CN106130427A - A kind of servosystem driver based on permagnetic synchronous motor and control algolithm thereof - Google Patents
A kind of servosystem driver based on permagnetic synchronous motor and control algolithm thereof Download PDFInfo
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- CN106130427A CN106130427A CN201610531384.9A CN201610531384A CN106130427A CN 106130427 A CN106130427 A CN 106130427A CN 201610531384 A CN201610531384 A CN 201610531384A CN 106130427 A CN106130427 A CN 106130427A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
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- Control Of Ac Motors In General (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention discloses a kind of servosystem driver based on permagnetic synchronous motor and control algolithm thereof, hardware circuit includes DSP core plate module, host computer, power supply, drive circuit module, detection module and permagnetic synchronous motor；DSP core plate module is connected to drive circuit module by PWM interface, and the data for whole system process and control；Host computer is bi-directionally connected with between DSP core plate module by digital serial port and jtag interface, it is achieved the setting of parameter and reading；Detection module is connected with permagnetic synchronous motor by sample circuit, is bi-directionally connected with DSP core plate module by QEP port, for collection and the transmission of signal of motor signal；Power supply is wired to drive circuit module.
Description
Technical field
The invention belongs to the concrete application of field of industrial automatic control, particularly relate to a kind of based on permagnetic synchronous motor watch
Dress system driver and control algolithm thereof.
Background technology
Due to AC servo motor application widely, and the excellent properties of permagnetic synchronous motor, permanent magnetism with
Step motor occupies increasingly consequence in AC servo.Permanent magnet synchronous servo system can be to breadth and depth two side
Face is developed.In terms of range, field of its application can be increasingly wider, i.e. live, handle official business, entertain and the application of military aspect is got over
Come the most.In terms of the degree of depth, its some high accuracy high request under conditions of application can more and more important, as cannon radar,
High-precision Machine-Tool Control, military and aerospace equipment.Due to feature and the requirement of current every field of permanent-magnet synchronous,
Precision and degree of depth aspect necessarily PMSM servosystem has greatly the direction of development space, also must be its prior development direction.
For asynchronous motor, scholars also been proposed Direct Torque Control.It is different from the rotor field of vector controlled
Orientation, Direct Torque Control directly controls the size direction of stator current, thus controls according to the direction of rotor flux
The size and Orientation of stator field, control direct to motor torque.The method is made without between rotor coordinate repeatedly and becomes
Changing, amount of calculation reduces, but the method is the most inadequate in terms of low speed control, and torque pulsation is obvious.Current dsp controller speed
And the development of operational capability so that coordinate transform required in vector controlled and substantial amounts of multiplying are possibly realized.But
Vector controlled needs rotor position information accurately, and this proposes certain requirement to the accuracy of position measurement.
It is currently used for Motor Control and is mainly digital signal processor (DSP), owing to DSP can be to inputoutput data
Carry out high speed processing, but also be integrated with motor and control employing in special purpose interface and module, particularly the design
TMS320F28335, the needs controlled for motor, support the high-speed computation of real-coded GA, multiplication fortune can be quickly carried out
Calculation, matrixing, realize providing hardware foundation for complex control algorithm.It addition, CPLD's and FPGA develops into motor control
System provides new thinking, such as, use DSP special disposal control algolithm, and give FPGA the control of peripheral chip and interface
Process, utilize the feature of FPGA high-speed, high precision to reach good control effect.
In recent years, during Advanced Control Techniques is also introduced into servo system control.Model parameter adaptive control, adjustable die
Formula and variable-structure control are used in control method in a large number.The especially use of combination type algorithm, such as Sliding Mode Adaptive Control, from
Adapt to PID control.Along with the development of the progress of artificial intelligence technology, particularly artificial neural network, the standard of parameter of electric machine identification
Really property is greatly improved, and this optimization being control algolithm and driving method all provides the biggest space.
