CN1071067C - Driver for both AC and DC motors and its drive control method - Google Patents
Driver for both AC and DC motors and its drive control method Download PDFInfo
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- CN1071067C CN1071067C CN98125178A CN98125178A CN1071067C CN 1071067 C CN1071067 C CN 1071067C CN 98125178 A CN98125178 A CN 98125178A CN 98125178 A CN98125178 A CN 98125178A CN 1071067 C CN1071067 C CN 1071067C
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Abstract
The present invention relates to a general driver for AC motors and a drive control method thereof, which is used for driving and controlling permanent magnet synchronous motors, induction type asynchronous motors or permanent magnet DC motors. The driver comprises a digital control unit, a current control unit, a PWM wave generating unit, a main circuit unit and a current and speed feedback monitoring element. A motor is connected to the output terminal of the driver. When the driver is used for driving different motors, hardware circuits do not need to be changed, only the control mode of the digital control unit is set, and serial calculations are completed according to control software programs. Finally, the main circuit unit is used for output to realize the drive control of a motor.
Description
The invention belongs to the motor-driven field, relate to general driver of a kind of alternating current motor and DC motor and drive controlling method thereof.
In actual applications, dissimilar motor are all used in productive life in a large number.Permanent magnet synchronous motor, inductive asynchronous motor and permanent magnet direct current motor all are to use motor very widely.Under present prior art condition, the situation that the producer and user face is, controls this three kinds of different motor, needs to use dissimilar drivers, that is to say that the driver of these three kinds of motor can not be general.This product sample and monograph by many servo-drivers can be seen.For example (1) Li Zhimin, Zhang Yujie write, the synchronous motor governing system, and China Machine Press, publish in August, 1996.(2) Lu Shouzhen, Zang Yingjie write, the pulse width modulation controlled technology of electric drive, and publish January nineteen ninety-five.Figure 11 and prior art driver shown in Figure 12 are mainly to consult these two works to draw.
Be used to control alternating current motor the prior art driver an example as shown in figure 11, be used to control permanent magnet direct current motor oneself the technology driver arranged an example as shown in figure 12.
Alternating current motor driver shown in Figure 11 is by speed arithmetic element (623), differentiation operator (626), vector control unit (622), current operator unit (610), PWM ripple generating unit (611), and main loop unit (600) is formed.
When control alternating current motor (604), the rotor-position signal (631) that sends with the coaxial mounted photoelectric encoder of motor (605), behind differentiation operator (626), form feedback speed signal (645), this signal (645) and speed command (627) are input to speed arithmetic element (623) simultaneously, the torque current command value iq (646) that obtains after computing is input to vector control unit (622), and calculate threephase armature current instruction value iu (636) according to rotor-position signal (631), iv (637) and iw (638), simultaneously by current sensor (606) and (607) obtained U mutually with V armature supply feedback signal iuf (619) and ivf (630) mutually, W phase armature supply feedback iwf (648) then passes through mutually with V armature supply feedback signal (629) mutually and (630) by U mutually, and adduction negate computing iwf=(iuf+ivf) (619) obtains, U then, V, the armature supply instruction and the armature supply feedback of W three-phase are passed through current operator unit (616) respectively, (617), (618) and PWM ripple generating unit (611), (612), (613), form PWM drive signal q1～q6 and be input to main loop unit (600).
Three-phase alternating-current supply (101) enters into main loop unit (600), through over commutation (602), after the filtering (603), form DC bus-bar voltage (608)～(609), it is added on the fully controlled bridge of being made up of six high power transistor V1～V6 that have a fly-wheel diode, each transistorized base drive signal q601～q606 controls each transistorized break-make, DC bus-bar voltage is carried out copped wave, the pwm voltage of Xing Chenging is added in the threephase armature winding (633) of alternating current motor by lead-out terminal (632) thus, (634), (635) on, drive alternating current motor (604) running.
