CN106655973A - DSP-based design of SVPWM motor control device - Google Patents
DSP-based design of SVPWM motor control device Download PDFInfo
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- CN106655973A CN106655973A CN201710006051.9A CN201710006051A CN106655973A CN 106655973 A CN106655973 A CN 106655973A CN 201710006051 A CN201710006051 A CN 201710006051A CN 106655973 A CN106655973 A CN 106655973A
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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
- 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
-
- 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
Abstract
The invention provides a DSP-based design of an SVPWM motor control device comprising a control board loading a DSP2812 chip, an optocoupler isolation module, a power board, a photoelectric encoding disc, an AC power supply module, a servo motor and an upper computer. The connection relation between the modules is as follows: the power board is a control command execution body and separately controls the control board (through the optocoupler isolation module), and the AC power supply module is connected with the servo motor; the control board sends a PWM control signal, the PWM control signal is sent to the power board after being processed by the optocoupler isolation module, and the control board receives motor rotor measurement data measured by the photoelectric encoding disc in real time; the power board is powered by the AC power supply module, controls a motor through a power switch device thereon after receiving the control signal, and feeds back a detection signal to the control board to realize closed-loop control, and the data are uploaded to the upper computer for monitoring. According to the DSP-based design of the SVPWM motor control device, a hardware system with high performance and low power consumption is used, the program compatibility is good, the peripheral devices are few, the cost is low, the algorithm is simple, and the operation efficiency and the speed control precision of the system are improved.
Description
Technical field
The invention belongs to field of power, and in particular to a kind of design of the SVPWM motor control assemblies based on DSP.
Background technology
Motor can convert electric energy to mechanical energy, in being widely used in the every field of life.Motor transmission control
The driving of middle motor is with speed regulating control in occupation of critical role.Motor is driving the development of different type equipment industry, including
Essence in rolling mill in heavy industry plant equipment such as steel industry, paper industry, also microelectronic industry and semicon industry
Close instrument, Digit Control Machine Tool etc..Through survey, have more than 80% to be small-sized asynchronous machine in all kinds of motors of China, and due to
Equipment is outmoded, the reason such as control technology backwardness, causes the electric energy for wasting many.Therefore need to use advanced efficient motor dress
Put with drive, method for controlling speed regulation improving motor efficiency, electric energy and raw material can be saved, more high-efficiency environment friendly, to China
Sustainable development be of great importance.
Asynchronous machine and the basic difference of magneto are performance and cost.At present the use of asynchronous machine is with respect to Permanent Magnet and Electric
It is more extensive for machine.Because the use environment of asynchronous machine is generally for unknown adjustment with speed governing without accurate requirement.Allusion quotation
The general-purpose machine as everyone knows of type.But with the day by day raising of production requirement, especially semiconductor and other precisions
The demand of production, the advantages of magneto is because of its more compact volume, higher efficiency performance and strong controllability, by
Gradually become a kind of application trend.
Due to the update of Micro-processor MCV technology and power electronics correlation technique, pulse width modulation（PWM）Inversion
Device is widely used in electric drive system field.In pulse width modulation control strategy, SVPWM is different from traditional skill
Art, it has done special optimization on algorithm and implementation, can largely exclude humorous in the output waveform of inverter
Wave component, and reduce the energy loss of motor.Because the easily implementation in digital signaling system, at present it is fine
The traditional SPWM technologies of replacement.On the other hand, it is the performance of guarantee SVPWM control strategies, the speed of service of monolithic is remote
Far cannot meet, with people for the demand of high performance digital processing chip, the development of DSP are also advanced, DSP has
Powerful operational performance, and the integrality of chip internal integrated functionality.