For the control method of permagnetic synchronous motor, the most most widely used frequency conversion control that should belong to " AC-DC-AC " type
System.So-called " AC-DC-AC " refers to: first alternating current is converted into unidirectional current by commutator, then pass through power output unit (as
Inverter) transfer frequency and the controlled alternating current of amplitude to.Galvanic conversion process is that commutator completes, and the two of alternating current
Secondary conversion is to be completed by the switch of PWM control power device.In numerous PWM control methods, space vector pulse width is adjusted
The advantage that technology processed (SVPWM) is high with its voltage utilization, control algolithm is simple, current harmonics is little, in Alternating Current Governor System
It is used widely.
The present invention is with TMS320F28335 as control chip, and IPM driver element selects IRAMS06UP60B driving chip, if
Count the panel of permagnetic synchronous motor and driven plate, having used CCS3.3 as development environment designing driver software control portion
Point, write with mastery routine, vector controlled interrupt service routine, protection interrupt routine and eQEP interrupt service routine as content
Field orientable control program, in the control program of motor add dead area compensation program algorithm, realize dead time effect
Compensation, the feature that the present invention has simple in construction, control accuracy is high, system stability is good.
Summary of the invention
In order to improve the low-speed performance of servomotor further, the deficiency on customer service servosystem hardware.The mesh of the present invention
Be a kind of servosystem driver based on permagnetic synchronous motor and control algolithm thereof are provided, this invention have structure letter
Feature single, that control accuracy is high, system stability is good.
In order to realize said system, the present invention adopts the technical scheme that:
A kind of servosystem driver based on permagnetic synchronous motor and control algolithm thereof, including DSP core plate module, upper
Mechanical, electrical source, drive circuit module, detection module and permagnetic synchronous motor；Described DSP core plate module is connected by PWM interface
To described drive circuit module, described host computer is bi-directionally connected with DSP core plate module by digital serial port and jtag interface,
Described drive circuit module is bi-directionally connected with DSP core plate module by digital serial port, and drive circuit module is by IPM interface even
Receiving permagnetic synchronous motor, described detection module is connected with permagnetic synchronous motor by sample circuit, and detection module passes through QEP end
Mouth is bi-directionally connected with DSP core plate module, and described power supply is wired to drive circuit module.
Further, described DSP core plate module uses TMS320F28335 as processing chip, uses DSP Special electric
Source chip TPS767D301 ensures the safe and reliable work of DSP.
Further, described drive circuit module includes IPM driver element, signal conversion unit and power supply power supply unit；
Its described IPM driver element select IRAMS06UP60B driving chip, DSP core plate module send pwm signal carry out every
From and drive amplification, thus pass to IPM, voltage x current sampled signal carried out isolating and level conversion simultaneously, send DSP to
The A/D module of core board module；Signal conversion unit controls to drive by receiving 6 road pwm signals of DSP core plate module output
6 IGBT power switch pipes in circuit module, it is achieved DC bus-bar voltage is converted to frequency and controlled three the intersecting of amplitude
Stream is electric thus drives permagnetic synchronous motor to run.
Further, described detection module includes current detection circuit and position/Rotating speed measring circuit；In order to accurately measure
Phase current, in current detection circuit, precision resistance that the three-phase incoming line of motor has been connected respectively, when electric current flows through resistance
Pressure drop can be produced on precision resistance, be then passed through precision operational-amplifier and carry out signal sampling, re-use HCNR201 linear light
Coupling carries out signal isolation, then carries out linear bias, thus the process completing sampling, amplifying and isolate；In described position/rotating speed inspection
In slowdown monitoring circuit, use the mixed photoelectric encoder that carries of permanent magnet synchronous servo motor, photoelectric encoder output UVW and A+, A-,
B+, B-, Z+, Z-signal, UVW is used for estimating original position of electric motor's rotator, differential signal input MAX3095ESE differential receiver
Circuit, the signal of output passes through Schmitt shaping chip 74LV14AD, the square-wave signal of 5V is carried out shaping and is converted to 3.3V
Square-wave signal, after shaping signal input DSP core plate module QEP port, the orthogonal coding within DSP core plate module
A, B pulse of input is decoded and counts by impulse circuit (QEP), thus obtains Angle Position and the rotary speed information of motor.