Oneself of the above control alternating current motor has the technology driver, and when control permanent magnet synchronous motor or inductive asynchronous motor, because the structure difference of two kinds of motor, the structure of vector control unit (622) also is different in the driver.That is to say that the driver needs that are used to control these two kinds of different motor design respectively.
Oneself has the technology driver by speed arithmetic element (1023), current operator unit (1018), PWM ripple generating unit (1015) permanent magnet direct current motor shown in Figure 12, and main loop unit (61) is formed.
When control permanent magnet direct current motor (1004), the feedback speed signal (1031) that sends with the coaxial mounted tachogenerator of motor (1005) is input to speed arithmetic element (1023) simultaneously with speed command (1027), obtain current-order (1036) through computing, simultaneously obtain armature supply feedback signal (1029) by current sensor (1006), then, armature supply instruction (1036) and armature supply feedback signal (1029) are passed through current operator unit (1018) and PWM ripple generating unit (1015) respectively afterwards, and formation PWM drive signal q1001～q1003 is input to main loop unit (61).
Three-phase alternating-current supply (101) is incorporated into main loop unit (61) through over commutation (1002), after the filtering (1003), form DC bus-bar voltage (1008)-(1009), be added on the fully controlled bridge of forming by four high power transistor V1001-V1004 that have a fly-wheel diode, each transistorized base drive signal q1001, q1006 controls each transistorized break-make, thereby DC bus-bar voltage is carried out copped wave, the pwm voltage that forms is added in the armature winding (1033) of permanent magnet direct current motor by lead-out terminal (1032), (1034) on, drive permanent magnet direct current motor (1004) running.
The above is the prior art driver that is used to control permanent magnet direct current motor.Because permanent magnet direct current motor is different with the structure of alternating current motor, it also is different causing the structure of current operator unit in direct-current motor drives and the alternating current motor driver and speed arithmetic element, main loop unit, PWM ripple generating unit, and because permanent magnet direct current motor need not to carry out vector control, therefore when the control permanent magnet direct current motor, need the design driver different with alternating current motor.
Purpose of the present invention overcomes the above-mentioned defective of prior art exactly, and a kind of driver and drive controlling method thereof of both AC and DC motors is provided.Be characterized in different control models being set, finish the control computing automatically and send instruction by digital control unit and Control Software thereof by different motor.When driving different motor, motor is received on output end of driver, needn't change hardware circuit, and only need to carry out corresponding setting with software of the present invention, can the drive control motor running.
The driver of both AC and DC motors of the present invention, comprise the digital control unit, current operator unit, PWM ripple generating unit and the main loop unit that contain microprocessor, with current sensor and photoelectric encoder respectively as the electric current of motor and the feedback monitoring device of speed and position, the armature winding of driven motor and output end of driver link, can connect a permanent magnet synchronous motor or an inductive asynchronous motor, also can connect a permanent magnet direct current motor, perhaps two permanent magnet direct current motors of independent operating separately.Described digital control unit is by the classification of institute's control motor, different operational modes is set, get speed command or current-order and import as it with the coaxial mounted code device signal of motor, finish its software initial setting up at the motor of being controlled, the feedback displacement of calculating motor and feedback speed go forward side by side line speed computing and vector control computing obtain current-order and with its input current arithmetic element.
Current operator unit in the driver of the present invention, the current-order of peek word control unit output and import as it from the current feedback signal of described main loop unit output carries out the electric current loop scale operation, obtains PWM ripple modulation signal.
PWM ripple generating unit, the output signal of power taking stream arithmetic element is imported as it, modulates with triangular wave, obtains pwm control signal.
Main loop unit, it is taken from the pwm control signal of three-phase alternating-current supply and PWM ripple generating unit and imports as it, three-phase alternating current is carried out rectification, filtering formation DC bus-bar voltage, and control high power transistor by pwm control signal DC bus-bar voltage is carried out copped wave, the output pulse width modulation voltage obtains current feedback signal with the current sensor sampling simultaneously.
The structure of the driver of both AC and DC motors of the present invention and drive controlling method thereof, illustrated embodiment is described in detail in conjunction with the following drawings.
