CN107070316A - Three-phase brushless dc motor drive control circuit based on CPLD - Google Patents
Three-phase brushless dc motor drive control circuit based on CPLD Download PDFInfo
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- CN107070316A CN107070316A CN201710468000.8A CN201710468000A CN107070316A CN 107070316 A CN107070316 A CN 107070316A CN 201710468000 A CN201710468000 A CN 201710468000A CN 107070316 A CN107070316 A CN 107070316A
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- cpld
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- signal input
- circuit
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- 238000004804 winding Methods 0.000 description 20
- 238000010586 diagram Methods 0.000 description 4
- 229910052799 carbon Inorganic materials 0.000 description 3
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
Classifications
-
- 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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
-
- 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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/04—Arrangements for controlling or regulating the speed or torque of more than one motor
-
- 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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
-
- 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
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
Abstract
The present invention relates to Motor Control Field, and in particular to a kind of three-phase brushless dc motor drive control circuit based on CPLD.Including CPLD control chips, three driving chips, the three phase full bridge circuits being sequentially connected, the first signal input part, secondary signal input, the 3rd signal input part of CPLD control chips are connected with three Hall sensors in controlled three phase electric machine respectively；First control signal input is used to receive pwm control signal, and the second control signal input is used to receive motor drive direction control signal；Three output ends of the three phase full bridge circuit are connected with three coils of three phase electric machine respectively；Three driving chips are respectively the first driving chip, the second driving chip, the 3rd driving chip, each driving chip is connected with the two-way PWM control wave output terminals of CPLD control chips, for controlling two power tubes up and down in three phase full bridge circuit on a bridge arm respectively；The control circuit can be accurately controlled the rotating control for realizing brshless DC motor, and phase change logic is correct, and motor operation is steadily reliable, and operating current is normal, meet user's requirement.
Description
Technical field
The present invention relates to Motor Control Field, and in particular to a kind of three-phase brushless dc motor drive control based on CPLD
Circuit.
Background technology
Brshless DC motor is with position sensor come instead of carbon brush commutator so that the advantage of its existing direct current generator, again
Solve the shortcoming of carbon brush slip-ring, the characteristics of with high accuracy, high efficiency, high torque (HT), and small volume, light weight, it is reliable,
It is easy to maintenance, it is current efficiency highest variable-speed motor.Because the rotating speed of brshless DC motor is no longer limited by mechanical commutation
System, according to high-speed bearing, rotating speed may be up to hundreds of thousands per minute and turn.Therefore, brshless DC motor as general direct current generator,
It is high-new that servomotor and torque motor etc. are widely used in advanced electronic device, robot, aeronautical and space technology, numerical control device etc.
How technical field, find one kind and matched with brushless DC motor structure, while the stable brushless dc of simple in construction, performance
Machine control circuit is always the research and development focus of this area.
The content of the invention
The goal of the invention of the present invention is：For existing brshless DC motor design feature there is provided it is a kind of with it is brushless straight
Electric machine structure matching is flowed, while the control circuit simple in construction based on CPLD.
To achieve the above object, the present invention provides following technical scheme：
A kind of three-phase brushless dc motor drive control circuit based on CPLD, three coils of three phase electric machine are star-like company
Connect, including,
CPLD control chips, its first signal input part, secondary signal input, the 3rd signal input part respectively with it is controlled
Three Hall sensor connections, for receiving three Hall sensor signals, and then judge three phase electric machine transfer in three phase electric machine
Sub- position；First control signal input is used to receive pwm control signal, and the second control signal input is used to receive motor side
To control signal.
Three phase full bridge circuit, three output ends of the three phase full bridge circuit connect with three coils of three phase electric machine respectively
Connect；
Three driving chips, respectively the first driving chip, the second driving chip, the 3rd driving chip, each drive core
Piece is connected with the two-way PWM control wave output terminals of CPLD control chips, for controlling a bridge in three phase full bridge circuit respectively
Two power tubes up and down on arm.
In some cases it may be preferred to, 12 signal input parts of CPLD control chips respectively with four three phase electric machines
In 12 Hall sensors connection；Meanwhile, CPLD output end is connected with 12 driving chips respectively；12 drivings
Chip is divided into four groups, is respectively used to control four three phase electric machines.
It is preferred that, it is provided with optocoupler between the CPLD control chips and driving chip.
It is preferred that, it is provided with optocoupler outside the first control signal input, the second control signal input.
It is preferred that, CPLD control chips use EPM570T100I5N.
It is preferred that, the driving chip is half-bridge driven chip IR2108S.
It is preferred that, the power tube is IRF540NS.
Compared with prior art, the beneficial effects of the invention are as follows：The invention provides a kind of three-phase brushless based on CPLD
DC motor control circuit, the control circuit can be accurately controlled the rotating control for realizing brshless DC motor, phase change logic
Correctly, and motor operation is steadily reliable, operating current is normal, meets user's requirement.