Further, also include that main program flow, vector controlled interrupt flow process, flow process and Z pulse-break stream are interrupted in protection
Journey, described main program flow step is as follows: step 1, DSP core initialize；Step 2, hardware adaptor initialize；Step
Rapid 3, parametric variable initializes；Step 4, interruption enable；Step 5, entrance major cycle;Described vector controlled interrupts flow process step
The most as follows: step 1, interruption enter；Step 2, phase current sensing, Clark, park convert；Step 3, execution speed
Ring；Step 4, execution electric current loop；Step 5, execution Park inverse transformation；Step 6, execution svpwm；Step 7, exit;Described
It is as follows that process step is interrupted in protection: step 1, interruption enter；Step 2, block PWM, system stops；Step 3, exit;
Described Z pulse-break process step is as follows: step 1, interruption enter；Step 2, encoder are corrected；Step 3, exit.
Further, also including a kind of dead area compensation control algolithm, described dead area compensation control algolithm have employed based on " nothing
Effect " dead-zone compensation method of device principle, the method does not results in the skew of PWM ripple, and compensation effect does not relies on motor model
Accuracy, by detection current vector angle judge need compensate voltage vector, prevent current fluctuation and zero point clamp phenomenon
The mistake caused compensates, it would be desirable to the voltage vector of compensation is applied directly to the input of SVPWM module, reduces amount of calculation, compensates
Effect is significantly improved；Voltage error in three-phase static coordinate system is directly transformed into by described dead area compensation control algolithm
In dq coordinate system, then it is applied directly in the Setting signal of electric current loop rather than calculates switching tube action time by compensating voltage,
Output voltage is regulated by regulation PWM waveform；When program is run, electric current is carried out multiple repairing weld and Chebyshev filtering,
May thereby determine that zero-bit and the current fluctuation scope of electric current, the bound of current fluctuation scope is exactly the threshold value needing to arrange,
Both can guarantee that the effectiveness of dead area compensation, can guarantee that again the reliability of system.
The invention has the beneficial effects as follows:
A kind of servosystem driver based on permagnetic synchronous motor and control algolithm thereof, including DSP core plate module, upper
Mechanical, electrical source, drive circuit module, detection module and permagnetic synchronous motor；The present invention with TMS320F28335 as control chip,
IPM driver element selects IRAMS06UP60B driving chip, devises the panel of permagnetic synchronous motor and drives plate, using
CCS3.3 as development environment designing driver software control part, write with mastery routine, vector controlled interrupt service routine,
Protection interrupt routine and the Field orientable control program that eQEP interrupt service routine is content, add in the control program of motor
Entering the algorithm of dead area compensation program, realize the compensation to dead time effect, the present invention has simple in construction, control accuracy height, is
The feature of system good stability.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the present invention is further explained.
Fig. 1 is servosystem driver overall framework figure based on permagnetic synchronous motor；
Fig. 2 is DSP core core circuit diagram；
Fig. 3 is drive circuit module circuit diagram；
Fig. 4 is detection module circuit diagram；
Fig. 5 is software system design flow chart；
Fig. 6 is friction interference observer structure chart；
Fig. 7 is inverter current figure；
Fig. 8 is PWM waveform based on engineering noise device compensation method.
