency periods, and x is an integer greater than or equal to 2; 所述速度控制信号共有速度1-n,共n个速度等级;所述速度给定信号的速度等级有速度1-n;n为大于等于2的整数;The speed control signal has a total speed of 1-n, and a total of n speed levels; the speed level of the speed given signal has a speed of 1-n; n is an integer greater than or equal to 2; 所述x个工频周期的可控整流电压波中,1个工频周期对应1位数据码;x个工频周期的可控整流电压波对应x位数据码;Among the controllable rectification voltage waves of x power frequency cycles, 1 power frequency cycle corresponds to 1-bit data code; the controllable rectification voltage wave of x power frequency cycles corresponds to x-bit data code; 所述x位数据码中包括x-1位速度码和1位方向码;所述n与x之间的关系为:n小于等于2x-1The x-bit data code includes x-1-bit speed code and 1-bit direction code; the relationship between n and x is: n is less than or equal to 2 x-1 ; 所述数据码、速度码和方向码均为二进制码;The data code, speed code and direction code are all binary codes; 所述单片机控制模块发出一次速度控制信号的方法是,The method that described single-chip microcomputer control module sends a speed control signal is, 步骤1,等待,直到接收到过零脉冲的上升沿时进入步骤2;Step 1, wait until the rising edge of the zero-crossing pulse is received and enter step 2; 步骤2,停止交流输出,开始整流输出;Step 2, stop the AC output and start the rectification output; 步骤3,对接收到的过零脉冲上升沿计数,计数值达到y-1时进入步骤4;Step 3, count the rising edge of the received zero-crossing pulse, and enter step 4 when the count value reaches y-1; 步骤4,停止整流输出,开始交流输出;Step 4, stop the rectification output and start the AC output; 步骤5,等待,直到接收到过零脉冲的上升沿时进入步骤6;Step 5, wait until the rising edge of the zero-crossing pulse is received and enter step 6; 步骤6,发出1个工频周期的可控整流电压波;Step 6, sending out a controllable rectified voltage wave of one power frequency cycle; 步骤7,等待,直到接收到过零脉冲的上升沿时进入步骤8;Step 7, wait until the rising edge of the zero-crossing pulse is received and enter step 8; 步骤8,已经发出x个工频周期的可控整流电压波时转到步骤9,否则返回步骤6;Step 8, go to step 9 when the controllable rectified voltage wave of x power frequency periods has been issued, otherwise return to step 6; 步骤9,停止整流输出,开始交流输出;Step 9, stop the rectification output and start the AC output; 所述整流控制单元发送速度控制信号的方法是,The method of sending the speed control signal by the rectification control unit is: 步骤A,读取给定信号;Step A, read a given signal; 步骤B,发出一次速度控制信号;Step B, sending out a speed control signal; 步骤C,判断速度是否发生改变,速度发生改变,返回步骤B;速度没有发生改变,返回步骤C;Step C, judge whether the speed has changed, if the speed has changed, return to step B; if the speed has not changed, return to step C; 所述速度调节单元接收速度控制信号并调节直流无刷电机速度的方法是,The method for the speed adjustment unit to receive the speed control signal and adjust the speed of the brushless DC motor is: 步骤一,电机控制初始化,设定直流无刷电机为制动状态;Step 1, motor control initialization, set the brushless DC motor to the braking state; 步骤二,判断是否有速度控制信号;没有速度控制信号,返回步骤二;有速度控制信号,转到步骤三;Step 2, judge whether there is a speed control signal; if there is no speed control signal, return to step 2; if there is a speed control signal, go to step 3; 步骤三,接收速度控制信号;Step 3, receiving a speed control signal; 步骤四,调节直流无刷电机速度;返回步骤二。Step 4, adjust the speed of the brushless DC motor; return to step 2. 2.根据权利要求1所述的直流无刷电机远距离调速的方法,其特征在于:所述判断是否有速度控制信号,方法为判断可控整流电压中是否有引导波。2. The method for long-distance speed regulation of a brushless DC motor according to claim 1, wherein the method of judging whether there is a speed control signal is judging whether there is a guide wave in the controllable rectified voltage. 3.根据权利要求2所述的直流无刷电机远距离调速的方法,其特征在于:所述判断可控整流电压中是否有引导波的方法是,判断取样脉冲中工频周期矩形波之后超过工频周期宽度的低电平区间工频周期数;在工频周期矩形波之后的取样脉冲中有工频周期数为y-1的低电平区间,则可控整流电压中有引导波;在工频周期矩形波之后的取样脉冲中没有工频周期数为y-1的低电平区间,则可控整流电压中没有引导波。3. The method for long-distance speed regulation of a brushless DC motor according to claim 2, characterized in that: the method for judging whether there is a guide wave in the controllable rectified voltage is after judging the power frequency period rectangular wave in the sampling pulse The number of power frequency cycles in the low-level interval exceeding the width of the power frequency cycle; if there is a low-level interval with a power frequency cycle number of y-1 in the sampling pulse after the power frequency cycle rectangular wave, then there is a pilot wave in the controllable rectified voltage ; There is no low-level interval with a power frequency cycle number of y-1 in the sampling pulse after the power frequency cycle rectangular wave, and there is no guide wave in the controllable rectified voltage. 