Fig. 1 is the theory diagram of both AC and DC motors driver of the present invention.
Fig. 2 is the program structure diagram of the digital control unit in the driver of the present invention.
Fig. 3 is the theory diagram of both AC and DC motors driver control inductive asynchronous motor of the present invention.
Fig. 4 is the theory diagram of both AC and DC motors driver control permanent magnet synchronous motor of the present invention.
Fig. 5 is the theory diagram that both AC and DC motors driver of the present invention is controlled two permanent magnet direct current motors simultaneously.
Fig. 6 is the theory diagram of a permanent magnet direct current motor of both AC and DC motors driver control of the present invention.
Fig. 7 is the flow chart of the main program of digital control unit Control Software of the present invention.
Fig. 8 is the flow chart of digital control unit Control Software timer interrupt program 1 of the present invention.
Fig. 9 is the program flow diagram of digital control unit Control Software digital PID of the present invention (ratio, integration, differential) adjuster subprogram.
Figure 10 is digital control unit Control Software timer interrupt program 2 flow charts of the present invention.
Figure 11 is a kind of block diagram of driver of the prior art that is used to control alternating current motor.
Figure 12 is a kind of block diagram of driver of the prior art that is used to control DC motor.
In the above-mentioned accompanying drawing, no matter be the prior art driver or the embodiment of the invention, identical composition all divides with identical numbering and represents.
An embodiment of the driver of both AC and DC motors of the present invention shown in Figure 1, it comprises digital control unit (50), current operator unit (10), PWM ripple generating unit (11,12,13) and main loop unit (60), with current sensor (6,7) and photoelectric encoder (31) as the electric current of motor and the feedback monitoring device of speed and position.The armature winding of driven motor links to each other with output end of driver (32).
Digital control unit in the driver of the present invention (50), contain microprocessor, get speed command (27) and import as it with the signal of the coaxial mounted encoder of motor (31), finish its control model at the different motor of being controlled (1000) are set, the feedback displacement and the feedback speed of calculating motor, and carry out closed-loop speed computing or closed-loop speed computing and vector control computing, obtain current-order.
Current operator unit (10) in the driver of the present invention, the current-order of peek word control unit output and import as it from the current feedback signal of described main loop unit output, carry out the electric current loop scale operation, obtain PWM ripple modulation signal (80,81,82).
PWM ripple generating unit (11,12,13), the PWM ripple modulation signal (80,81,82) of power taking stream arithmetic element is modulated with triangular wave as its input, obtains pwm control signal (q1-q6).
Main loop unit in the driver of the present invention (60), getting the pwm control signal of three-phase alternating current (101) and PWM ripple generating unit (11,12,13) imports as it, three-phase alternating current is carried out rectification (2), filtering (3), form DC bus-bar voltage (8)-(9), and control high power transistor (V1-V6) by pwm control signal (q1-q6) DC bus-bar voltage (8-9) is carried out copped wave, the output pulse width modulation voltage uses current sensor (6,7) sampling to obtain current feedback signal (29), (30) simultaneously.
Fig. 2 is the program structure diagram of digital control unit of the present invention (50).Its drive controlling method is characterised in that digital control unit (50) is finished the setting (1000) of control model at first at the different motor of being controlled, and comprises the setting of program entry and the setting of Control Parameter.
Below in conjunction with Fig. 2 and Fig. 3-Fig. 6 embodiment, the application example of driver of the present invention is described.