Detailed description of the invention
The detailed description of the invention of the present invention is: described a kind of based on permagnetic synchronous motor servosystem driver and
Control algolithm, DSP core plate module is connected to drive circuit module by PWM interface, host computer by digital serial port and
Jtag interface is bi-directionally connected with between DSP core plate module, drive circuit module by digital serial port and DSP core plate module it
Between be bi-directionally connected, be connected to permagnetic synchronous motor by IPM interface, detection module is by sample circuit and permagnetic synchronous motor even
Connecing, be bi-directionally connected with DSP core plate module by QEP port, power supply is wired to drive circuit module.Concrete,
Drive circuit module receives the pwm signal of DSP, after change-over circuit is changed, drives IPM output, thus controls motor rotation,
DSP core plate module is judged by the current/voltage rotary speed data collected, and the result drawn according to control algolithm is led to
Cross PWM and control the output of IPM module, thus control motor speed, also need to detect over-voltage and over-current state simultaneously, send protectiveness
Control instruction, thus safeguard the safety of system.
Fig. 1 is servosystem driver population structure block diagram based on permagnetic synchronous motor, and in figure, hardware components is by DSP core
Core module, host computer, power supply, drive circuit module, detection module, permagnetic synchronous motor form；DSP core plate module is passed through
PWM interface is connected to drive circuit module, and the data for whole system process and control；Host computer by digital serial port and
Jtag interface is bi-directionally connected with between DSP core plate module, it is achieved the setting of parameter and reading；Drive circuit module passes through data
It is bi-directionally connected between serial ports and DSP core plate module, is connected to permagnetic synchronous motor by IPM interface, for the reception of signal
Control with motor；Detection module is connected with permagnetic synchronous motor by sample circuit, by QEP port and DSP core template die
Block is bi-directionally connected, for collection and the transmission of signal of motor signal；Power supply is wired to drive circuit module, is used for
The power supply of system.
Fig. 2 is DSP core core circuit diagram, and DSP core core circuit employs TMS320F28335 following functions module: ePWM
Module, is used for producing PWM, controls the break-make of three-phase bridge power device in IPM；EQEP module, is used for processing photoelectric encoder letter
Number, i.e. ABZ signal, for initial alignment and measurement motor speed and the position of rotor；A/D module, be used for gathering electric current and
Voltage signal, thus realize electric current loop closed loop and DC bus-bar voltage detection；SCI module, for same upper machine communication, in reception
Position machine instruction, it is also possible to sending motor speed, positional information to host computer, ITAG interface, for download and the debugging of program.
Fig. 3 is drive circuit module circuit diagram, and described drive circuit module includes: IPM driver element, and signal conversion is single
Unit, power supply power supply unit；Wherein IPM driver element selects IRAMS06UP60B driving chip, and the pwm signal that DSP is sent enters
Row isolation and drive amplification, thus pass to IPM, voltage x current sampled signal is carried out isolating and level conversion simultaneously, transmit
To the A/D module of DSP, the motor rotor position signal that photoelectric encoder is measured is also required to isolate through signal conversion unit
And level conversion, it is then passed to the QEP module of DSP, IPM interface circuit comprises DC bus-bar voltage input, controls voltage
Input and feedback of status interface, UVW is the three-phase interface circuit of motor, is directly connected to the three-phase input of motor, and P+, P-are direct current
Bus input, VTH is Temperature Feedback outfan, VDD Yu VSS is the power input of IPM control part, uses 15V to power,
HIN Yu LIN is the PWM input signal of upper and lower bridge respectively, and FAULT is chip error output signal；Signal conversion unit is by connecing
The 6 road pwm signals receiving DSP output control 6 IGBT power switch pipes in its module, it is achieved be converted to by DC bus-bar voltage
Frequency and the controlled three-phase alternating current of amplitude thus drive permagnetic synchronous motor to run, when IPM breaks down or has signal error
Time, the FAULT signal output pin of IPM can export the fault-signal of 9ms, and after 9ms, signal automatically resets；Power supply power supply unit bag
Including the dc bus 300V power supply of IPM, IPM controls the 15V power supply of part, the 5V digital-to-analogue electricity power supply of signal conversion unit.
