CN106130427B - A kind of control algolithm of the servo-system driver based on permanent magnet synchronous motor - Google Patents
A kind of control algolithm of the servo-system driver based on permanent magnet synchronous motor Download PDFInfo
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- CN106130427B CN106130427B CN201610531384.9A CN201610531384A CN106130427B CN 106130427 B CN106130427 B CN 106130427B CN 201610531384 A CN201610531384 A CN 201610531384A CN 106130427 B CN106130427 B CN 106130427B
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Classifications
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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
Abstract
Description
Technical field
The invention belongs to the concrete application of field of industrial automatic control more particularly to a kind of watching based on permanent magnet synchronous motor The control algolithm of dress system driver.
Background technique
Due to the wide range of applications of AC servo motor and the excellent properties of permanent magnet synchronous motor, permanent magnetism is same Step motor occupies increasingly consequence in AC servo.Permanent magnet synchronous servo system can be to breadth and depth two Aspect development.In terms of range, the field of application can be increasingly wider, i.e. the application in life, office, amusement and military aspect It is more and more.In terms of depth, application under conditions of certain high-precision high requests can be more and more important, such as cannon thunder It reaches, high-precision Machine-Tool Control, military and aerospace equipment.The characteristics of due to permanent-magnet synchronous and current every field are wanted It asks, necessarily PMSM servo-system has greatly the direction of development space in terms of precision and depth, also must be its side of giving priority to To.
For asynchronous motor, scholars have also been proposed Direct Torque Control.Different from the rotor field of vector controlled Orientation, Direct Torque Control directly controls the size direction of stator current according to the direction of rotor flux, to control The size and Orientation of stator field, directly controls motor torque.The coordinate that this method does not need to carry out between rotor repeatedly becomes It changes, calculation amount reduces, but this method is slightly inadequate in terms of low speed control, and torque pulsation is obvious.Current dsp controller speed And the development of operational capability, make it possible required coordinate transform and a large amount of multiplying in vector controlled.But Vector controlled needs accurate rotor position information, this proposes certain requirement to the accuracy of position measurement.
It is mainly digital signal processor (DSP) currently used for Motor Control, since DSP can be to inputoutput data High speed processing is carried out, but also is integrated with motor control special purpose interface and module, is especially used in the design TMS320F28335 supports the high-speed computation of real-coded GA for the needs of motor control, can rapidly carry out multiplication fortune It calculates, matrixing, is realized for complex control algorithm and provide hardware foundation.In addition, the development of CPLD and FPGA is motor control System provides new thinking, such as using DSP special disposal control algolithm, and gives FPGA the control of peripheral chip and interface Processing reaches good control effect using the characteristics of FPGA high-speed, high precision.
In recent years, Advanced Control Techniques are also introduced into servo system control.Model parameter adaptive control, adjustable die Formula and variable-structure control are largely used in control method.The especially use of combined type algorithm, such as Sliding Mode Adaptive Control, from Adapt to PID control.With the development of the progress of artificial intelligence technology, especially artificial neural network, the standard of parameter of electric machine identification True property greatly improves, this all provides very large space for the optimization of control algolithm and driving method.
For the control method of permanent magnet synchronous motor, the instantly most widely used frequency conversion control that should belong to " cross-straight-intersection " type System.So-called " cross-straight-intersection " refers to: alternating current being first converted into direct current by rectifier, then (such as by power output unit Inverter) switch to frequency and the controllable alternating current of amplitude.The conversion process of direct current is rectifier completion, and the two of alternating current Secondary conversion is that the switch completion of power device is controlled by PWM.In numerous PWM control methods, space vector pulse width tune The advantage that technology (SVPWM) processed is high with its voltage utilization, control algolithm is simple, current harmonics is small, in Alternating Current Governor System It is used widely.