When an inductive asynchronous motor of both AC and DC motors driver control (104) (as Fig. 3), be input to digital control unit (50) with the signal (131) of the coaxial mounted photoelectric encoder of inductive asynchronous motor (104) (105), the program entry of digital control unit (50) is set to the closed-loop speed computing (1100) of inductive asynchronous motor, this program with speed command input (127) and photoelectric encoder signal (131) as importing, carry out the speed closed loop computing (1100) of inductive asynchronous motor, pass through the vector control computing (1110) of inductive asynchronous motor again, obtain the current instruction value iu (136) and the iv (137) of the two-phase armature of inductive asynchronous motor, together with the current feedback signal (129) of two phase windings of exporting by main loop unit, (130) be input to current operator unit (10).In current operator unit (10), the current-order iw value (121) of inductive asynchronous motor W phase can obtain by phase adduction negate iw=iu+iv (20); Inductive asynchronous motor W phase current feedback iwf (122) can obtain by phase adduction negate iwf=-(iuf+ivf) (19).Finish the electric current loop scale operation by current operator unit (10), and by PWM ripple generating unit (11), (12), (13) generation PWM ripple modulation signal q1～q6, be input to main loop unit (60), control high power transistor V1～V6 carries out copped wave to DC bus-bar voltage (8)～(9), the output pulse width modulation voltage is to lead-out terminal (32), U, the V of lead-out terminal (32), W link to each other with threephase armature winding (33), (34), (35) of inductive asynchronous motor (104) respectively, thereby drive inductive asynchronous motor (104) running.
When a permanent magnet synchronous motor of both AC and DC motors driver control (204) (as Fig. 4), be input to digital control unit (50) with the signal (231) of the coaxial mounted photoelectric encoder of permanent magnet synchronous motor (204) (205), the program entry of digital control unit (50) is set to the closed-loop speed computing (1200) of permanent magnet synchronous motor, this program with speed command input (227) and photoelectric encoder signal (231) as importing, carry out the speed closed loop computing of permanent magnet synchronous motor, pass through the vector control computing (1210) of permanent magnet synchronous motor again, obtain current instruction value (236) and (237) of two-phase armature, together with the current feedback signal (229) of two phase windings of exporting by main loop unit, (230) be input to current operator unit (10).In current operator unit (10), the current-order iw value (221) of permanent magnet synchronous motor W phase can obtain by phase adduction negate iw=iu+iv (20); Permanent magnet synchronous motor W phase current feedback iwf (222) can obtain by phase adduction negate iwf=-(iuf+ivf) (19).Finish the electric current loop scale operation by current operator unit (10), and by PWM ripple generating unit (11), (12), (13) generation PWM ripple modulation signal q1～q6, be input to main loop unit (60), control high power transistor V1～V6 carries out copped wave to DC bus-bar voltage (8)～(9), the output pulse width modulation voltage is to lead-out terminal (32), U, the V of lead-out terminal (32), W link to each other with threephase armature winding (133), (134), (135) of permanent magnet synchronous motor (204) respectively, thereby drive permanent magnet synchronous motor (204) running.
When the both AC and DC motors driver is controlled two permanent magnet direct current motors (304) and (404) simultaneously (as Fig. 5), be input to digital control unit (50) with the signal (331) of the coaxial mounted photoelectric encoder of permanent magnet direct current motor (304) (305) with the signal (431) of the coaxial mounted photoelectric encoder of permanent magnet direct current motor (404) (405), the program entry of digital control unit (50) is set to (1300), program (1310) with speed command 1 (327) and photoelectric encoder signal (331) as input, carry out the closed-loop speed computing of permanent magnet direct current motor (304), obtain current instruction value (336); Program (1320) as input, is carried out the closed-loop speed computing of permanent magnet direct current motor (404) with speed command 2 (427) and photoelectric encoder signal (431), obtains current instruction value (437).With current instruction value (336) and (437) of two permanent magnet direct current motors, be input to current operator unit (10) then together with the current feedback signal corresponding to two permanent magnet direct current motors (329) and (430) by main loop unit output.Finish the electric current loop scale operation of two permanent magnet direct current motors by current operator unit (10), produce PWM ripple modulation signal q1～q6 by PWM ripple generating unit (11), (12), (13) at last, be input to main loop unit (60), control high power transistor V1～V6 carries out copped wave to DC bus-bar voltage (8)～(9), the output pulse width modulation voltage is to output end of driver (32), and V, the W of lead-out terminal (32) links to each other with two-phase armature winding (334), (333) of permanent magnet direct current motor (304) respectively; U, the W of lead-out terminal (32) links to each other with two-phase armature winding (335), (393) of permanent magnet direct current motor (404) respectively.Thereby drive two permanent magnet direct current motors (304), (404) running independently.