Fig. 4 is detection module circuit diagram, and described detection module includes current detection circuit and position/Rotating speed measring electricity
Road；In order to accurately measure phase current, in current detection circuit, accurate electricity that the three-phase incoming line of motor has been connected respectively
Resistance, can produce pressure drop on precision resistance, be then passed through precision operational-amplifier and carry out signal sampling when electric current flows through resistance, then
The HCNR201 linear optical coupling using avago company carries out signal isolation, then carries out linear bias, thus has reached sampling, amplified
With the process of isolation, collect signal the most exactly, again signal has been isolated, it is ensured that security of system；In position/turn
In speed testing circuit, use the mixed photoelectric encoder that permanent magnet synchronous servo motor carries, photoelectric encoder output UVW and A
+, A-, B+, B-, Z+, Z-signal, UVW be used for rough estimate original position of electric motor's rotator, differential signal input MAX3095ESE poor
Dividing acceptor circuit, the signal of output passes through Schmitt shaping chip 74LV14AD, the square-wave signal of 5V carries out shaping and turns
It is changed to the square-wave signal of 3.3V, the QEP port of the signal input DSP after shaping, the quadrature coding pulse circuit within DSP
(QEP) A, B pulse to input is decoded and counts, thus obtains Angle Position and the rotary speed information of motor.
Fig. 5 is software system design flow chart, and described software system master-plan flow process includes: main program flow, arrow
Amount controls to interrupt flow process, flow process, Z pulse-break flow process are interrupted in protection, and wherein main program flow step is as follows:
Step 1, DSP core initialize；
Step 2, hardware adaptor initialize；
Step 3, parametric variable initialize；
Step 4, interruption enable；
Step 5, entrance major cycle.
It is as follows that vector controlled interrupts process step:
Step 1, interruption enter；
Step 2, phase current sensing, Clark, park convert；
Step 3, execution speed ring；
Step 4, execution electric current loop；
Step 5, execution Park inverse transformation；
Step 6, execution svpwm；
Step 7, exit.
It is as follows that process step is interrupted in protection:
Step 1, interruption enter；
Step 2, block PWM, system stops；
Step 3, exit.
Z pulse-break process step is as follows:
Step 1, interruption enter；
Step 2, encoder are corrected；
Step 3, exit.
Fig. 6 is friction interference observer structure chart, T in figureeFor the output torque of permagnetic synchronous motor, WmAngle for motor
Speed, G (s) is the realistic model of permagnetic synchronous motor, and the output of the Dahl friction model of improvement is considered as external disturbance moment d,
GcS () is the nominal model that system identification obtains, interference observer nominal model G based on permagnetic synchronous motorcThe inverse G of (s)-1 c
S () carrys out pre-estimation u0WithDifference be exactly to disturb the estimated value of d, willDirectly feedback, it is achieved the suppression to external disturbance d,
ButDirectly feedback can not realize because generally nominal model inverse can not physics realization, therefore need to introduce filtering
Device Q (s).
Fig. 7 is inverter current figure, whenIa> 0 time, no matter V4 has pulse-free signal, and V4 can not turn on all the time, and electric current is only
Circulated by V1 or D4, say, thatIa> 0 when, the output voltage of inverter is only the most relevant with the break-make of V1, with V4
Unrelated, this time, V4 was exactly our described invalid device.AnalyzeIa< when 0, V1 can be obtained same conclusion.As
This can obtain a conclusion: since the break-make of engineering noise device has no effect on output voltage state, then also avoids the need for driving letter
Number, it is only necessary to provide to active parts and drive signal, therefore need not add dead band, the problem the most just not having dead area compensation.
As shown in Figure 8, PWM1 and PWM4 is the preferable PWM ripple of a phase upper and lower bridge arm to PWM waveform based on engineering noise device compensation method
Shape, PWM1 ' and PWM4 ' are the PWM waveform after employing-invalid device compensation method.It can be seen that use invalid device method
After, it is in the device of disarmed state without adding Dead Time, and the switching value of inverter reduces half, decrease switch and damage
Consumption, improves the work efficiency of inverter.
