CN107017805A - A kind of high-power square wave brushless direct current motor controller - Google Patents
A kind of high-power square wave brushless direct current motor controller Download PDFInfo
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Abstract
A kind of high-power square wave brushless direct current motor controller; it is related to a kind of electric machine controller, controller of the present invention includes DSP and CPLD and controller module for core, analog signal sampling module, drive circuit module, power IGBT module, hardware protection circuit module and the communication interface modules of RS 485, relay module, CAN, EEPROM memory modules is used in combination.DSP＆CPLD core controllers are the alternating current required for brshless DC motor by controlling the turn-on sequence of the switching tube of three phase full bridge inversion module, by the DC inverter, and wherein DSP＆CPLD core controllers pass through level conversion transceiver（74HCT245）Realize the driving to three-phase full-bridge inverter.The present invention proposes a kind of circuit design based on the DSP and CPLD brushless direct-current controllers combined, tries hard to realize while high-power driving, realizes that brushless electric machine efficiency is maximized and power maximization problems by the way that the electric current moment is square wave.
Description
Technical field
The present invention relates to a kind of electric machine controller, more particularly to a kind of high-power square wave brushless direct current motor controller.
Background technology
In embedded systems, brushless direct current motor grows up on the basis of brush DC motors.Will
Direct current energy is converted into the dc motor of mechanical energy by feat of its speed adjustable range is wider, detent torque is larger, control circuit letter
The features such as single, mechanical property is linearized is widely used in Electric Traction.But, brush DC motors are because of its machine
Spark is easily produced during tool commutation, mechanical brush and commutator need mandatory contact, the structure of complexity are made it have, so that shadow
The reliability and precision of its performance have been rung, has also been exactly that, because its is complicated, maintenance is extremely inconvenient but because brush and machinery are changed
To the presence of device, its development and application are limited.The bad consequence of mechanical commutation is that brush produces harmfulness spark, sternly
There may be ring fire during weight, seem especially prominent in heavy-duty motor.Meanwhile, dc motor commutation spark can cause to nothing
The electromagnetic interference of line telecommunication and control device, rotating speed is also limited by mechanical commutation and can not be very high, and these shortcomings are very
It is not fundamentally improved in for a long time.
With Power Electronic Technique, the production technology of high performance magnetic material and production process automatic technology it is fast
Speed development, DC brushless motor is achieved and has significant progress.DC brushless motor is to be replaced to pass by electronic commutator
The mechanical brush and machinery of system are earned to device, and the motor not only remains the original speed-regulating range width of dc motor, detent torque
Greatly, the advantages of control circuit is simple, also has the advantages that the reliable, easy to maintenance of ac motor, so as to become
The trend of motor development from now on.It is well known that brshless DC motor is made up of three parts, it is respectively：Motor body, hall position
Sensor, electric machine controller.On the other hand, hall position sensor is arranged on motor internal, makes controller compacter.Simultaneously
The control mode of brshless DC motor, is also gradually realized from simulated to digitized transformation.
With the high speed development of science and technology, the species and function of all kinds of high-performance microcontrollers for motor control are increasingly
Abundant, arithmetic speed there has also been leaping for matter, while price is also more and more cheaper, the TMS320F28335 that for example TI companies release
Dedicated for the singlechip chip of motor control, it is internal with general purpose timer, various integrated peripheral hardwares, powerful, convenient
Motor control, work dominant frequency can 150MHz, on hardware foundation, can be completely achieved most alternating current generators real-time control calculate
Method.
For motor drive module, what most of existing motor drive module was more at present employs IGBT module
Realize the inversion function of three phase full bridge, the advantage of this method is that integrated level is high, circuit structure is simple；Have the disadvantage that price is high, once
Damage, it is necessary to replace whole module, maintenance cost is high.
In terms of automobile application, the drive-train efficiency of automobile is particularly critical, so automobile brshless DC motor control
The high efficiency of system is particularly important, therefore automobile is gradually realizing the maximization of efficiency with brushless DC motor control system.
In BLDCM digital control fields, most classical control design case is no more than DSP and CPLD combination, present invention control
Device selects the TMS320F28335 control chips that TI is released, and compared with other chips, TMS320F28335 substantially increases motor
Control accuracy and corresponding speed, while TMS320F28335 has powerful peripheral functionality, and provide abundant routine, shorten
Development time；On the other hand, DSP and CPLD combinations are compared with other chips, and reliability is high, and flexible design.
The content of the invention
It is an object of the invention to provide a kind of high-power square wave brushless direct current motor controller, the present invention proposes one kind
Based on the circuit design of the DSP and CPLD brushless direct-current controllers combined, try hard to realize while high-power driving, pass through electricity
The stream moment is square wave to realize that brushless electric machine efficiency is maximized and power maximization problems.
The purpose of the present invention is achieved through the following technical solutions：
Core control is used in combination including DSP and CPLD in a kind of high-power square wave brushless direct current motor controller, the controller
Module, analog signal sampling module, electrical isolation module, IGBT drive module, hardware protection circuit module, relay module,
EEPROM memory modules, CAN and RS-485 communication interface modules；Analog signal sampling module is connected to driving power supply
Between module and DSP AD interfaces, isolation circuit module be connected to IGBT drive module and CPLD pwm signal output end it
Between；RS-485 communication interface modules is connected between DSP chip-on communications mouthful and host computer；CPLD interface and BLDCM is suddenly
You are connected at detection mouth；CAN is connected between DSP CAN interface and other host computers；Hardware protection circuit module connects
It is connected on plan signal sampling module and CPLD pieces between fault verification interface；It is female that power driver module is connected to driving power supply direct current
Between line and BLDCM three-phase windings lead-out wires；Relay module is connected to CPLD.