DSP is a core for being integrated in a single chip DSP circuit for controlling motor, greatly reduces hardware cost and chi
It is very little, it is easy to use.Compared to conventional one-piece machine, its arithmetic speed and process performance are the decades of times of the latter to DSP, are also implied that
More senior complicated algorithm can in dsp be realized to realize control, including neuron control, Kalman filtering, self adaptation
Control, fuzzy control etc., greatly enhance the reaction speed of system and the accuracy of control.The motion that DSP is carried
Control system has extremely extensive use range, will play guidance quality to each electric appliances or even the device drives in industrial production
Effect, particularly in refrigerator, washing machine, the aspect such as the household electrical appliance such as air-conditioning and industrial VFC.Dsp controller is with its knot
Structure is compact, easy to use, dependable performance, and function is strong, and the preference of numerous users has been obtained the advantages of cheap.
General motor control energy consumption is larger, using traditional control algorithm so that the reaction speed of system is slower, control essence
Degree is limited, it is impossible to meet actual demand.The present invention is for the software algorithm optimization in servo controller and inversion unit conversion speed
Degree, reduction conversion energy consumption are analyzed and researched, and by improving software algorithm, simplify original algorithm, save resources of chip
Take, it is ingenious in calculation procedure to eliminate calling for intermediate variable, therefore can largely improve the operation of whole system
Efficiency and velocity control accuracy.By this software algorithm, numeral is realized to space pulse width modulated wave based on DSP2812 chips
Change control, reduce the dependence to peripheral components, reduce cost, have wide range of applications, in the drive control of alternating current generator
There is good development prospect.
The content of the invention
The purpose of the present invention is a kind of SVPWM motor control assemblies based on DSP of design, solves energy in current motor control
Consumption is big, and control technology falls behind, system response speed problem low with efficiency slowly.
In order to realize foregoing invention purpose, the present invention devises hardware components and software section：
Hardware components：The main control panel for including carrying the chips of DSP 2812, light-coupled isolation module, power amplifier board, photoelectric coded disk,
AC power, servomotor, host computer.Annexation between each module is：Power amplifier board is responsible for receiving and performs control command,
Motor, and detection signal is fed back to control panel, respectively with control panel, AC power supply module（By light-coupled isolation module）With
Servomotor is connected.Control panel is by producing space vector PWM ripple（SVPWM）, controlled motor stator field angle and amplitude,
A/D conversions and coordinate transform etc. are completed, pwm control signal is sent and power amplifier board is sent to by light-coupled isolation module, while connecing
Motor is received with the detection signal of power amplifier board feedback to realize control, and measurement data is uploaded into host computer.Power amplifier board is by exchanging
Power module is powered, and is received by device for power switching motor after control signal, and feeds back signal to control panel, is realized
Closed-loop control.
The dsp chip is TMS320F2812, is motor control special chip, can be received and storage measurement data, is completed
The A/D conversions of measurement data and coordinate transform, receive and calculate position and the rotating speed of motor, the angle of controlled motor stator field
With amplitude and generation SVPWM control signals, communicated with host computer.
The light-coupled isolation module processes the electric signal exported on control panel realizing from 6N137 series isolating chips
Control to device for power switching, further driving heavy-duty motor.
The power amplifier board mainly includes：The PWM interfaces being connected with control panel, it is PWM isolation circuits, fault-signal interface, inverse
Become module, rectification module, voltage sample module, A/D sampling modules, Switching Power Supply, photoelectric coded disk, current Hall sensor,
Over-sampling modulate circuit etc.；Inversion module is received after pwm control signal by PWM interfaces and isolation circuit wherein in power amplifier board
Carry out driving power switching device and carry out motor, and by current Hall sensor, over-sampling modulate circuit and voltage sample module
The electric signal of the corresponding output of collection, in delivering to control panel, and realizes the anti-of detection signal in power amplifier board by A/D modular converters
Feedback.
The AC power supply module selects one piece of TPS70151 chip, and the power supply voltage stabilizing that 5V is input into is gone out into 1.8V,
The multiple power supplies of 3.3V, and multichannel is isolated into by inductance, to power to digital circuit respectively with analog circuit.
The photoelectric coded disk adopts the E6B2-CWZ3E model photoelectric encoders of Omron Corp, its output signal transmission
The QEP modules carried to DSP, two-way A, B therein are exported for testing the speed, and carry out the stator field of further controlled motor.