But this design can draw another problem, as shown in Figure 8, because without Dead Time, the break-make of device is
Controlled by the size and Orientation of electric current, then the detection of current over-zero is the most critically important.Interference and noise in view of detection
Problem, be provided with when current over-zero between a stagnant ring region, stagnant ring size is relatively big for dead area compensation influential effect, when stagnant ring
Threshold value when choosing excessive, dead area compensation effect is the most inconspicuous, when threshold value is chosen too small, owing to the impact of current spikes can make
Switching tube toggles at zero crossings, even results in straight-through phenomenon.Present invention employs following method selected threshold: in program
During operation, first electric current is carried out multiple repairing weld and Chebyshev filtering, may thereby determine that zero-bit and the current fluctuation of electric current
Scope, the bound of current fluctuation scope is exactly the threshold value needing to arrange.The most both can guarantee that the effectiveness of dead area compensation, and again could
The reliability of guarantee system.In stagnant ring region territory, the compensation method that the present invention takes is directly by three-phase static coordinate system
Voltage error is transformed in dq coordinate system, is then applied directly to compensating voltage in the Setting signal of electric current loop rather than calculates
Switching tube action time, regulate output voltage by regulation PWM waveform.
General technical staff of the technical field of the invention also will readily appreciate that in addition to the foregoing, explanation and figure at this
The specific embodiment shown can change combination further.Although the present invention gives diagram explanation with regard to its preferred embodiment,
But person skilled in the art is it is recognized that in the spirit and scope of the present invention limited in the attached claims,
Also the present invention can be made multiple change and variation.
Claims (6)
1. a servosystem driver based on permagnetic synchronous motor and control algolithm thereof, it is characterised in that include DSP core
Plate module, host computer, power supply, drive circuit module, detection module and permagnetic synchronous motor；Described DSP core plate module is passed through
PWM interface is connected to described drive circuit module, and described host computer is by digital serial port and jtag interface and DSP core template die
Block is bi-directionally connected, and described drive circuit module is bi-directionally connected with DSP core plate module by digital serial port, and drive circuit module leads to
Crossing IPM interface and be connected to permagnetic synchronous motor, described detection module is connected with permagnetic synchronous motor by sample circuit, detects mould
Block is bi-directionally connected with DSP core plate module by QEP port, and described power supply is wired to drive circuit module.
2. servosystem driver as claimed in claim 1 and control algolithm thereof, it is characterised in that described DSP core template die
Block uses TMS320F28335 as processing chip, uses DSP power source special chip TPS767D301 to ensure that DSP is safe and reliable
Work.
3. servosystem driver as claimed in claim 1 and control algolithm thereof, it is characterised in that described drive circuit module
Including IPM driver element, signal conversion unit and power supply power supply unit；Its described IPM driver element selects IRAMS06UP60B
Driving chip, the pwm signal that DSP core plate module is sent carries out isolating and drive amplification, thus passes to IPM, handle simultaneously
Voltage x current sampled signal carries out isolating and level conversion, sends the A/D module of DSP core plate module to；Signal conversion unit leads to
Cross 6 IGBT power switch pipes in the 6 road pwm signals control drive circuit modules receiving the output of DSP core plate module, it is achieved
DC bus-bar voltage is converted to frequency and the controlled three-phase alternating current of amplitude thus drives permagnetic synchronous motor to run.
4. servosystem driver as claimed in claim 1 and control algolithm thereof, it is characterised in that described detection module includes
Current detection circuit and position/Rotating speed measring circuit；In order to accurately measure phase current, in current detection circuit, the three of motor
Connect respectively on phase incoming line precision resistance, pressure drop can have been produced on precision resistance when electric current flows through resistance, be then passed through
Precision operational-amplifier carries out signal sampling, re-uses HCNR201 linear optical coupling and carries out signal isolation, then carries out linear bias,
Thus the process completing sampling, amplifying and isolate；In described position/Rotating speed measring circuit, use permanent magnet synchronous servo motor
The mixed photoelectric encoder carried, photoelectric encoder output UVW and A+, A-, B+, B-, Z+, Z-signal, UVW is used for estimating electricity
Machine rotor initial position, differential signal input MAX3095ESE differential receiver circuit, the signal of output passes through Schmitt shaping
Chip 74LV14AD, carries out the square-wave signal of 5V shaping and is converted to the square-wave signal of 3.3V, the signal input DSP after shaping
The QEP port of core board module, A, B pulse of input is entered by the quadrature coding pulse circuit (QEP) within DSP core plate module
Row decoding and counting, thus obtain Angle Position and the rotary speed information of motor.