A kind of described high-power square wave brushless direct current motor controller, the analog signal sampling module is adopted including voltage
Egf block, current sample module, Non-commutation phase current selecting module, absolute value circuit module, wherein voltage sample module are electricity
Hinder partial pressure isolation detection formula, including connector J7, resistance R27, resistance R28, electric capacity C27, resistance R27, resistance R29, voltage with
The integrating circuit constituted with device U26A, resistance R80, C52 and U26B, resistance R39, precision linear optocoupler U29
（HCAR201）, C57 resistance R45 and U50A composition integrating circuit, resistance R89, voltage follower U50B, resistance R90, wherein
J7 5 ports connect the positive pole of busbar voltage, and the negative pole that 1 port connects wireless voltage that is to say ground, and mono- section of R27 is connected on J7 port,
One section constitutes loop ground connection with R28 R77, and R28 is in parallel with C77, and R29 one end is connected with R77 one end, and an end is connected on voltage follow
Device U26A positive pole, the ends of C52 mono- are connected on U26B negative pole, and an end is connected on output end, and U26B plus earth, the ends of R39 mono- are connected on
U26B output end a, end is connected on precision linear optocoupler U29 1 interface, and U29 2 ports connect+15VA power supplys, the 3 of U29
Port connects U26B negative pole, and U29 4 ports connect simulation ground, and U29 5 ports connect simulation ground, and U29 6 ports connect voltage follower
U50B negative pole, C57 and resistance the R45 latter negative pole for terminating at U50B in parallel, an end is connected on U50B negative pole, U50B positive pole
Ground connection, the ends of R89 mono- are connected on U50B output end, and an end is connected on voltage follower U50B positive pole, and the ends of R90 mono- are connected on the defeated of U50B
Go out end, an end is connected on DSP AD sample ports；Wherein current sample module includes current transformer CSNS200M002S, resistance
R1, resistance R2, resistance R30, electric capacity C47, resistance R2, voltage follower U1A, the wherein ends of resistance R1 mono- are connected on current transformer
4 pins, one end is connected with resistance R30, is grounded after series connection, electric capacity C47 parallel connections and resistance R30, and the ends of resistance R2 mono- are connected on resistance R30
One section be connected on voltage follower 3 ports, voltage follower U1A 1 port output I_U.Wherein Non-commutation phase current selects mould
Block includes analog signal selection chip U2（CD4051）, resistance R43, R38, electric capacity C55, wherein U2 9 10 11 ports connect three
Road code-disc signal, 13 ports ground connection, 16 ports connect 5V power supplys, and U2 125 ports meet the analog signal I_W after sampling respectively
, I_V, I_U, U2 468 ports are all grounded, and U2 7 ports connect 5V power supplys, and C55 mono- terminates U2 16 ports, one end ground connection；
Wherein absolute value circuit module includes resistance R37, resistance R38, resistance R40, resistance R41, resistance R42, resistance R43, resistance
R44, resistance R46, resistance R47, diode D4, diode D6, operational amplifier U28A, operational amplifier U28B, voltage follow
Device U30A, the wherein ends of resistance R41 mono- are connected on U2 3 ports, and an end is connected on U28B negative pole, and the ends of R42 mono- are connected on U28B 6 ends
Mouthful, one section be connected on diode D6 anode, diode D6 negative electrode is connected on U28A output end, and the end of diode D4 anodes one is connected on
U28A output end, negative electrode is connected on U28A negative pole, and the ends of R37 mono- are connected on U28A positive pole, and one end is grounded, and the ends of R38 mono- are connected on
U28A negative pole a, end is connected on U2 3 ports, and the ends of R46 mono- are connected on U28B negative pole, and an end is connected on U28B output end, R44 mono-
U28B positive pole is terminated at, one end ground connection, the ends of resistance R47 mono- are connected on U28B output end, and an end is connected on U30A positive pole, resistance
The ends of R43 mono- are connected on U30A output end, and a termination is output to AD thief hatch.
A kind of described high-power square wave brushless direct current motor controller, the overcurrent protection module includes resistance R3, electricity
Hinder R6, resistance R7, resistance R8, resistance R9, resistance R11, slide rheostat U3, electric capacity C4, operational amplifier U4B, light-emitting diodes
Pipe D1,15V analog power, 3.3V digital powers, U3 series connection more than optocoupler U6, wherein R3, R3 other end ground connection, the U3 other end
15V analog powers are connect, R7 connects one end with R8, another to terminate on U2, the positive pole of R8 another termination operational amplifier, R9 mono-
One end that termination R7 connects with R8, the output end of a termination operational amplifier, resistance R6 one end ground connection, a termination operational amplifier
Negative pole, light emitting diode negative pole connects the output end of operational amplifier, and the Cathode ends of a termination optocoupler U6, R11 mono- is terminated
15V analog powers, the Anode ends of a termination U6,3.3V digital powers are connected to U6 VCC ends, U6 GND ground connection, electric capacity C4 mono-
Terminate at digital power 3.3V, one end ground connection.
A kind of described high-power square wave brushless direct current motor controller, the relay module includes relay K1, K2,
Diode D6, D7, triode Q1, Q2, optocoupler U46, U47, resistance R68, resistance R69, resistance R70, resistance R105, resistance
R106, resistance R107, wherein K1 8 ports connect 12V digital powers, connect diode D6 negative electrode, and D6 anode connects K1 1 port
With triode Q1 colelctor electrode, the ends of resistance R68 mono- are connected on triode Q1 collector, and an end is connected on emitter stage, are grounded simultaneously, resistance
The ends of R69 mono- are connected on Q1 triode Q1 collector, and an end is connected on U46 Cathode ends, U46 Anode termination 12V numeral electricity
It is grounded after source, U46 Collector ends output signal, U46 Emitter terminating resistors R70.Wherein K2 8 ports meet 12V
Digital power, connects diode D7 negative electrode, and D7 anode connects K2 1 port and triode Q2 colelctor electrode, resistance R105 one end
Triode Q2 collector is connected on, an end is connected on emitter stage, be grounded simultaneously, the ends of resistance R106 mono- are connected on triode Q2 collector, one
Terminate at U47 Cathode ends, U47 Anode termination 12V digital powers, U46 Collector ends output signal, U46's
It is grounded after Emitter terminating resistors R107.