When a permanent magnet direct current motor of both AC and DC motors driver control (504) (as Fig. 6), be input to digital control unit (50) with the signal (531) of the coaxial mounted photoelectric encoder of permanent magnet direct current motor (504) (505), the program entry of digital control unit (50) is set to the closed-loop speed computing (1400) of permanent magnet direct current motor, this program with speed command (527) and photoelectric encoder signal (531) as input, carry out the speed closed loop computing of permanent magnet direct current motor, obtain current instruction value (536), it is zero that current instruction value (537) is set simultaneously, (536) and (537) be input to current operator unit (10) together with current feedback signal (529) and current feedback signal (530) (this signal is zero) by the armature winding of main loop unit output, finish the electric current loop scale operation by current operator unit (10), and by PWM ripple generating unit (11), (12), (13) produce PWM ripple modulation signal q1～q6 (at this moment, q1 and q2 are zero), be input to main loop unit (60), control high power transistor V1～V4 carries out copped wave to DC bus-bar voltage (8)～(9), the output pulse width modulation voltage is to lead-out terminal (32), the V of lead-out terminal (32), W links to each other with (533) with the two-phase armature winding (534) of permanent magnet synchronous motor (504) respectively, thereby, drive permanent magnet direct current motor (504) running.
Describe the Control Software of driver digital control unit of the present invention in detail below in conjunction with accompanying drawing.
The Control Software of digital control unit in the present embodiment (50) comprises main program, timer interrupt program 1, timer interrupt program 2, digital PID subprogram.It is to produce once every regular time to interrupt that so-called timer interrupts.PID is ratio, integration, differential.Wherein finish system initialization, parameter setting, functions such as setting of interrupt routine inlet and cycle detection fault by main program.Timer interrupt program 1 is used to finish PID control.Timer interrupt program 2 is used to finish the vector control computing and obtains output current.Software PID Controller subprogram is interrupted 1 control program for timer and is called.The following main flow process that these softwares are described with reference to Fig. 7 to Figure 10.
Fig. 7 is the flow chart of the main program of digital control unit Control Software, and its main operating procedure is as follows:
1, enter program, system initialization (5002),
2, according to the state of a control which kind of motor is the judgement system be in that is provided with of control model:
(1) if two permanent magnet direct current motor type of drive (500s), pid parameter (5105), (5205) of two motors at first are set, entry address with timer interrupt program 1 is made as (5019) then, and the entry address of timer interrupt program 2 is made as (7009);
(2) if a permanent magnet direct current motor type of drive (5006), the pid parameter (5106) of permanent magnet direct current motor at first is set, and current instruction value iv=0 is set, because only control a motor, the entry address of timer interrupt program 1 is made as (5069), the entry address of timer interrupt program 2 is made as (7009); (3) if permanent magnet synchronous motor drives mode (5007), the pid parameter (5107) of permanent magnet synchronous motor at first is set, and slip angle ns (t)=0 is set, entry address with timer interrupt program 1 is made as (5069) then, and the entry address of timer interrupt program 2 is made as (7004):
(4) if inductive asynchronous motor driven mode (5008), the pid parameter (5108) of inductive asynchronous motor at first is set, entry address with timer interrupt program 1 is made as (5069) then, and the entry address of timer interrupt program 2 is made as (7001):
(5) if above-mentioned four kinds of patterns be not, then carry out fault alarm (5009),
3, open timer interrupt program 1 and timer interrupt program 2 (5010),
4, malfunction monitoring is carried out in circulation.If any fault (5004), carry out troubleshooting (5003).