The servomotor selects SM060R20B30MN models, and rated power is 200W, by the power switch on power amplifier board
Device is driving, and the QEP modules being sent to the rotating speed of rotor and position by photoelectric coded disk in dsp chip.
Communication of the control panel with host computer is completed by the SCI modules on dsp chip, and communication interface selects chip
MAX485 constitutes communication module, and Transistor-Transistor Logic level is converted into RS-485 level, and by RS-485 buses host computer is uploaded to.
Software section：Invention software programming realization is all completed on the platform of CCCS5.5, to realize that motor control is wanted
The function of realization.Program of the present invention mainly solves following problem：
1. the angle and amplitude of controlled motor stator field（SVPWM modules）.How control servomotor, the function of program produces
The angle and amplitude of raw and controlled motor stator field, can export arbitrarily angled and amplitude stator field, just there is control electricity
The basis of machine.
2. the position of rotor is obtained by photoelectric coded disk.Motor encoder output is ABZ three-phase signals, DSP
Inside comes with code device signal interface module QEP module, by configuring this module, can be counted outside AB signals
Number, current count value is exactly the current angle of rotor divided by the umber of pulse of a circle, you can further go controlled motor stator magnet
The angle of field.
3. absorbing external input signal.The output that user is arranged, may be in moment from 0 mutation to a very big value, electricity
Machine obtains a very high voltage suddenly, but now motor is not turned over, and without back-emf, now electric current will be very big, reaches
Less than the effect of soft start.Input signal is entered row buffering by this program by ramp function " Rmp_cntl " module, is reached
The effect of soft start.
4. the rotor-position computing for measuring is passed through into current speed.By fixed time interval 1ms in program,
The position of rotor twice is surveyed, twice the difference of rotor-position is divided by the time, you can obtain present speed.
5. motor produces the common results that power output is rotor field and stator field effect.Motor is allowed to rotate it is necessary to allow
Stator field is spatially advanced or delayed 90 ° of rotor field, and the power in this direction is exactly QS.If it is advanced be not 90 ° but
Other angles, this angle can resolve into a vertical rotor magnetic field, the power with parallel rotor field.Vertical generation power
Output, parallel just can strengthen or weaken rotor field.Ordinary circumstance is the power in only output vertical rotor magnetic field, it is ensured that heating
Minimum, efficiency highest.
According to the reckoning of SVPWM control strategy algorithms, with reference to the chip feature of DSP2812, program mainly initializes system
System, comprising the step of have：In initialization system clock, the disconnected Central Shanxi Plain and removing interrupt identification, initialization interrupt register, initialization
Disconnected vector table, the program for needing to copy in RAM is replicated, initialize flash registers, initialization I/O port, initialization
EVA, initialization AD, initialization serial ports SCIB etc..
Compared with prior art, innovation of the invention with have an advantage that：
1. general motor control reaction speed is slow, and control accuracy is limited, present invention improves over software algorithm, simplifies original
Traditional algorithm, cleverly eliminates calling for intermediate variable in calculation procedure, saves chip and takes resource, can be largely
The operational efficiency and velocity control accuracy of raising system.
2. new high-performance low-power-consumption hardware is used, software algorithm is combined with DSP2812 chips, designed program
Compatibility is good, and hardware system reduces the dependence to peripheral components, low cost, applied range.
Description of the drawings
Fig. 1 is a kind of hardware architecture block diagram of SVPWM motor control assemblies based on DSP of the present invention.
Fig. 2 is a kind of DSP periphery circuit design block diagrams of SVPWM motor control assemblies based on DSP of the present invention.
Fig. 3 is a kind of power circuit board design frame chart of SVPWM motor control assemblies based on DSP of the present invention.
Fig. 4 is system initialization journey in a kind of software section based on the SVPWM motor control assemblies of DSP of the present invention
Program flow diagram.