A kind of described high-power square wave brushless direct current motor controller, the CAN include resistance R64,
R65, R6, R67, electric capacity C67, C68, tantalum electric capacity E19, U7（CTM-1050）, COM3 interface J5,3.3V power supply, 5V power supplys VCC；
Wherein, the ends of R64 mono- are connected on 3.3V power supplys, and an end is connected on U7 4 pins, and the ends of R65 mono- are connected on 3.3V power supplys, and an end is connected on the 3 of U7
Pin, U7 2 pins ground connection, 1 pin meet VCC, and C67, E19 are in parallel, and C67 one end ground connection one terminates VCC, E19 one end ground connection one
VCC is terminated, U7 6 pins are connected with J5 3 interfaces, and U7 7 pins are connected with J5 2 interfaces, R67 mono- terminates U7 6 pins
With on the line of J5 3 interfaces, an end is connected on U7 7 pins and J5 2 interfaces, and R66 is in parallel with C68, and an end is connected on the 8 of U7
Interface a, end is connected on J5 1 interface.
A kind of described high-power square wave brushless direct current motor controller, the RS-485 communication modules include resistance R69,
R70, R71, electric capacity C69, tantalum electric capacity E20, U8（RSM3485）, 3.3V power supplys, CON interfaces J6；The wherein ends of R69 mono- are connected on 3.3V
Power supply a, end is connected on U8 3 pins, and the ends of R70 mono- are connected on 3.3V power supplys, and an end is connected on U8 4 pins, and the ends of R71 mono- are connected on 3.3V
Power supply a, end is connected on U8 5 pins, and the ends of C69 mono- are connected on 3.3V power supplys, and one end is grounded, and the ends of E20 mono- are connected on 3.3V power supplys, one end
Ground connection, U8 1 pin connects 3.3V power supplys, and 2 pins ground connection, U8 8 pins and J6 3 interfaces are connected, U8 9 pins and 2 interfaces
Connection.
A kind of described high-power square wave brushless direct current motor controller, the EEPROM memory modules include electric capacity R46,
R47, U3（24WC256）, 3.3V power supplys, a wherein R46 termination 3.3V power supplys, another termination U3 5 pins, R47 mono- terminates
3.3V power supplys, another termination U3 6 pins, altogether, U3 8 pins connect 3.3V power supplys, U3 7 pins to U3 1,2,3,4 pins
Ground connection.
A kind of described high-power square wave brushless direct current motor controller, the electrical isolation module includes U37
（74HCT245）, 5V digital powers, electric capacity C80, wherein 5V digital powers are connected on U37 20 pins, and the ends of C80 mono- are connected on U37's
20 pins, one end ground connection, U37 19 pins ground connection, U37 1 pin connects 5V digital powers, and U37 2-9 pins position connects control core
Piece, 11-18 pins connect IGBT drive module.
Advantages of the present invention is with effect：
The high-power square wave brushless direct current motor controller that a kind of dc source proposed by the present invention is powered, is combined using DSP
CPLD can greatly improve the control accuracy and stability of brshless DC motor, with being used as the brushless of master controller using other chips
DC motor controller is compared, and precision is higher, is more stablized.In terms of circuit design, analog sampling module has used Precision wire
Property optocoupler ensure that the separation of forceful electric power and light current in sampling process, and precise rectification circuit has been used in absolute value circuit,
The precision and reliability of sampling are ensure that, hardware protection module uses less integrated operational amplifier and comparator, completes
Detection and protection to bus current, is optimized circuit, while being driven using 74HCT245 to three phase full bridge module, kept away
Exempted from, weight big shortcoming big using IPM volume, from Printed Circuit Board Design aspect, substantially reduce controller volume with into
This.Make current waveform be square wave present invention employs current following method, greatly improve the efficiency of motor, while using double
PWM effectively reduces the torque pulsation of motor, improves the stationarity of motor operation, such as has splendid answer on electric automobile
Use promotion prospect.
Brief description of the drawings
Fig. 1 BLDCM controller general structure schematic diagrams；
Fig. 2 voltage sampling circuit schematic diagrams；
Fig. 3 current sampling circuit schematic diagrams；
Fig. 4 Non-commutation phase current selecting module circuit theory diagrams；
Fig. 5 absolute value circuit modular circuit schematic diagrams；
Fig. 6 overcurrent protection module circuit theory diagrams；
Fig. 7 relay module circuit theory diagrams；
Fig. 8 electrical isolation modular circuit schematic diagrams.
Embodiment
The present invention is described in detail for illustrated embodiment below in conjunction with the accompanying drawings.
The high-power square wave brushless direct current motor controller that a kind of dc source of the present invention is powered, including DSP and CPLD connection
Close using kernel control module, analog signal sampling module, isolation circuit module, IGBT drive module, hardware protection circuit mould
Block, relay module, EEPROM memory modules, CAN and RS-485 communication interface modules；Analog signal sampling module
It is connected between driving power module and DSP AD interfaces, the AD that DSP is input to after busbar voltage is sampled and nursed one's health connects
Mouthful, the AD interfaces that non-commutation mutually selects and DSP is input to after absolute value processing are carried out after three-phase current is sampled；Isolation electricity
Road module is connected between IGBT drive module and CPLD pwm signal output end, realizes the isolation to strong and weak electricity；RS-485 leads to
Letter interface module is connected between DSP chip-on communications mouthful and host computer, for the real-time processing of data and to BLDCM rotating speeds
Regulation, the control of state；CPLD interface is connected hall signal and place for detecting BLDCM with BLDCM Hall detection mouths
Hall signal is managed, the result of processing is input to DSP eCAP interfaces；CAN is connected and DSP CAN interface and its
Between his host computer, the communication for later and other host computers；Hardware protection circuit module is connected to plan signal sampling module
Between fault verification interface on CPLD pieces, the protection for realize the excessively stream to controller, overheating；Power driver module is connected to drive
Move between power DC bus and BLDCM three-phase windings lead-out wires, complete the driving to BLDCM；Relay module is connected to
CPLD is used for the port for cutting off busbar voltage and pre-charge resistance, and completion can cut off busbar voltage and pre-charge resistance in time.