Fig. 8 is the flow chart of digital control unit software timer interrupt routine 1, and its main operating procedure is as follows:
1, beginning (5019),
2, read the count value n2 (t) (5029) of encoder 2,
3, call in the pid parameter (5039) of motor 2,
4, call current operator subprogram (5049),
5, calculate current instruction value iv (5059),
When above program is used for controlling simultaneously two permanent magnetic dc servo motors (5005), to the control of motor 2,
6, read the count value nl (t) (5069) of encoder 1,
7, call in the pid parameter (5079) of motor 1,
8, call current operator subprogram (5089),
9, calculate current instruction value iu (5009),
10, return (5109).
Fig. 9 is the program flow diagram of digital control unit Control Software digital PID (ratio, integration, differential) adjuster subprogram, and its main operating procedure is as follows:
1, beginning (6001),
2, calculate feedback displacement Wf (t) (6003) and feedback speed Vf (t) (6004) by code device signal,
3, carry out the PID computing of speed: computational speed deviation EV (t) (6011), speed proportional computing Ig1 (t) (6012), rate integrating computing Ig2 (t) (6013), the speed Ig3 (t) (6014) that differentiates, obtain current instruction value Ig (t) (6015)
4, the absolute value with current instruction value Ig (t) is limited in (6016)-(6019) in the maximum permissible value MAXIg,
5, obtain torque current set-point i (6020),
6, return.
Figure 10 is digital control unit Control Software timer interrupt program 2 flow charts, and its main operating procedure is as follows:
1, beginning (7001),
2, calculate slip angular frequency Vs (7002),
Vs=R
ri/L
ri
d
In the formula: R
r/ L
rBe the rotor time constant of inductive asynchronous motor, id is a field supply,
3, the Vs integration is obtained slip angle ns (t) (7003),
Above program is used for pattern 4 (5008), promptly to the control of inductive asynchronous motor,
4, read encoder to count value n (t) (7004),
5, current i q=iu (7005),
6, obtain vector control angle n (t)=n (t)+ns (t) (7006),
7, obtained current-order iu and iv (7007), (7008) by electric current set-point i, id and n (t):
8, output current command value iu and iv (7009), (7010),
9, return (7011).
Above step 1 is used for the control to alternating current motor of pattern 4 (5008) and mode 3 (5007) to 5, promptly to the control of inductive asynchronous motor and permanent magnet synchronous motor.
Below with the application of accompanying drawing illustrated embodiment explanation software of the present invention.
Referring to Fig. 3, Fig. 7 and Figure 10.When with a drive controlling method inductive asynchronous motor of control of the present invention (104), deliver to digital control unit (50) as input with speed command (127) with the signal (131) of the coaxial mounted photoelectric encoder of inductive asynchronous motor (104) (105).The main program of digital control unit (50) carries out the judgement (5005-5008) of control mode, and finish the setting (5108) of pid parameter, if timer interrupt program 1 entry address is (5069), timer interrupt program 2 entry addresses are (7001), timer interrupt program 1 and timer interrupt program 2 by the digital control unit (50) of driver are finished inductive asynchronous motor (104) speed computing and vector control computing respectively, obtain current instruction value iu (136), iv (137) is input to current operator unit (16), (20) and (17), (20), the while is by the current feedback signal iuf (129) of two phase windings of main loop unit output, ivf (130) is input to current control unit (16) respectively, (19) and (17), (19).
In current operator unit (10), the current-order iw (121) of inductive asynchronous motor W phase can obtain by phase adduction negate iw=iu+iv (20); Inductive asynchronous motor W phase current feedback iwf (122) can obtain by phase adduction negate iwf=-(iuf+ivf) (19).Finish the electric current loop scale operation by current operator unit (10), and by PWM ripple generating unit (11), (12), (13) generation PWM ripple modulation signal q1～q6, be input to main loop unit (60), control high power transistor V1～V6 carries out copped wave to DC bus-bar voltage (8)～(9), the output pulse width modulation voltage to output in (32), U, the V of lead-out terminal (32), W link to each other with threephase armature winding (33), (34), (35) of inductive asynchronous motor (104) respectively, thereby drive inductive asynchronous motor (104) running.