Fig. 5 is QEP photoelectric codings in a kind of software section based on the SVPWM motor control assemblies of DSP of the present invention
The program flow diagram of disk and control panel SVPWM output modules.
Specific embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
Fig. 1 show a kind of hardware architecture block diagram of SVPWM motor control assemblies based on DSP of the present invention,
The main control panel for including carrying the chips of DSP 2812, light-coupled isolation module, power amplifier board, photoelectric coded disk, AC power, servo
Motor, host computer.DSP2812 chips in control panel can produce space vector PWM ripple（SVPWM）, controlled motor stator field
Angle and amplitude, detect electric current loop, complete A/D conversions with coordinate transform etc., output SVPWM signals and Jing light-coupled isolation modules
Be converted to after process can the signal of driving power switching device be sent to power amplifier board, further carry out motor rotation.It is simultaneously logical
The electric signal exported on power amplifier board is fed back to DSP cores by overcurrent Hall element, voltage sample module and over-sampling modulate circuit
The A/D modular converters of piece, the rotor data of motor are fed back to the QEP modules of dsp chip by photoelectric coded disk, form closed loop
Control.Dsp chip will be measured by SCI modules and RS-485 circuits and be uploaded to host computer with calculating data and shown and supervised
Survey.
The dsp chip is TMS320F2812, is motor control special chip, can be received and storage measurement data, is completed
The A/D conversions of measurement data and coordinate transform, receive and calculate position and the rotating speed of motor, the angle of controlled motor stator field
With amplitude and generation SVPWM control signals, communicated with host computer.
The light-coupled isolation module processes the electric signal exported on control panel realizing from 6N137 series isolating chips
Control to device for power switching, further driving heavy-duty motor.
The power amplifier board mainly includes：The PWM interfaces being connected with control panel, it is PWM isolation circuits, fault-signal interface, inverse
Become module, rectification module, voltage sample module, A/D sampling modules, Switching Power Supply, photoelectric coded disk, current Hall sensor,
Over-sampling modulate circuit etc., is powered by AC power supply module；Inversion module passes through PWM interfaces and isolates wherein in power amplifier board
Circuit receives SVPWM control signals, and later driving power switching device carrys out motor, and by current Hall sensor, adopt
The electric signal of sample modulate circuit output corresponding to the collection of voltage sample module, in delivering to control panel, and by A/D modular converter realities
The feedback of detection signal in existing power amplifier board.
The AC power supply module selects one piece of TPS70151 chip, and the power supply voltage stabilizing that 5V is input into is gone out into 1.8V,
The multiple power supplies of 3.3V, and multichannel is isolated into by inductance, to power to digital circuit respectively with analog circuit.
The photoelectric coded disk adopts the E6B2-CWZ3E model photoelectric encoders of Omron Corp, its output signal transmission
The QEP modules carried to DSP, two-way A, B therein are exported for testing the speed, and carry out the stator field of further controlled motor.
The servomotor selects SM060R20B30MN models, and rated power is 200W, by the power switch on power amplifier board
Device is driving, and the QEP modules being sent to the rotating speed of rotor and position by photoelectric coded disk in dsp chip.
Communication of the control panel with host computer is completed by the SCI modules on dsp chip, and communication interface selects chip
MAX485 constitutes communication module, and Transistor-Transistor Logic level is converted into RS-485 level, and by RS-485 buses host computer is uploaded to.
Fig. 2 show a kind of DSP periphery circuit design frames of SVPWM motor control assemblies based on DSP of the present invention
Figure.Mainly contain：On-off signal, switching value interface, SCI modules, UART modules, host computer, liquid crystal driving module, electricity
Stream ring detection module, eCAN modules, external interrupt module, EEPROM, A/D modular converter etc..DSP2812 chips and its periphery electricity
Road is mainly used to complete A/D conversions in Frequency conversion control system, the angle of controlled motor stator field and amplitude, detection electricity
Stream ring etc., then produce space vector PWM ripple with space vector control algorithm（SVPWM）.