Power driver module uses the IGBT three phase full bridge power inverting modules of company of Infineon using IGBT drive module,
Model FF600R12ME4.
DSP＆CPLD core controllers, main control chip DSP models TMS320F28335, CPLD are produced from ALTERA
EPM570TI100I5N in the family chips of MAX II.
Analog signal sampling module include voltage sample module, current sample module, Non-commutation phase current selecting module, absolutely
To value circuit module, wherein voltage sample module uses electric resistance partial pressure isolation detection method, including connector J7, resistance R27, electricity
R28, electric capacity C27, resistance R27, resistance R29, voltage follower U26A, the integrating circuit of resistance R80, C52 and U26B composition are hindered,
Resistance R39, precision linear optocoupler U29（HCAR201）, C57 resistance R45 and U50A composition integrating circuit, resistance R89,
Voltage follower U50B, resistance R90, wherein J7 5 ports connect the positive pole of busbar voltage, and 1 port connects the negative pole of wireless voltage
Be ground, mono- section of R27 is connected on J7 port, one section constitutes loop ground connection with R28 R77, and R28 is in parallel with C77, R29 one end and
R77 one end is connected, and an end is connected on voltage follower U26A positive pole, and the ends of C52 mono- are connected on U26B negative pole, and an end is connected on output
End, U26B plus earth, the ends of R39 mono- are connected on U26B output end, and an end is connected on precision linear optocoupler U29 1 interface,
U29 2 ports connect+15VA power supplys, and U29 3 ports connect U26B negative pole, and U29 4 ports connect simulation ground, and U29 5 ports connect
Simulation ground, U29 6 ports connect voltage follower U50B negative pole, C57 and the resistance R45 latter negative poles for terminating at U50B in parallel,
One end is connected on U50B negative pole, and U50B plus earth, the ends of R89 mono- are connected on U50B output end, and an end is connected on voltage follower
U50B positive pole, the ends of R90 mono- are connected on U50B output end, and an end is connected on DSP AD sample ports.Wherein current sample module bag
Current transformer CSNS200M002S, resistance R1, resistance R2, resistance R30, electric capacity C47, resistance R2, voltage follower U1A are included,
Wherein the ends of resistance R1 mono- are connected on 4 pins of current transformer, and one end is connected with resistance R30, are grounded after series connection, and electric capacity C47 is in parallel
With resistance R30, the ends of resistance R2 mono- are connected on 3 ports that mono- section of resistance R30 is connected on voltage follower, voltage follower U1A 1 port
Export I_U.Wherein Non-commutation phase current selecting module includes analog signal selection chip U2（CD4051）, resistance R43, R38, electricity
Hold C55, wherein U2 9 10 11 ports connect three road code-disc signals, and 13 ports are grounded, and 16 ports connect 5V power supplys, the 125 of U2
Port meets analog signal I_W, I_V, I_U after sampling respectively, and U2 468 ports are all grounded, and U2 7 ports connect 5V power supplys,
C55 mono- terminates U2 16 ports, one end ground connection.Wherein absolute value circuit module includes resistance R37, resistance R38, resistance R40, electricity
Hinder R41, resistance R42, resistance R43, resistance R44, resistance R46, resistance R47, diode D4, diode D6, operational amplifier
U28A, operational amplifier U28B, voltage follower U30A, the wherein ends of resistance R41 mono- are connected on U2 3 ports, and an end is connected on U28B
Negative pole, the ends of R42 mono- are connected on U28B 6 ports, one section be connected on diode D6 anode, diode D6 negative electrode is connected on U28A's
Output end, the end of diode D4 anodes one is connected on U28A output end, and negative electrode is connected on U28A negative pole, and the ends of R37 mono- are connected on U28A's
Positive pole, one end ground connection, the ends of R38 mono- are connected on U28A negative pole, and an end is connected on U2 3 ports, and the ends of R46 mono- are connected on U28B negative pole,
One end is connected on U28B output end, and the ends of R44 mono- are connected on U28B positive pole, and one end is grounded, and the ends of resistance R47 mono- are connected on U28B output
End a, end is connected on U30A positive pole, and the ends of resistance R43 mono- are connected on U30A output end, and a termination is output to AD thief hatch.
Overcurrent protection module includes resistance R3, resistance R6, resistance R7, resistance R8, resistance R9, resistance R11, slide rheostat
U3, electric capacity C4, operational amplifier U4B, light emitting diode D1,15V analog power, 3.3V digital powers, more than optocoupler U6, wherein R3
U3 connects, R3 other end ground connection, U3 another termination 15V analog powers, and R7 connects one end with R8, another to terminate on U2,
The positive pole of R8 another termination operational amplifier, one end that the terminations of R9 mono- R7 connects with R8, the output of a termination operational amplifier
End, resistance R6 one end ground connection, the negative pole of a termination operational amplifier, light emitting diode negative pole connects the output end of operational amplifier,
One termination optocoupler U6 Cathode ends, the termination 15V analog powers of R11 mono-, the Anode ends of a termination U6,3.3V digital powers connect
To U6 VCC ends, U6 GND is grounded, and the ends of electric capacity C4 mono- are connected on digital power 3.3V, one end ground connection.