Referring to Fig. 4, Fig. 7, Fig. 8 and Figure 10.During with a driving method of the present invention permanent magnet synchronous motor of control (204), be input to digital control unit (50) with speed command (227) with the signal (231) of the coaxial mounted photoelectric encoder of permanent magnet synchronous motor (204) (205).The main program of digital control unit (50) carries out the judgement (5005-5007) of control mode, and finishes the setting (5107) of pid parameter, establishes timer interrupt program 1 entry address and is (5069), and timer interrupt program 2 entry addresses are (7004).Interrupting 1 program and timer by the timer of the digital control unit (50) of driver interrupts 2 programs and finishes position, speed computing and vector control computing to permanent magnet synchronous motor (204) respectively, obtain current instruction value iu (236), iv (237), be input to current operator unit (16), (20) and (17), (20) respectively, the while, current feedback signal iuf (229), the ivf (230) by two phase windings of main loop unit (60) output was input to (16), (19) and (17), (19) respectively.
In current operator unit (10), the current instruction value iw (221) of permanent magnet synchronous motor W phase can obtain by phase adduction negate iw=iu+iv (20); Inductive asynchronous motor W phase current feedback iwf (222) can obtain by phase adduction negate iwf=-(iuf+ivf) (19).Finish the electric current loop scale operation by current operator unit (10), and by PWM ripple generating unit (11), (12), (13) generation PWM ripple modulation signal q1～q6, be input to main loop unit (60), control high power transistor V1～V6 carries out copped wave to DC bus-bar voltage (8)～(9), the output pulse width modulation voltage is to lead-out terminal (32), U, the V of lead-out terminal (32), W link to each other with threephase armature winding (133), (134), (135) of permanent magnet synchronous motor (204) respectively, thereby drive permanent magnet synchronous motor (204) running.
Referring to Fig. 5.When controlling two permanent magnet direct current motors (304) and (404), send into digital control unit (50) as the input of permanent magnet direct current motor (304) with speed command 1 (327) with the signal (331) of the coaxial mounted photoelectric encoder of permanent magnet direct current motor (304) (305) with drive controlling method of the present invention is independent simultaneously; Send into digital control unit (50) with speed command 2 (427) with the signal (431) of the coaxial mounted photoelectric encoder of permanent magnet direct current motor (404) (405) as the input of control permanent magnet direct current motor (304).
Referring to Fig. 5, Fig. 7, Fig. 8 and Figure 10.The main program of digital control unit (50) carries out the judgement (5005) of control mode, and carry out the setting (5105 of two permanent magnet direct current motor pid parameters, 5205), and establish timer interrupt program 1 entry address for (5019), timer interrupt program 2 entry addresses are (7009).By the timer interrupt program 1 of the digital control unit (50) of driver and the speed computing that timer interrupt program 2 is finished permanent magnet direct current motor (304) and permanent magnet direct current motor (404), obtain the current instruction value (336) and permanent magnet direct current motor (404) current instruction value (437) of permanent magnet direct current motor (304), be input to (16) respectively, (20) and (17), (20), the while is input to (16) respectively by the current feedback signal if1 (329) and the if2 (430) of two permanent magnet direct current motors of main loop unit output, (19) and (17), (19).
Finish the electric current loop scale operation of two permanent magnet direct current motors by current operator unit (10), and by PWM ripple generating unit (11), (12), (13) generation PWM ripple modulation signal q1～q6, be input to main loop unit (60), control high power transistor V1～V6 carries out copped wave to DC bus-bar voltage (8)～(9), the output pulse width modulation voltage is to lead-out terminal (32), and V, the W of output end of driver (32) links to each other with two-phase armature winding (334), (333) of permanent magnet direct current motor (304) respectively; U, the W of lead-out terminal (32) links to each other with two-phase armature winding (335), (393) of permanent magnet direct current motor (404) respectively.Thereby drive two permanent magnet direct current motors (304) and (404) running independently.