In many motor application occasions, this circuit can also directly expand input/output interface, realize simultaneously to much four tunnels
The control of motor, and four road controlled motors can realize using high-speed bearing when, hundreds of thousands per minute turn rotating speed under high accuracy
It is controlled.
Brief description of the drawings
The three-phase brushless dc motor drive control circuit block diagram that Fig. 1 provides for the present invention.
Fig. 2 a to Fig. 2 f are the change of Hall level and resultant magnetic field in one swing circle of rotor.
The three-phase brushless dc motor drive control circuit concrete application circuit block diagram that Fig. 3 provides for the present invention.
Fig. 4 is brushless electric machine commutation program flow diagram in the present invention.
Fig. 5 be the embodiment of the present invention in winding rotate counterclockwise when each signal waveform example figure.
The waveform example figure of each signal when Fig. 6 turns clockwise for winding in the embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Embodiment 1:As shown in figure 1, the present embodiment provides a kind of three-phase brushless dc motor drive control based on CPLD
Circuit, three coils of three phase electric machine are star-like connection, including, CPLD control chips, three phase full bridge circuit, three driving cores
Piece,
First signal input part of CPLD control chips, secondary signal input, the 3rd signal input part respectively with it is controlled
Three Hall sensor connections, for receiving three Hall sensor signals, and then judge three phase electric machine transfer in three phase electric machine
Sub- position；First control signal input is used to receive pwm control signal, and the second control signal input is used to receive motor side
To control signal；Three output ends of three phase full bridge circuit are connected with three coils of three phase electric machine respectively；Three driving chips,
Respectively the first driving chip, the second driving chip, the 3rd driving chip, three driving chips with CPLD control chips two
Road PWM control wave output terminal connections, for controlling two power tubes up and down in three phase full bridge circuit on a bridge arm respectively.
It should be noted that for loop of power circuit is separated with small-signal control loop, the pwm signal of CPLD control chips output
Into before driving chip, CPLD control chips receive PWM from the first control signal input, the second control signal input
Before control signal and direction control signal DIR, CPLD control chips are required to be isolated before receiving hall signal, every
Realized from TLP2116 chips and TLP117 chips are respectively adopted in circuit.
In the present embodiment, CPLD control chips are from the EPM570T100I5N of the series of altera corp MAX II, the device
Operating temperature range is -40 DEG C~+100 DEG C, and packaged type is TQFP-100, and there are 570 logic units, equivalent macroelement in inside
Number is 440, and supply voltage is 2.5V or 3.3V；Driving chip selects the half-bridge driven chip IR2108S of IR companies, the core
Piece is a high voltage, high-speed power MOSFET and IGBT driving chip, and supply voltage is 10V~20V, and input voltage can be with
It is 3.3V, 5V or 15V, the voltage for being applied to MOSFET drain electrodes (d) reaches as high as 600V；Power tube is IRF540NS, rDS (ON)
=0.04 Ω, VGS=10V.
In the present embodiment, three Hall sensors H1, H2, H3 are respectively separated 120 degree in three-phase brushless dc motor
It is uniformly arranged on below machine winding, corresponding with tri- winding initial positions of AX, BY, CZ, the output signal of Hall sensor is
Data signal, when external magnetic field direction is timing, is output as just, and the polarity in magnetic field is often converted once, and output signal just occurs
Saltus step.To make illustrative ease, the number of pole-pairs of rotor elects 1 as.It is assumed that the initial position of rotor is located at 0 °, now H1 is located at
On the interpolar center line of rotor, in this position saltus step can occur for its output level：If the N poles of rotor are close to it, export
Level jumps to 1 by 0, conversely, output level jumps to 0 from 1, and H2=0, H3=1.
If it is powered to winding AX and BY, and current direction is A → X → Y → B, determines that energization winding is each using the right-hand rule
The magnetic direction of self-forming produces turning moment as illustrated, then there is angle in the direction of resultant magnetic field and the direction of rotor field,
Drive rotor rotates counterclockwise.It is θ to make the angle that rotor turns over, as 60 ° of 0 °≤θ ＜, three Hall sensors
Output level is H1=1, H2=0, H3=1.
If keeping the "on" position constant, rotor is eventually parked on the straight line where winding resultant magnetic field.Make rotor
Continuous rotation, the "on" position of winding must change with the change of rotor-position.In a swing circle of rotor, three
Saltus step occurs for the level of Hall sensor saltus step six times altogether, i.e., the level for just having a Hall sensor every 60 °, and winding leads to
Electricity condition changes therewith, and the turning moment drive rotor that resultant magnetic field is produced with rotor field does not stop rotation；Thus, motor
Controlled operation be one " change of winding "on" position " → " change of winding resultant magnetic field direction " → " rotor rotation " → " Hall
The closed loop control process of sensor output level change " → " change of winding "on" position ".