CAN includes resistance R64, R65, R6, R67, electric capacity C67, C68, tantalum electric capacity E19, U7（CTM-1050）,
COM3 interfaces J5,3.3V power supply, 5V power supply VCC, wherein, the ends of R64 mono- are connected on 3.3V power supplys, and an end is connected on U7 4 pins, R65
One end is connected on 3.3V power supplys, and an end is connected on U7 3 pins, and U7 2 pins ground connection, 1 pin meet VCC, and C67, E19 are in parallel, C67 mono-
End ground connection one terminates VCC, and E19 one end ground connection one terminates VCC, and U7 6 pins are connected with J5 3 interfaces, U7 7 pins and J5's
2 interfaces are connected, and on the line of the terminations of R67 mono- U7 6 pins and J5 3 interfaces, an end is connected on U7 7 pins and J5 2 interfaces
On, R66 is in parallel with C68, and an end is connected on U7 8 interfaces, and an end is connected on J5 1 interface.
RS-485 communication modules include resistance R69, R70, R71, electric capacity C69, tantalum electric capacity E20, U8（RSM3485）, 3.3V
Power supply, CON interfaces J6.Wherein the ends of R69 mono- are connected on 3.3V power supplys, and an end is connected on U8 3 pins, and the ends of R70 mono- are connected on 3.3V power supplys,
One end is connected on U8 4 pins, and the ends of R71 mono- are connected on 3.3V power supplys, and an end is connected on U8 5 pins, and the ends of C69 mono- are connected on 3.3V power supplys,
One end is grounded, and the ends of E20 mono- are connected on 3.3V power supplys, and one end ground connection, U8 1 pin connects 3.3V power supplys, 2 pins ground connection, U8 8 pins
It is connected with J6 3 interfaces, U8 9 pins are connected with 2 interfaces.
EEPROM memory modules include electric capacity R46, R47, U3（24WC256）, 3.3V power supplys, a wherein R46 termination
3.3V power supplys, another termination U3 5 pins, the termination 3.3V power supplys of R47 mono-, another termination U3 6 pins, U3 1,2,3,4 pipes
Altogether, U3 8 pins connect 3.3V power supplys, U3 7 pins ground connection to pin.
Electrical isolation module includes U37（74HCT245）, 5V digital powers, electric capacity C80, wherein 5V digital powers are connected on
U37 20 pins, the ends of C80 mono- are connected on U37 20 pins, and one end ground connection, U37 19 pins ground connection, U37 1 pin connects 5V numbers
Word power supply, U37 2-9 pins position connects control chip, and 11-18 pins connect IGBT drive module.
The course of work：After control electricity carries out upper electricity, controller carries out power-on self-test, and DSP＆CPLD core controllers enter
Row resets；After electricity in driving power supply, analog signal sampling module collection busbar voltage and electric current, and will be after conditioning
Obtained busbar voltage feeding DSP core controller AD interfaces carry out AD conversions, while obtained digital quantity will be converted by solving
Host computer is uploaded to by RS-485 communication modules after calculation, in order to carry out busbar voltage monitoring in real time and the core of power
Calculate, the electric current of non-commutation phase at the same time after Non-commutation phase current selection circuit, will be selected from the electric current after sampling, will be selected
The electric current gone out sends into DSP core controller AD interfaces after absolute value circuit and carries out AD conversions, while obtained number will be converted
Word amount is uploaded to host computer after resolving by RS-485 communication modules, real-time in order to carry out Non-commutation phase current
Monitoring and the accounting of power；At the same time, the PWM ripples that the CPLD in core controller is produced are by controlling three phase full bridge inversion mould
The turn-on sequence of the switching tube of block, is the alternating current required for brshless DC motor by the DC inverter；Wherein CPLD cores
Controller realizes driving to three-phase full-bridge inverter by electrical isolation module 74HCT245, and realize forceful electric power and light current every
From；Overcurrent protection module is carried out by the bus current value and the threshold value of setting protection for exporting analog signal sampling module in real time
Compare, when it is determined that current value is more than its protection value, PWM outputs are closed by CPLD, motor is realized stoppage protection；CPLD leads to
Cross detection hall signal to judge BLDCM rotor-position, while testing the speed to BLDCM by DSP eCAP modules.
Host computer is by 485 communication modules to DSP transfer destination speed, and DSP obtains the actual speed of motor by eCAP module samples,
Actual speed and rotating speed of target are obtained into target current, target current and the electric current sampled by AD by the processing of current following method
Compare, electric current just turns off corresponding IGBT more than target current, allow electric current oneself lower less than target current certain value it
Afterwards, then corresponding IGBT is opened, such actual current just follows target current always, forms square wave.
Embodiment
As shown in figure 1, the present invention includes DSP＆CPLD core controllers module, analog signal sampling module, isolation circuit
Module, IGBT drive module, hardware protection circuit module, relay module, EEPROM memory modules, CAN and RS-
485 communication interface modules.Power driver module is using the IGBT three phase full bridge power inverting modules of company of Infineon, model
For FF600R12ME4, its internal single IGBT maximums collection-emitter voltage VCES=600V, maximum collector current IC=300A,
Meet the driving power requirement of this heavy-duty motor.Hardware circuit protection module is mainly the DC bus current by collecting
Instantaneous value effectively detected with the electric current that sets before, realize the overcurrent protection of controller.