The present invention is control chip with TMS320F28335, and IPM driving unit selects IRAMS06UP60B driving chip, if The control panel and driving plate for having counted permanent magnet synchronous motor, using CCS3.3 as exploitation Environment Design driver software control unit Point, it has write using main program, 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 be added dead area compensation program algorithm, to realize to dead time effect Compensation, the present invention has the characteristics that structure is simple, control precision is high, system stability is good.
Summary of the invention
Deficiency in order to further increase the low-speed performance of servo motor, on customer service servo-system hardware.Mesh of the invention Be a kind of control algolithm of servo-system driver based on permanent magnet synchronous motor is provided, the invention have structure it is simple, Control the feature that precision is high, system stability is good.
In order to realize above system, the technical solution adopted by the present invention is that:
A kind of control algolithm of the servo-system driver based on permanent magnet synchronous motor, including it is DSP core plate module, upper Mechanical, electrical source, drive circuit module, detection module and permanent magnet synchronous motor；The DSP core plate module is connected by PWM interface To the drive circuit module, the host computer is bi-directionally connected by digital serial port and jtag interface with DSP core plate module, The drive circuit module is bi-directionally connected by digital serial port and DSP core plate module, and drive circuit module is connected by IPM interface It is connected to permanent magnet synchronous motor, the detection module is connect by sample circuit with permanent magnet synchronous motor, and detection module passes through the end QEP Mouth is bi-directionally connected with DSP core plate module, and the power supply is wired to drive circuit module.
Further, the DSP core plate module is used as processing chip using TMS320F28335, using DSP Special electric Source chip TPS767D301 guarantees that DSP securely and reliably works.
Further, the drive circuit module includes IPM driving unit, signal conversion unit and power supply power supply unit； Its described IPM driving unit selects IRAMS06UP60B driving chip, the pwm signal that DSP core plate module is sent carry out every From and drive amplification, to pass to IPM, while voltage and current sampled signal is carried out isolation and level conversion, sends DSP to The A/D module of core board module；Signal conversion unit controls driving by receiving 6 road pwm signals of DSP core plate module output 6 IGBT power switch tubes in circuit module are realized DC bus-bar voltage being converted to three intersections of frequency and amplitude controllably Galvanic electricity is to drive permanent magnet synchronous motor to run.
Further, the detection module includes current detection circuit and position/Rotating speed measring circuit；For precise measurement Phase current, in current detection circuit, precision resistance of having connected respectively on the three-phase input route of motor, when electric current flows through resistance Pressure drop can be generated on precision resistance, then carry out signal sampling by precision operational-amplifier, reuse HCNR201 linear light Coupling carries out signal isolation, then carries out linear bias, to complete the process of sampling, amplification and isolation；In the position/revolving speed inspection In slowdown monitoring circuit, using permanent magnet synchronous motor carry mixed photoelectric encoder, photoelectric encoder export UVW and A+, A-, B+, B-, Z+, Z- signal, UVW are used to estimate that original position of electric motor's rotator, differential signal input MAX3095ESE differential receiver electricity The square-wave signal of 5V is carried out shaping and is converted to 3.3V's by road, the signal of output by Schmitt shaping chip 74LV14AD Square-wave signal, the signal after shaping input the port QEP of DSP core plate module, the orthogonal coding arteries and veins inside DSP core plate module It rushes circuit (QEP) A, B pulse of input are decoded and are counted, to obtain the Angle Position and rotary speed information of motor.
It further, further include main program flow, vector controlled interrupts process, process and Z pulse-break stream are interrupted in protection Journey, the main program flow is shown in steps are as follows: step 1, DSP core initialization；Step 2, hardware adaptor initialization；Step Rapid 3, parametric variable initializes；Step 4, interruption are enabled；Step 5, into major cycle;The vector controlled interrupts process step Rapid as follows: step 1 interrupts entrance；Step 2, phase current sensing, Clark, park transformation；Step 3 executes speed Ring；Step 4 executes electric current loop；Step 5 executes Park inverse transformation；Step 6 executes svpwm；Step 7 exits;It is described It is as follows that process step is interrupted in protection: step 1 interrupts entrance；Step 2, block PWM, system stop；Step 3 exits; The Z pulse-break process step is as follows: step 1 interrupts entrance；Step 2, encoder correction；Step 3 exits.