Fig. 3 show a kind of power circuit board design frame of SVPWM motor control assemblies based on DSP of the present invention
Figure.Mainly include：The PWM interfaces that are connected with control panel, PWM isolation circuits, fault-signal interface, inversion module, rectification module,
Voltage sample module, A/D sampling modules, Switching Power Supply, photoelectric coded disk, current Hall sensor, over-sampling modulate circuit etc..Control
Signal processed sends into inversion module and carrys out driving power switching device via PWM interfaces and isolation circuit, so as to further motor.
The current signal of inversion module output is gathered by current Hall sensor, via over-sampling modulate circuit A/D Sampling Interfaces are sent into；Adopt
A/D Sampling Interfaces are sampled and are sent into DC voltage with voltage sampling module；Rotor is gathered using position sensor
Speed and positional information send into A/D Sampling Interfaces.Fault-signal can be fed back to control by inversion module by fault-signal interface
Dsp chip in making sheet, is monitored and protection to inversion module.
It is initial that Fig. 4 show system in a kind of software section based on the SVPWM motor control assemblies of DSP of the present invention
Change program flow diagram.System Initialization Procedure figure is also the main program of system, mainly completes various variables initial with register
Change.First initialization system clock, turns off and interrupts and remove interrupt identification, initializes interrupt control register and interrupt vector
Table, by required program copy to RAM, initialization flash registers, I/O port, EVA, AD, serial ports SCIB, then setting is interrupted
Service routine entry address, and timer underflow interruption is enabled, opens interrupters and global interrupt is allowed, subsequently enter for and follow
Ring, judges that timing, whether more than 10ms, if being more than 10ms, updates the display data on charactron, if being less than 10ms,
Determine whether to enable operation, if so, then open EVA, enable PWM delivery outlet control signals, if it is not, then closing EVA, forbid
PWM delivery outlet control signals, and terminate for circulations.
Fig. 5 show QEP photoelectricity in a kind of software section based on the SVPWM motor control assemblies of DSP of the present invention
The program flow diagram of coding disk and control panel SVPWM output modules.It is first begin to arrange the interrupt service routine of timer 1, clearly
Except interrupt identification, make counting variable increase by 1, and run A/D module reading subprogram, read hall signals；Then QEP moulds are processed
Whether block, reads the angle of the rotor come by photoelectric coded disk feeding, judge to interrupt and support more than 20 times, if exceeding,
Current spinner velocity is calculated by angle step；If not less than whether the hall patterns for judging just upper electricity are open loop mould
Formula, dutycycle Vq for if so, then setting user is sent into RMPCNTL slopes generation module and is calculated, and oblique using RMPCNTL
The rotor angle value that the output valve of slope generation module is measured with hall is successively input into IPARK conversion modules and SVGENDQ modules,
So as to calculate three-phase dutyfactor value TA, TB, TC, further according to three-phase dutyfactor value current PWM output control signals are changed.If no
It is open loop mode, then needs to judge whether encoder is open loop mode, dutycycle Vq for if so, then setting user is sent into
RMPCNTL slopes generation module is calculated, and the output valve using RMPCNTL slopes generation module and turning that encoder is measured
Subangle value is successively input into IPARK conversion modules and SVGENDQ modules, so as to calculate three-phase dutyfactor value TA, TB, TC,
Change current PWM output control signals further according to three-phase dutyfactor value；If it is not, then just upper electricity hall mode of operations should be open loop
Pattern, is performed by step noted earlier.
Finally it should be noted that：Above example only to illustrate technical scheme rather than a limitation, institute
The those of ordinary skill in category field with reference to above-described embodiment still can to the present invention specific embodiment modify or
Equivalent, these any modifications or equivalent without departing from spirit and scope of the invention are applying for pending this
Within bright claims.