DSP＆CPLD core controllers are by controlling the turn-on sequence of the switching tube of three phase full bridge inversion module, by the direct current
Electric inversion is the alternating current required for brshless DC motor, and wherein DSP＆CPLD core controllers pass through optocoupler (HCPL-316J)
Realize the driving to three-phase full-bridge inverter.On the other hand, electrical level transferring chip can also be utilized（74HCT245）Level is entered
Row conversion, isolates while being realized to power electricity part with weak current part, so as to ensure the safe operation of system.DSP＆CPLD cores
Controller module is also with analog signal sampling module, relay module, EEPROM memory modules, the real-time place for motor data
Reason storage and the regulation to motor speed and busbar voltage, the control of state.Meanwhile, DSP＆CPLD core controllers also with CAN
Communication module is connected with RS-485 communication interface modules interfaces, and being easy to be communicated in real time with other equipment, (the system is main
Refer to host computer) so that the system has more autgmentability.
Analog signal sampling module include voltage sample module, current sample module, Non-commutation phase current selecting module, absolutely
To value circuit module.As shown in Fig. 2 being voltage acquisition module circuit theory diagrams, in order to realize the measurement to voltage, driving first
After dynamic power supply electrifying, by resistance R28, R29, R77 partial pressure, the big electricity that will be measured is pressed through partial pressure and is changed into measuring
Small voltage, voltage and busbar voltage on R77 have certain ratio relation, the voltage on R77 sampled, electric capacity C77 is
Filter capacitor, U26A voltage followers are filtered to the voltage signal after output after partial pressure, and the negative of U26B is connected to by resistance R80
Pole, U26, U29, U50A, R39, R45, C52, C57 constitute the classical circuit of precision linear optical coupler, realize strong and weak electricity in sampling
Be effectively isolated, improve the reliability of circuit, then carry out current limliting in the output access resistance R89 of precision linear optical coupler,
And then addition voltage follower U50B plays the filtering to output voltage signal.Wherein：C77 is filter capacitor, R29, R39,
R80, R89 are current-limiting resistance, and R90 is to carry out current limliting to the AD signals exported to DSP, it is to avoid the electric current for entering DSP is excessive.
As shown in figure 3, being current acquisition modular circuit schematic diagram, in order to realize the measurement to electric current, first by electricity
Current transformer CSNS200M002S, its measurement range is 0-300A, and turn ratio is 2000:1, high current can effectively be changed
For the low current of measurement, its range also composite demand, the electric current after transformer output is changed into voltage signal by resistance R30, warp
Voltage follower U1A is output to by current-limiting resistance R2 after the voltage regulation filtering for the C47 for crossing electric capacity, sample rate current, three-phase electricity is obtained
Hereafter stream all as obtained three sample rate currents.
As shown in figure 4, be Non-commutation phase current selecting module circuit theory diagrams, in order to select Non-commutation phase current, we
The three-phase current that sampling is obtained is passed into U2（CD4051）In, we can just select non-change according to three road RST hall signals
Phase phase current, wherein C55 an electric capacity of voltage regulation.
As shown in figure 5, being absolute value circuit modular circuit schematic diagram, after the selection of Non-commutation phase current, obtain
Electric current, which has just, negative, and in order to which DSP samples, it would be desirable to absolute value circuit, electric current is turned on the occasion of the Non-commutation phase current selected
Via resistance R37, resistance R38, resistance R40, resistance R41, resistance R42, resistance R43, resistance R44, resistance R46, resistance R47,
After diode D4, diode D6, operational amplifier U28A, the precise rectification circuit of operational amplifier U28B compositions, negative value is changed into
On the occasion of after the filtering of U30A voltage follower, in the AD samplings of the feeding DSP after current-limiting resistance R48.
As shown in fig. 6, being overcurrent protection module circuit theory diagrams, R9R8U4B composition hysteresis loop comparators, by absolute value electricity
Sample rate current behind road enters hysteresis loop comparator, 15V power supplys and resistance R30, swept resistance R3 groups after current-limiting resistance R6
Into loop, regulation U2 can obtain different upper voltage limit values, and obtained voltage is compared after current-limiting resistance R7 into hysteresis
Device, after sample rate current, which is more than, to be given, hysteresis loop comparator output low level, light emitting diode D1 conductings, optocoupler output signal
Saltus step occurs for CCUR_UVW, and CCUR_UVW is sent to the processing of CPLD chips.Wherein R7R11 is current-limiting resistance, and electric capacity C4 is voltage stabilizing
Effect.As shown in fig. 7, being relay module circuit theory diagrams, when the signal CDO1 from controller out is low level
Wait, optocoupler U46 is not turned on, when CDO1 is that high level turns on U46, R68 has voltage, and triode Q1, which is met, arrives same condition, relay
Device is acted, and wherein R69 opens the effect that partial pressure reduces electric current, and R70 opens drop-down effect, and D6 prevents reverse-conducting.
As shown in figure 8, for electrical isolation modular circuit schematic diagram, the ripple signal come out from CPLD is too weak, it is impossible to straight
Connect for driving IGBT, it is therefore desirable to which being converted to this pwm signal using special drive circuit can directly drive IGBT's
Drive signal.In order to realize the electrical isolation between the light current of control circuit and the forceful electric power of drive circuit, we select
74HCT245 electrical level transferring chips, every chip has 16 transceiver channels, is divided into two groups, every group 8, two groups of conversion direction
Can individually it be controlled, specific conversion direction is depending on each group and on two pins of DIR level state.When pin connects height
During level, corresponding ALT-CH alternate channel is invalid.When pin connects low level, if DIR pins are now high level, correspond to and turn
Passage is changed to be changed from A to B；, whereas if DIR pins are now low level, then corresponding conversion passage is changed from B to A.Wherein
Ai and Bi is corresponded, and one end is inputted, and one end is just exported, and its Bi terminates IGBT drive module, and Ai signals are through over level
Level is changed into 5V from 3.3v after conversion chip 74HCT245, so can just be connected on driving plate, while also achieving isolation, effectively
Protect circuit.First group is changed from A to B, the pwm signal exported into CPLD changed, and has 8, three are supplied to respectively
On phase full-bridge and the bridge arm of dynamic braking；Second group is changed from B to A, the error signal of the driving plate feedback of conversion, after conversion
As a result CPLD is sent into.Wherein electric capacity C80 is exactly mainly pressure stabilization function.