It further, further include a kind of dead area compensation control algolithm, the dead area compensation control algolithm, which uses, is based on " nothing The dead-zone compensation method of effect " device principle, this method not will cause the offset of PWM wave, and compensation effect is independent of motor model Accuracy, the voltage vector that compensates is needed by detection current vector angle judgement, prevents current fluctuation and zero point from clamping phenomenon Caused by accidentally compensate, the voltage vector that compensates will be needed to be applied directly to the input terminal of SVPWM module, and reduce calculation amount, compensated Effect is significantly improved；Voltage error in three-phase static coordinate system is directly transformed by the dead area compensation control algolithm In dq coordinate system, then offset voltage is applied directly in the Setting signal of electric current loop, rather than calculates switching tube action time, Output voltage is adjusted by adjusting PWM waveform；In program operation, multiple repairing weld is carried out to electric current and Chebyshev filters, It may thereby determine that the zero-bit and current fluctuation range of electric current, the bound of current fluctuation range are exactly the threshold value for needing to be arranged, Not only it can guarantee the validity of dead area compensation, but also can guarantee the reliability of system.
The beneficial effects of the present invention are:
A kind of control algolithm of the servo-system driver based on permanent magnet synchronous motor, including it is DSP core plate module, upper Mechanical, electrical source, drive circuit module, detection module and permanent magnet synchronous motor；The present invention is control chip with TMS320F28335, IPM driving unit selects IRAMS06UP60B driving chip, devises the control panel and driving plate of permanent magnet synchronous motor, uses CCS3.3 as exploitation Environment Design driver software control section, write with main program, vector controlled interrupt service routine, It protects interrupt routine and eQEP interrupt service routine is the Field orientable control program of content, add in the control program of motor Enter the algorithm of dead area compensation program, to realize the compensation to dead time effect, the present invention is simple with structure, control precision is high, is The good feature of stability of uniting.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments the present invention will be further explained explanation.
Fig. 1 is the servo-system driver overall framework figure based on permanent magnet 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 the PWM waveform based on engineering noise device compensation method.
Specific embodiment
A kind of a specific embodiment of the invention are as follows: the control of servo-system driver based on permanent magnet synchronous motor Algorithm processed, DSP core plate module are connected to drive circuit module by PWM interface, and host computer passes through digital serial port and JTAG Interface is bi-directionally connected between DSP core plate module, and drive circuit module passes through double between digital serial port and DSP core plate module To connection, permanent magnet synchronous motor is connected to by IPM interface, detection module is connect by sample circuit with permanent magnet synchronous motor, It is bi-directionally connected by the port QEP and DSP core plate module, power supply is wired to drive circuit module.Specifically, driving Circuit module receives the pwm signal of DSP, after conversion circuit conversion, driving IPM output, to control motor operating, DSP Core board module is judged by collected Current Voltage rotary speed data, and is passed through according to the result that control algolithm obtains PWM controls the output of IPM module, to control motor speed, while also needing to detect over-voltage and over-current state, issues protective Control instruction, thus the safety of maintenance system.