Detailed, in a swing circle, saltus step process such as Fig. 2 a to Fig. 2 f of three Hall sensor output levels
It is shown：Rotor is gone to before Fig. 2 b positions by Fig. 2 a counterclockwise, and the resultant magnetic field of stator remains constant, until rotor is rotated
To Fig. 2 b positions, stator resultant magnetic field just changes to Fig. 2 b positions simultaneously.It can be seen that, stator resultant magnetic field is a kind of step-type rotation
Magnetic field, each stepping angle is 60 °.Meanwhile, power tube completes a change of current when rotor often turns over 60 ° of electrical angles.It can thus be concluded that
Go out the logic state of three-phase brushless dc motor as shown in Table 1 and Table 2：
The three-phase brushless dc motor logic state (rotate counterclockwise) of table 1
The three-phase brushless dc motor logic state (turning clockwise) of table 2
In upper table, "+" represents that winding current direction is A → X, B → Y or C → Z；"-" represent winding current direction for X →
A, Y → B or Z → C；" 0 " represents winding no power.During rotate counterclockwise, winding power-up sequence is：AB →AC→BC→BA→
CA→CB→AB；When turning clockwise, winding power-up sequence is：BC→AC→AB→CB →CA→BA→BC.
And control circuit control controlled motor rotate counterclockwise that the present embodiment is provided and when turning clockwise, three Halls
Sensor H1, H2, H3 hall signal, six power tubes Q1, Q2, Q3, Q4, Q5, Q6 turn-on sequence, the control letter of power tube
PWM6~PWM1 of number P6~P1 and CPLD outputs logical relation such as following table：
The logical relation of each signal when the motor of table 3 rotates
When simultaneously turning off a certain two power tubes of bridge arm, by two pwm signal level values of the group that CPLD is exported otherwise
It is identical, if for example, simultaneously turn off Q5 and Q6, i.e. P6P5=00, then PWM6PWM5=01 or PWM6PWM5=10, this is by driving
What chip I R2108S input/output relation was determined, used in upper table pwm signal value for 10 mode.In addition, when DSP is provided
PWM=0 when, winding no power, shut-off full-bridge mode have a variety of, only to change when pwm signal level is jumped to 0 by 1
The on off state of one power tube, the upper pipe (Q1, Q3 or Q5) turned on bridge arm during PWM=1 is closed, i.e., corresponding PWM letters
Number value be changed into 01 from 11.
Specifically, Fig. 4 gives brushless electric machine commutation program flow diagram in the present invention.When the rising edge of CPLD clock signals
DIR value is judged during arrival, if DIR=01 represents motor rotate counterclockwise；DIR=10 represents that motor turns clockwise；DIR=
It is invalid signals when 00 or 11, now power tube is held off, now PWM6~PWM1=111111.Subsequently determine whether by
The pwm signal of DSP inputs, if PWM=1, CPLD according to the switch controlling signal PWM6 of H1, H2, H3 value power output pipe~
PWM1；PWM=0, power tube shut-off, winding no power.If in addition, during hall signal H3H2H1=000 or H3H2H1=111
For invalid value, same switch-off power pipe.
Fig. 5, Fig. 6 illustrate machine winding rotate counterclockwise and dextrorotation when being controlled using foregoing circuit to motor
When turning in the waveform example figure of each signal, figure, hall and pwm1 correspond to respectively previously mentioned H3, H2, H1 and PWM6~
PWM1, and be arbitrarily designated when clock signal clkin, hall and pwmin cycle emulation.Pwmin=1 has been intercepted in figure
With the waveform of pwm1 in the case of two kinds of pwmin=0.
Embodiment 2：In many motor application occasions, if using traditional dsp chip as control chip, can be due to DSP
The CAP units of chip only have the collection of the tunnels of Liang Zu six, can only use DSP four group of 12 road I/0 ports with 1ms timing terminal speed
Carry out signal acquisition, but be due to hall signal reading rate be 1ms every time, cause in rotating speed more than 2000rpm/min
When, hall signal collection step-out, so as to cause motor steering to fail, steering wheel operation is out of control；I.e. individually using dsp chip to four tunnels
, it is necessary to which the rotating speed of strict limitation steering wheel is in below 2000rpm/min when electric steering engine is controlled, and actually brshless DC motor
Theoretical work rotating speed may be up to hundreds of thousands per minute and turn, based on this reason, and the present embodiment provides a kind of for four motor occasions
CPLD three-phase brushless dc motor drive control circuit, in the present embodiment, 12 signals input of CPLD control chips
End is connected with 12 Hall sensors in four three phase electric machines respectively；Meanwhile, CPLD output end is driven with 12 respectively
Dynamic chip connection；12 driving chips are divided into four groups, are respectively used to control four three phase electric machines.Concrete application is as shown in Figure 3.