In summary, the high-power square wave brushless direct-current that the present invention is powered by a kind of dc source of above-mentioned implementation example
Electric machine controller is designed, and the control accuracy and stability of brshless DC motor can be greatly improved using DSP joints CPLD, with use
Other chips are compared as the brushless direct current motor controller of master controller, and precision is higher, are more stablized.In circuit design side
Face, analog sampling module ensure that the separation of forceful electric power and light current in sampling process with precision linear optocoupler, absolute
Precise rectification circuit has been used in value circuit, it is ensured that the precision and reliability of sampling, hardware protection module uses less collection
Into operational amplifier and comparator, the detection and protection to bus current are completed, circuit is optimized, while using
74HCT245 is driven to three phase full bridge module, it is to avoid big using IPM volume, the big shortcoming of weight, from printed circuit
Plate design level, substantially reduces controller volume and cost.The present invention, which additionally uses current following method, makes current waveform be square wave,
The efficiency of motor is greatly improved, while effectively reduce the torque pulsation of motor using double PWM, improve motor operation can
By property, with splendid application prospect.
Claims (8)
1. a kind of high-power square wave brushless direct current motor controller, it is characterised in that the controller includes DSP and CPLD and combined
Using kernel control module, analog signal sampling module, electrical isolation module, IGBT drive module, hardware protection circuit module,
Relay module, EEPROM memory modules, CAN and RS-485 communication interface modules；Analog signal sampling module connects
It is connected between driving power module and DSP AD interfaces, isolation circuit module is connected to IGBT drive module and CPLD PWM believes
Between number output end；RS-485 communication interface modules is connected between DSP chip-on communications mouthful and host computer；CPLD interface
It is connected with BLDCM Hall detection mouths；CAN is connected between DSP CAN interface and other host computers；Hardware protection
Circuit module is connected on plan signal sampling module and CPLD pieces between fault verification interface；Power driver module is connected to driving
Between power DC bus and BLDCM three-phase windings lead-out wires；Relay module is connected to CPLD.
2. a kind of high-power square wave brushless direct current motor controller according to claim 1, it is characterised in that the simulation
Signal sampling module includes voltage sample module, current sample module, Non-commutation phase current selecting module, absolute value circuit mould
Block, wherein voltage sample module be electric resistance partial pressure isolation detection formula, including connector J7, resistance R27, resistance R28, electric capacity C27,
Resistance R27, resistance R29, voltage follower U26A, the integrating circuit of resistance R80, C52 and U26B composition, resistance R39, Precision wire
Property optocoupler U29（HCAR201）, C57 resistance R45 and U50A composition integrating circuit, resistance R89, voltage follower U50B,
Resistance R90, wherein J7 5 ports connect the positive pole of busbar voltage, and the negative pole that 1 port connects wireless voltage that is to say ground, and mono- section of R27 connects
In J7 port, one section constitutes loop ground connection with R28 R77, and R28 is in parallel with C77, and R29 one end is connected with R77 one end, a termination
In voltage follower U26A positive pole, the ends of C52 mono- are connected on U26B negative pole, and an end is connected on output end, U26B plus earth,
The ends of R39 mono- are connected on U26B output end, and an end is connected on precision linear optocoupler U29 1 interface, and U29 2 ports meet+15VA
Power supply, U29 3 ports connect U26B negative pole, and U29 4 ports connect simulation ground, and U29 5 ports connect simulation ground, U29 6 ports
Voltage follower U50B negative pole, C57 and the resistance R45 latter negative poles for terminating at U50B in parallel are connect, an end is connected on the negative of U50B
Pole, U50B plus earth, the ends of R89 mono- are connected on U50B output end, and an end is connected on voltage follower U50B positive pole, R90 mono-
U50B output end is terminated at, an end is connected on DSP AD sample ports；Wherein current sample module includes current transformer
CSNS200M002S, resistance R1, resistance R2, resistance R30, electric capacity C47, resistance R2, voltage follower U1A, wherein resistance R1 mono-
4 pins of current transformer are terminated at, one end is connected with resistance R30, be grounded after series connection, electric capacity C47 parallel connections and resistance R30, electricity
Resistance R2 mono- ends are connected on 3 ports that mono- section of resistance R30 is connected on voltage follower, and voltage follower U1A 1 port exports I_U, wherein
Non-commutation phase current selecting module includes analog signal selection chip U2（CD4051）, resistance R43, R38, electric capacity C55, wherein U2
9 10 11 ports connect three road code-disc signals, 13 ports ground connection, 16 ports connect 5V power supplys, and U2 125 ports connect respectively adopts
Analog signal I_W, I_V, I_U after sample, U2 468 ports are all grounded, and U2 7 ports connect 5V power supplys, the terminations of C55 mono- U2
16 ports, one end ground connection；Wherein absolute value circuit module includes resistance R37, resistance R38, resistance R40, resistance R41, resistance
R42, resistance R43, resistance R44, resistance R46, resistance R47, diode D4, diode D6, operational amplifier U28A, operation amplifier
Device U28B, voltage follower U30A, the wherein ends of resistance R41 mono- are connected on U2 3 ports, and an end is connected on U28B negative pole, R42 one end
Be connected on U28B 6 ports, one section be connected on diode D6 anode, diode D6 negative electrode is connected on U28A output end, diode
The end of D4 anodes one is connected on U28A output end, and negative electrode is connected on U28A negative pole, and the ends of R37 mono- are connected on U28A positive pole, and one end is grounded,
The ends of R38 mono- are connected on U28A negative pole, and an end is connected on U2 3 ports, and the ends of R46 mono- are connected on U28B negative pole, and an end is connected on U28B's
Output end, the ends of R44 mono- are connected on U28B positive pole, and one end ground connection, the ends of resistance R47 mono- are connected on U28B output end, and an end is connected on
U30A positive pole, the ends of resistance R43 mono- are connected on U30A output end, and a termination is output to AD thief hatch.