Fig. 1 is the servo-system driver overall structure block diagram based on permanent magnet synchronous motor, and hardware components are by DSP core in figure Core module, host computer, power supply, drive circuit module, detection module, permanent magnet synchronous motor composition；DSP core plate module passes through PWM interface is connected to drive circuit module, the data processing and control for whole system；Host computer by digital serial port and Jtag interface is bi-directionally connected between DSP core plate module, realizes the setting and reading of parameter；Drive circuit module passes through data It is bi-directionally connected between serial ports and DSP core plate module, permanent magnet synchronous motor is connected to by IPM interface, the reception for signal With the control of motor；Detection module is connect by sample circuit with permanent magnet synchronous motor, and the port QEP and DSP core template die are passed through Block is bi-directionally connected, for the acquisition of motor signal and the transmission of 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 has used TMS320F28335 following functions module: ePWM Module controls the on-off of three-phase bridge power device in IPM for generating PWM；EQEP module, for handling photoelectric encoder letter Number, i.e. ABZ signal, for the initial alignment and measurement motor speed of rotor and position；A/D module, for acquire electric current and Voltage signal, to realize electric current loop closed loop and DC bus-bar voltage detection；SCI module, for being communicated with host computer, in reception Position machine instruction, can also send motor speed, location information to host computer, ITAG interface, downloading and debugging for program.
Fig. 3 is drive circuit module circuit diagram, and the drive circuit module includes: IPM driving unit, and signal conversion is single Member, power supply power supply unit；Wherein IPM driving unit select IRAMS06UP60B driving chip, DSP send pwm signal into Voltage and current sampled signal to pass to IPM, while is carried out isolation and level conversion, transmission by row isolation and drive amplification To the A/D module of DSP, the motor rotor position signal of photoelectric encoder measurement is also required to be isolated by signal conversion unit And level conversion, it is then passed to the QEP module of DSP, includes DC bus-bar voltage input, control voltage in IPM interface circuit Input and state feedback interface, UVW are the three-phase interface circuit of motor, are directly connected to the three-phase input of motor, and P+, P- are direct current Bus input terminal, VTH are temperature feedback output end, and VDD and VSS are the power inputs of the control section IPM, are powered using 15V, HIN and 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 for receiving DSP output control 6 IGBT power switch tubes in its module, and realization is converted to DC bus-bar voltage Frequency and the controllable three-phase alternating current of amplitude are to drive permanent magnet synchronous motor to run, when IPM breaks down or has a signal error When, the FAULT signal output pin of IPM can export the fault-signal of 9ms, and signal automatically resets after 9ms；Power supply power supply unit packet Include the DC bus 300V power supply of IPM, the 15V power supply of the control section IPM, the 5V digital-to-analogue electricity power supply of signal conversion unit.
Fig. 4 is detection module circuit diagram, and the detection module includes current detection circuit and position/Rotating speed measring electricity Road；For precise measurement phase current, in current detection circuit, accurate electricity of having connected respectively on the three-phase input route of motor Resistance, can generate pressure drop on precision resistance when electric current flows through resistance, then carry out signal sampling by precision operational-amplifier, then Signal isolation is carried out using the HCNR201 linear optical coupling of avago company, then carries out linear bias, to reach sampling, amplification With the process of isolation, signal has not only accurately been collected, but also signal has been isolated, ensure that system safety；Position/turn In fast detection circuit, the mixed photoelectric encoder carried using permanent magnet synchronous motor, photoelectric encoder output UVW and A+, A-, B+, B-, Z+, Z- signal, UVW are used to rough estimate original position of electric motor's rotator, and differential signal input MAX3095ESE difference connects Device circuit is received, the square-wave signal of 5V is carried out shaping and be converted to by the signal of output by Schmitt shaping chip 74LV14AD The square-wave signal of 3.3V, the signal after shaping input the port QEP of DSP, and the quadrature coding pulse circuit (QEP) inside DSP is right A, B pulse of input are decoded and count, to obtain the Angle Position and rotary speed information of motor.
Fig. 5 is software system design flow chart, and the software systems master-plan process includes: main program flow, arrow Process is interrupted in amount control, process, Z pulse-break process are interrupted in protection, and wherein main program flow is shown in steps are as follows:
Step 1, DSP core initialization；
Step 2, hardware adaptor initialization；
Step 3, parametric variable initialization；
Step 4, interruption are enabled；
Step 5, into major cycle.