5. servosystem driver as claimed in claim 1 and control algolithm thereof, it is characterised in that also include main flow
Journey, vector controlled interrupt flow process, flow process and Z pulse-break flow process are interrupted in protection, and described main program flow step is as follows:
Step 1, DSP core initialize；
Step 2, hardware adaptor initialize；
Step 3, parametric variable initialize；
Step 4, interruption enable；
Step 5, entrance major cycle;
It is as follows that described vector controlled interrupts process step:
Step 1, interruption enter；
Step 2, phase current sensing, Clark, park convert；
Step 3, execution speed ring；
Step 4, execution electric current loop；
Step 5, execution Park inverse transformation；
Step 6, execution svpwm；
Step 7, exit;
It is as follows that process step is interrupted in described protection:
Step 1, interruption enter；
Step 2, block PWM, system stops；
Step 3, exit;
Described Z pulse-break process step is as follows:
Step 1, interruption enter；
Step 2, encoder are corrected；
Step 3, exit.
6. servosystem driver as claimed in claim 1 and control algolithm thereof, it is characterised in that also include that a kind of dead band is mended
Repaying control algolithm, described dead area compensation control algolithm have employed dead-zone compensation method based on engineering noise device principle, the method
Not resulting in the skew of PWM ripple, compensation effect does not relies on the accuracy of motor model, judges to need by detection current vector angle
Voltage vector to be compensated, the mistake preventing current fluctuation and zero point clamp phenomenon from causing compensates, it would be desirable to the voltage vector of compensation
Being applied directly to the input of SVPWM module, reduce amount of calculation, compensation effect is significantly improved；Described dead area compensation control
Voltage error in three-phase static coordinate system is directly transformed in dq coordinate system by algorithm processed, is then applied directly to by compensation voltage
In the Setting signal of electric current loop rather than calculate switching tube action time, regulate output voltage by regulation PWM waveform；?
When program is run, electric current is carried out multiple repairing weld and Chebyshev filtering, may thereby determine that zero-bit and the current fluctuation of electric current
Scope, the bound of current fluctuation scope is exactly the threshold value needing to arrange, and both can guarantee that the effectiveness of dead area compensation, and can guarantee that again
The reliability of system.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106422321A (en) * | 2016-11-25 | 2017-02-22 | 广州卓远机械有限公司 | Control circuit capable of realizing input through pedaling of human body in game equipment |
| CN106655973A (en) * | 2017-01-05 | 2017-05-10 | 华北电力大学 | DSP-based design of SVPWM motor control device |
| CN107559153A (en) * | 2017-08-07 | 2018-01-09 | 浙江运达风电股份有限公司 | A kind of double-fed fan motor unit impeller imbalance detection system |
| CN107743007A (en) * | 2017-10-20 | 2018-02-27 | 深圳市合智同科技有限公司 | The motor motion control device and its control method of a kind of CAN formula |
| CN107966925A (en) * | 2017-11-15 | 2018-04-27 | 北京理工大学 | A kind of high-precision multiple signals data testing system and test method based on DSP28335 |