3. a kind of high-power square wave brushless direct current motor controller according to claim 1, it is characterised in that the excessively stream
Protection module includes resistance R3, resistance R6, resistance R7, resistance R8, resistance R9, resistance R11, slide rheostat U3, electric capacity C4, fortune
Calculate amplifier U4B, light emitting diode D1,15V analog power, 3.3V digital powers, U3 series connection more than optocoupler U6, wherein R3, R3's
The other end is grounded, U3 another termination 15V analog powers, and R7 connects one end with R8, another to terminate on U2, R8 another termination
The positive pole of operational amplifier, one end that the terminations of R9 mono- R7 connects with R8, the output end of a termination operational amplifier, resistance R6 one end
Ground connection, the negative pole of a termination operational amplifier, light emitting diode negative pole connects the output end of operational amplifier, a termination optocoupler U6's
Cathode ends, the termination 15V analog powers of R11 mono-, the Anode ends of a termination U6,3.3V digital powers are connected to U6 VCC ends, U6
GND ground connection, the ends of electric capacity C4 mono- are connected on digital power 3.3V, one end ground connection.
4. a kind of high-power square wave brushless direct current motor controller according to claim 1, it is characterised in that the relay
Device module includes relay K1, K2, diode D6, D7, triode Q1, Q2, optocoupler U46, U47, resistance R68, resistance R69, electricity
R70, resistance R105, resistance R106, resistance R107 are hindered, wherein K1 8 ports connect 12V digital powers, connect diode D6 negative electrode,
D6 anode connects K1 1 port and triode Q1 colelctor electrode, and the ends of resistance R68 mono- are connected on triode Q1 collector, and an end is connected on
Emitter stage, is grounded simultaneously, and the ends of resistance R69 mono- are connected on Q1 triode Q1 collector, and an end is connected on U46 Cathode ends, U46
Anode termination 12V digital powers, U46 Collector ends output signal, U46 Emitter terminating resistors R70 is followed by
8 ports on ground, wherein K2 connect 12V digital powers, connect diode D7 negative electrode, and D7 anode meets K2 1 port and triode Q2
Colelctor electrode, the ends of resistance R105 mono- are connected on triode Q2 collector, and an end is connected on emitter stage, are grounded simultaneously, resistance R106 one end
Triode Q2 collector is connected on, an end is connected on U47 Cathode ends, and U47 Anode terminates 12V digital powers, U46's
It is grounded after Collector ends output signal, U46 Emitter terminating resistors R107.
5. a kind of high-power square wave brushless direct current motor controller according to claim 1, it is characterised in that the CAN
Communication module includes resistance R64, R65, R6, R67, electric capacity C67, C68, tantalum electric capacity E19, U7（CTM-1050）, COM3 interfaces J5,
3.3V power supplys, 5V power supplys VCC；Wherein, the ends of R64 mono- are connected on 3.3V power supplys, and an end is connected on U7 4 pins, and the ends of R65 mono- are connected on 3.3V
Power supply a, end is connected on U7 3 pins, and U7 2 pins ground connection, 1 pin meet VCC, and C67, E19 are in parallel, and C67 one end ground connection one terminates
VCC, E19 one end ground connection one terminates VCC, and U7 6 pins are connected with J5 3 interfaces, and U7 7 pins are connected with J5 2 interfaces,
On the line of the terminations of R67 mono- U7 6 pins and J5 3 interfaces, an end is connected on U7 7 pins and J5 2 interfaces, R66 and C68
Parallel connection a, end is connected on U7 8 interfaces, and an end is connected on J5 1 interface.
6. a kind of high-power square wave brushless direct current motor controller according to claim 1, it is characterised in that the RS-
485 communication modules include resistance R69, R70, R71, electric capacity C69, tantalum electric capacity E20, U8（RSM3485）, 3.3V power supplys, CON interfaces
J6；Wherein the ends of R69 mono- are connected on 3.3V power supplys, and an end is connected on U8 3 pins, and the ends of R70 mono- are connected on 3.3V power supplys, and an end is connected on U8's
4 pins, the ends of R71 mono- are connected on 3.3V power supplys, and an end is connected on U8 5 pins, and the ends of C69 mono- are connected on 3.3V power supplys, one end ground connection, E20
One end is connected on 3.3V power supplys, and one end ground connection, U8 1 pin connects 3.3V power supplys, 2 pins ground connection, U8 8 pins and J6 3 interfaces
Connection, U8 9 pins are connected with 2 interfaces.
7. a kind of high-power square wave brushless direct current motor controller according to claim 1, it is characterised in that described
EEPROM memory modules include electric capacity R46, R47, U3（24WC256）, 3.3V power supplys, wherein R46 one termination 3.3V power supplys, separately
One termination U3 5 pins, R47 mono- termination 3.3V power supplys, another termination U3 6 pins, U3 1,2,3,4 pins altogether, the 8 of U3
Pin connects 3.3V power supplys, U3 7 pins ground connection.
8. a kind of high-power square wave brushless direct current motor controller according to claim 1, it is characterised in that described electric
Isolation module includes U37（74HCT245）, 5V digital powers, electric capacity C80, wherein 5V digital powers are connected on U37 20 pins,
The ends of C80 mono- are connected on U37 20 pins, and one end ground connection, U37 19 pins ground connection, U37 1 pin connects 5V digital powers, U37's
2-9 pins position connects control chip, and 11-18 pins connect IGBT drive module.
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Application publication date: 20170804 |
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