Claims (9)
1. a kind of SVPWM motor control assemblies based on DSP, is characterized in that described device includes carrying dsp chip
The control panel of TMS320F2812, light-coupled isolation module, power amplifier board, photoelectric coded disk, AC power, servomotor, host computer；
Annexation between each module is：Power amplifier board is responsible for the reception of control command and execution, the feedback of detection signal, respectively with control
Making sheet（By light-coupled isolation module）, AC power supply module is connected with servomotor；Control panel with DSP2812 chips as core,
Realize space vector PWM ripple（SVPWM）Generation, the detection to electric current loop, the control of the angle to motor stator magnetic field and amplitude
System, A/D conversions and coordinate transform etc., and pwm control signal is sent, power amplifier board is sent to after light-coupled isolation resume module,
The rotor measurement data that real-time reception is measured by photoelectric coded disk；Power amplifier board is powered by AC power supply module, receives PWM
After control signal, the control to motor is realized by the device for power switching on power amplifier board, while feeding back detection signal to control
Plate, realizes closed-loop control；Measurement data uploads to host computer and is monitored by the communication module on control panel.
2. a kind of SVPWM motor control assemblies based on DSP according to claim 1, it is characterised in that：DSP used
The high-performance 32-bit fixed point digital signal of the TMS320C28+ kernel compatible based on code that control chip is produced using TI companies
Processor TMS320F2812 is used as control core.
3. a kind of SVPWM motor control assemblies based on DSP according to claim 1, it is characterised in that：DSP2812 cores
The burning program of piece, debugging and emulation are all carried out by jtag interface.
4. a kind of SVPWM motor control assemblies based on DSP according to claim 1, it is characterised in that：AC power is selected
With one piece of TPS70151 chip, the power supply voltage stabilizing that 5V is input into is gone out into 1.8V, the multiple power supplies of 3.3V, and be isolated into by inductance many
Road, to power to digital circuit respectively with analog circuit.
5. a kind of SVPWM motor control assemblies based on DSP according to claim 1, it is characterised in that：Main control computer
Data are transmitted by CAN and DSP between, CAN transceiving chip SN65H are devised in peripheral circuit, realize DSP with
The communication function of CAN.
6. a kind of SVPWM motor control assemblies based on DSP according to claim 1, it is characterised in that：Using QEP light
Electric coding disk realizes the positioning and speed measuring function of rotor, and obtaining the current angle of rotor can just remove controlled motor stator field
Angle.
7. a kind of SVPWM motor control assemblies based on DSP according to claim 1, it is characterised in that：It is same on control panel
When possess UART232 and two kinds of communication modules of RS485, be easy to and upper machine communication, networking communication strengthens extensibility；From
Chip MAX485 constitutes the communication that RS485 communication modules realize DSP and host computer.
8. a kind of SVPWM motor control assemblies based on DSP according to claim 1, it is characterised in that：Add optocoupler every
From module, from 6N137 series isolating chips, process the electric signal that exports on control panel to drive heavy-duty motor.
9. a kind of SVPWM motor control assemblies based on DSP according to claim 1, it is characterised in that：DSP2812's
In control panel, main hardware module has：On-off signal, switching value interface, SCI modules, UART modules, liquid crystal driving
Module, electric current loop detection module, eCAN modules, external interrupt module, EEROM, A/D modular converter etc.;The circuit of power amplifier board is hard
Part design mainly includes：PWM interfaces, PWM isolation circuits, fault-signal interface, inversion module, the rectification mould being connected with control panel
Block, voltage sample module, A/D sampling modules, Switching Power Supply, photoelectric coded disk, current Hall sensor, over-sampling modulate circuit
Deng；
The inversion module receives PWM controls using PM50CSE060 types IPM of Mitsubishi production by light-coupled isolation module
Signal realizes that the break-make of device for power switching carrys out motor；
The current Hall sensor realizes the collection to biphase current, current acquisition scope using Hall element CS040GT
For -80A ~ 80A；
The Switching Power Supply selects the GZM-H100T5+12-12 Switching Power Supplies that general moral nova power technology company is produced to work(
Module for power supply on rate plate, and obtain corresponding supply voltage with reference to WRB121YD-8W type power transfer modules.
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Application publication date: 20170510 |