Claims (7)
1. a kind of three-phase brushless dc motor drive control circuit based on CPLD, three coils of three phase electric machine are star-like company
Connect, it is characterised in that including,
CPLD control chips, its first signal input part, secondary signal input, the 3rd signal input part respectively with controlled three-phase
Three Hall sensor connections in motor；First control signal input is used to receive pwm control signal, and the second control signal is defeated
Entering end is used to receive motor drive direction control signal；
Three phase full bridge circuit, three output ends of the three phase full bridge circuit are connected with three coils of three phase electric machine respectively；
Three driving chips, respectively the first driving chip, the second driving chip, the 3rd driving chip, each driving chip are equal
It is connected with the two-way PWM control wave output terminals of CPLD control chips, for controlling a bridge arm in three phase full bridge circuit respectively
Two power tubes up and down.
2. circuit is controlled as claimed in claim 1, it is characterised in that 12 signal input parts difference of CPLD control chips
It is connected with 12 Hall sensors in four three phase electric machines；Meanwhile, CPLD output end respectively with 12 driving chips
Connection；12 driving chips are divided into four groups, are respectively used to control four three phase electric machines.
3. circuit is controlled as claimed in claim 1, it is characterised in that set between the CPLD control chips and driving chip
There is optocoupler.
4. circuit is controlled as claimed in claim 1, it is characterised in that the first control signal input, the second control signal are defeated
Enter and be provided with optocoupler outside end.
5. circuit is controlled as claimed in claim 1, it is characterised in that CPLD control chips use EPM570T100I5N.
6. circuit is controlled as claimed in claim 1, it is characterised in that the driving chip is half-bridge driven chip IR2108S.
7. circuit is controlled as claimed in claim 1, it is characterised in that the power tube is IRF540NS.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710468000.8A CN107070316A (en) | 2017-06-20 | 2017-06-20 | Three-phase brushless dc motor drive control circuit based on CPLD |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710468000.8A CN107070316A (en) | 2017-06-20 | 2017-06-20 | Three-phase brushless dc motor drive control circuit based on CPLD |
Publications (1)
| Publication Number | Publication Date |
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| CN107070316A true CN107070316A (en) | 2017-08-18 |
Family
ID=59594727
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710468000.8A Pending CN107070316A (en) | 2017-06-20 | 2017-06-20 | Three-phase brushless dc motor drive control circuit based on CPLD |
Country Status (1)
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| CN (1) | CN107070316A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112683115A (en) * | 2020-12-16 | 2021-04-20 | 陕西航天时代导航设备有限公司 | Torpedo steering engine driving system based on CPLD control |
| CN113992073A (en) * | 2021-10-04 | 2022-01-28 | 中国航空工业集团公司洛阳电光设备研究所 | Automatic phase discrimination method for direct-current brushless motor driver |
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| CN102957369A (en) * | 2012-11-20 | 2013-03-06 | 无锡商业职业技术学院 | Brushless DC (Direct Current) motor speed regulation device on basis of DSP (Digital Signal Processor) |
| CN202978792U (en) * | 2012-12-07 | 2013-06-05 | 贵州航天林泉电机有限公司 | Brushless direct current motor controller |
| CN106856385A (en) * | 2015-12-07 | 2017-06-16 | 上海新跃仪表厂 | A kind of brushless electric machine electronic phase change method based on CPLD |
| CN206807333U (en) * | 2017-06-20 | 2017-12-26 | 四川建筑职业技术学院 | A kind of CPLD motor driving controling circuits |
-
2017
- 2017-06-20 CN CN201710468000.8A patent/CN107070316A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101053955A (en) * | 2007-04-06 | 2007-10-17 | 江南大学 | Control device for moving robot based on blue-tooth technology |
| CN102957369A (en) * | 2012-11-20 | 2013-03-06 | 无锡商业职业技术学院 | Brushless DC (Direct Current) motor speed regulation device on basis of DSP (Digital Signal Processor) |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112683115A (en) * | 2020-12-16 | 2021-04-20 | 陕西航天时代导航设备有限公司 | Torpedo steering engine driving system based on CPLD control |
| CN112683115B (en) * | 2020-12-16 | 2024-01-30 | 陕西航天时代导航设备有限公司 | Torpedo steering engine driving system based on CPLD control |
| CN113992073A (en) * | 2021-10-04 | 2022-01-28 | 中国航空工业集团公司洛阳电光设备研究所 | Automatic phase discrimination method for direct-current brushless motor driver |
| CN113992073B (en) * | 2021-10-04 | 2024-03-29 | 中国航空工业集团公司洛阳电光设备研究所 | Automatic phase discrimination method for DC brushless motor driver |
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