It is as follows that vector controlled interrupts process step:
Step 1 interrupts entrance；
Step 2, phase current sensing, Clark, park transformation；
Step 3 executes speed ring；
Step 4 executes electric current loop；
Step 5 executes Park inverse transformation；
Step 6 executes svpwm；
Step 7 exits.
It is as follows that process step is interrupted in protection:
Step 1 interrupts entrance；
Step 2, block PWM, system stop；
Step 3 exits.
Z pulse-break process step is as follows:
Step 1 interrupts entrance；
Step 2, encoder correction；
Step 3 exits.
Fig. 6 is friction interference observer structure chart, T in figureeFor the output torque of permanent magnet synchronous motor, WmFor the angle of motor Speed, G (s) are the realistic model of permanent magnet synchronous motor, and the output of improved Dahl friction model is considered as external disturbance torque d, GcIt (s) is nominal model that System Discrimination obtains, nominal model G of the interference observer based on permanent magnet synchronous motorc(s) inverse G-1 c (s) carry out pre-estimation u0Its difference of sum is exactly to interfere the estimated value of d, will directly be fed back, inhibition of the realization to external disturbance d, but Directly feedback can not achieve, because usually the inverse of nominal model is unable to physics realization, need to introduce filter Q (s).
Fig. 7 is inverter current figure, whenIaWhen > 0, no matter V4 has pulse-free signal, and V4 cannot be connected always, and electric current is only It is circulated by V1 or D4, that is to say, thatIaWhen > 0, the output voltage of inverter is only related with the on-off of V1, with V4 Unrelated, this when, V4 was exactly the invalid device described in us.AnalysisIaSame conclusion can be obtained when < 0 to V1.Such as This can obtain a conclusion: since the on-off of engineering noise device has no effect on output voltage state, then also there is no need to drive letter Number, it is only necessary to driving signal is provided to active parts, therefore does not need that dead zone is added, does not also just have the problem of dead area compensation. PWM waveform based on engineering noise device compensation method is as shown in figure 8, PWM1 and PWM4 is the ideal PWM wave of a phase upper and lower bridge arm Shape, PWM1 ' and PWM4 ' are the PWM waveform after the invalid device compensation method of use-.As can be seen that using invalid device method Afterwards, the device in invalid state is without being added dead time, and the switching value of inverter reduces half, reduces switch damage Consumption, improves the working efficiency of inverter.
But this design can draw another problem, as shown in figure 8, because the on-off of device is without dead time It is controlled by the size and Orientation of electric current, then the detection of current over-zero is with regard to critically important.Interference and noise in view of detection The problem of, it is provided between a stagnant ring region in current over-zero, stagnant ring size is larger for dead area compensation influential effect, when stagnant ring Threshold value choose it is excessive when, dead area compensation effect with regard to unobvious, threshold value choose it is too small when, due to current spikes influence meeting so that Switching tube is toggled in zero crossings, even results in straight-through phenomenon.Present invention employs following method selected thresholds: in program When operation, multiple repairing weld is carried out to electric current first and Chebyshev filters, may thereby determine that the zero-bit and current fluctuation of electric current Range, the bound of current fluctuation range are exactly the threshold value for needing to be arranged.The validity of dead area compensation, but also energy were not only can guarantee in this way The reliability of guarantee system.In stagnant ring region, the compensation method that the present invention takes is directly will be in three-phase static coordinate system Voltage error is transformed into dq coordinate system, and then offset voltage is applied directly in the Setting signal of electric current loop, rather than is calculated Switching tube action time adjusts output voltage by adjusting PWM waveform.
General technical staff of the technical field of the invention also will readily appreciate that in addition to the foregoing, illustrates herein and schemes The specific embodiment shown can further change combination.Although the present invention is to give what diagram illustrated 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 defined by the attached claims, A variety of changes and variation can be also made to the present invention.
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| 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 |
| 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 |
| 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 |
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