| CN108469778A (en) * | 2017-10-23 | 2018-08-31 | 北京灵思创奇科技有限公司 | A kind of SERVO CONTROL MBD development platforms |
| CN108768239A (en) * | 2018-05-11 | 2018-11-06 | 航天新长征电动汽车技术有限公司 | A kind of configuration method of electric machine controller parameter |
| CN109525149A (en) * | 2018-10-26 | 2019-03-26 | 中国科学院合肥物质科学研究院 | A kind of three-phase brushless motor driver of double-core control |
| CN109775456A (en) * | 2019-01-24 | 2019-05-21 | 杭州电子科技大学 | A kind of hawser automatic retraction device of Deep sea net cage |
| CN110045609A (en) * | 2019-04-17 | 2019-07-23 | 北京理工大学 | It is a kind of that perpendicular apparatus control system is played based on PID- sliding-mode variable structure algorithm |
| CN110640737A (en) * | 2018-11-07 | 2020-01-03 | 宁波赛朗科技有限公司 | Industrial robot for measuring data fusion attitude |
| CN113965128A (en) * | 2021-06-07 | 2022-01-21 | 深圳市维京驱动有限公司 | Permanent magnet motor integrated driving and detecting system and method |
| CN114123897A (en) * | 2021-12-01 | 2022-03-01 | 北京泓慧国际能源技术发展有限公司 | Flywheel permanent magnet motor controller and control system |
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| CN106422321A (en) * | 2016-11-25 | 2017-02-22 | 广州卓远机械有限公司 | Control circuit capable of realizing input through pedaling of human body in game equipment |
| CN106422321B (en) * | 2016-11-25 | 2024-03-15 | 广州卓远虚拟现实科技有限公司 | Control circuit for human foot pedal input in game equipment |
| CN106655973A (en) * | 2017-01-05 | 2017-05-10 | 华北电力大学 | DSP-based design of SVPWM motor control device |
| CN107559153A (en) * | 2017-08-07 | 2018-01-09 | 浙江运达风电股份有限公司 | A kind of double-fed fan motor unit impeller imbalance detection system |
| CN107743007B (en) * | 2017-10-20 | 2020-08-21 | 深圳市合智同科技有限公司 | CAN bus type motor motion control device and control method thereof |
| CN107743007A (en) * | 2017-10-20 | 2018-02-27 | 深圳市合智同科技有限公司 | The motor motion control device and its control method of a kind of CAN formula |
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| CN107966925A (en) * | 2017-11-15 | 2018-04-27 | 北京理工大学 | A kind of high-precision multiple signals data testing system and test method based on DSP28335 |
| CN108768239A (en) * | 2018-05-11 | 2018-11-06 | 航天新长征电动汽车技术有限公司 | A kind of configuration method of electric machine controller parameter |
| CN109525149A (en) * | 2018-10-26 | 2019-03-26 | 中国科学院合肥物质科学研究院 | A kind of three-phase brushless motor driver of double-core control |
| CN110640737A (en) * | 2018-11-07 | 2020-01-03 | 宁波赛朗科技有限公司 | Industrial robot for measuring data fusion attitude |
| CN109775456A (en) * | 2019-01-24 | 2019-05-21 | 杭州电子科技大学 | A kind of hawser automatic retraction device of Deep sea net cage |
| CN109775456B (en) * | 2019-01-24 | 2024-04-19 | 杭州电子科技大学 | Automatic cable winding and unwinding device for deep sea net cage |
| CN110045609A (en) * | 2019-04-17 | 2019-07-23 | 北京理工大学 | It is a kind of that perpendicular apparatus control system is played based on PID- sliding-mode variable structure algorithm |
| CN113965128A (en) * | 2021-06-07 | 2022-01-21 | 深圳市维京驱动有限公司 | Permanent magnet motor integrated driving and detecting system and method |
| CN114123897A (en) * | 2021-12-01 | 2022-03-01 | 北京泓慧国际能源技术发展有限公司 | Flywheel permanent magnet motor controller and control system |
| CN114123897B (en) * | 2021-12-01 | 2024-05-10 | 北京泓慧国际能源技术发展有限公司 | Flywheel permanent magnet motor controller and control system |
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