4.根据权利要求3所述的直流无刷电机远距离调速的方法,其特征在于:所述判断取样脉冲中工频周期矩形波之后超过工频周期宽度的低电平区间工频周期数的方法是,对取样脉冲中工频周期矩形波之后超过工频周期宽度的低电平脉冲测量宽度,设测量得到的超过工频周期宽度的低电平脉冲宽度为W,则该低电平区间的工频周期数为INT(W/20);INT函数的功能是舍去小数部分取整。4. The method for long-distance speed regulation of a brushless DC motor according to claim 3, characterized in that: the number of power frequency cycles in the low-level interval exceeding the power frequency cycle width after the power frequency cycle rectangular wave in the judgment sampling pulse The method is to measure the width of the low-level pulse that exceeds the width of the power frequency cycle after the rectangular wave of the power frequency cycle in the sampling pulse, and assume that the measured low-level pulse width exceeding the width of the power frequency cycle is W, then the low-level pulse The number of power frequency cycles in the interval is INT(W/20); the function of the INT function is to round off the decimal part. 5.根据权利要求1所述的直流无刷电机远距离调速的方法,其特征在于:所述接收速度控制信号的方法是,接收x个工频周期的可控整流电压波转换为x位数据码,将x位数据码转换为速度码和方向码,将速度码转换为速度控制信号的速度等级。5. The method for long-distance speed regulation of a brushless DC motor according to claim 1, characterized in that: the method of receiving the speed control signal is to receive the controllable rectified voltage wave of x power frequency cycles and convert it into x bits Data code, convert the x-bit data code into speed code and direction code, and convert the speed code into the speed level of the speed control signal. 6.根据权利要求5所述的直流无刷电机远距离调速的方法,其特征在于:所述接收x个工频周期的可控整流电压波转换为x位数据码,其方法是:6. The method for long-distance speed regulation of a brushless DC motor according to claim 5, characterized in that: the controllable rectified voltage wave receiving x power frequency cycles is converted into x-bit data codes, the method is: 在引导波之后的x个工频周期区间中,当1个工频周期区间的取样脉冲为低电平时,相应的该位数据码为1,当1个工频周期区间的取样脉冲为1个占空比小于50%的矩形波时,相应的该位数据码为0;In the x power frequency period intervals after the guide wave, when the sampling pulse of 1 power frequency period interval is low level, the corresponding bit data code is 1, when the sampling pulse of 1 power frequency period interval is 1 When the duty cycle is less than 50% of the rectangular wave, the corresponding bit data code is 0; 其方法或者是:The method is either: 在引导波之后的x个工频周期区间中,当1个工频周期区间的取样脉冲为低电平时,相应的该位数据码为0,当1个工频周期区间的取样脉冲为1个占空比小于50%的矩形波时,相应的该位数据码为1。In the x power frequency period intervals after the guide wave, when the sampling pulse of 1 power frequency period interval is low level, the corresponding data code of this bit is 0, when the sampling pulse of 1 power frequency period interval is 1 When the duty cycle is less than 50% of the rectangular wave, the corresponding data code of this bit is 1. 7.根据权利要求1所述的直流无刷电机远距离调速的方法,其特征在于:所述停止交流输出,是指控制交流控制输出端输出无效信号;所述开始整流输出,是指控制整流控制输出端输出有效信号;所述开始交流输出,是指控制交流控制输出端输出有效信号;所述停止整流输出,是指控制整流控制输出端输出无效信号。7. The method for long-distance speed regulation of a brushless DC motor according to claim 1, characterized in that: said stopping the AC output refers to controlling the output of the AC control output terminal to output an invalid signal; said starting the rectification output refers to controlling The rectification control output terminal outputs a valid signal; the start of the AC output refers to controlling the AC control output terminal to output a valid signal; the stop of the rectification output refers to the control of the rectification control output terminal to output an invalid signal. 8.根据权利要求1所述的直流无刷电机远距离调速的方法,其特征在于:所述判断速度是否发生改变的方法是,速度给定信号的速度等级发生改变,或者方向给定信号发生改变,则速度发生改变。8. The method for long-distance speed regulation of brushless DC motors according to claim 1, characterized in that: the method for judging whether the speed changes is that the speed level of the speed given signal changes, or the direction given signal changes, the speed changes. 9.根据权利要求1所述的直流无刷电机远距离调速的方法,其特征在于:所述速度控制信号的速度等级为等级1时,控制直流无刷电机制动。9. The method for remote speed regulation of a brushless DC motor according to claim 1, characterized in that: when the speed level of the speed control signal is level 1, the brushless DC motor is controlled to brake. 10.根据权利要求1所述的直流无刷电机远距离调速的方法,其特征在于:所述工频周期为20ms。10. The method for remote speed regulation of a brushless DC motor according to claim 1, wherein the power frequency period is 20 ms.
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