As shown in Figure 6, during with a drive controlling method permanent magnet direct current motor of control of the present invention (504), send into digital control unit (50) as input with speed command (527) with the signal (531) of the coaxial mounted photoelectric encoder of permanent magnet direct current motor (504) (505).
Referring to Fig. 6, Fig. 7, Fig. 8 and Figure 10.The main program of digital control unit (50) carries out the judgement (5005,5006) of control mode, and finishes the setting (5106) of pid parameter, and device interrupt routine 1 entry address is (5069) when establishing away, and timer interrupt program 2 entry addresses are (7009).Driver has speed command (527) and (528) two kinds of instructions of position command input pattern, carries out the setting of input pattern by software (5006), (5106), (5206) to digital control unit (50).Obtain current instruction value (536) by the timer interrupt program 1 of the digital control unit (50) of driver and position, the speed computing that timer interrupt program 2 is finished permanent magnet direct current motor (504) respectively, it is zero that current instruction value (537) is set simultaneously, (536) and (537) be input to current operator unit (16), (20) and (17), (20) respectively, be input to current operator unit (16), (19) and (17), (19) respectively by the current feedback signal (529) and the current feedback signal (530) (this signal is zero) of the armature winding of main loop unit output.
Finish the electric current loop scale operation by current operator unit (10), and (at this moment by PWM ripple generating unit (11), (12), (13) generation PWM ripple modulation signal q1～q6, q1 and q2 are zero), be input to main loop unit (60), control high power transistor V1～V4 carries out copped wave to DC bus-bar voltage (8)～(9), the output pulse width modulation voltage is to lead-out terminal (32), V, the W of lead-out terminal (32) links to each other with (533) with the two-phase armature winding (534) of pound synchronous motor (504) forever respectively, thereby driving permanent magnet direct current motor (504) turns round.
The driver of both AC and DC motors of the present invention and drive controlling method thereof, each driver that has overcome prior art can only drive the limitation of an a kind of motor or a motor, improve range of application, be useful for the drive controlling of the asynchronous motor, permanent magnet synchronous motor or the permanent magnet direct current motor that have encoder feedback.When driving different motor, needn't change hardware circuit, and only need the software of digital control unit is provided with, then motor be received on output end of driver, can drive corresponding motor operation.
When adopting driver of the present invention to drive different AC-DC motors with method, also have following one or more characteristics:
(1) driver comprises digital control unit, can control a permasyn morot or An inductive asynchronous motor also can be controlled a permanent magnetism dc motor or respectively independently control Make two permanent magnetism dc motors.
The feedback displacement of the motor that (2), drives and feedback speed computing are by digital control unit Software finish.
(3), closed-loop speed computing and vector control computing is finished by the software of digital control unit.
Claims (12)
1. the driver of a both AC and DC motors, comprise the digital control unit (50) that contains microprocessor, current operator unit (10), PWM ripple generating unit (11,12,13), main loop unit (60), with current sensor (6,7) and photoelectric encoder (31) respectively as the electric current of motor and the feedback monitoring device of speed, it is characterized in that output end of driver (32) can connect a permanent magnet synchronous motor or an inductive asynchronous motor, also can connect a permanent magnet direct current motor, perhaps two permanent magnet direct current motors of independent operating separately; Described digital control unit (50) is provided with different control model (1000) according to the classification of institute's controlling and driving motor, get speed command (27) and with the signal of the coaxial mounted encoder of motor (31) as input, feedback displacement and feedback speed by set Motor Control mode computation motor, the line speed of going forward side by side computing or speed computing and vector control computing obtain current-order thus and send into current operator unit (10).
2. according to the driver of the described both AC and DC motors of claim 1, it is characterized in that described current operator unit (10) imports the current-order of digital control unit (50) output and the current feedback signal of main loop unit (60) output as it, carry out the electric current loop scale operation and obtain PWM ripple modulation signal;
The output signal of described PWM ripple generating unit (11,12,13) power taking stream arithmetic element (10) is imported as it, modulates with triangular wave and obtains pwm control signal;
Described main loop unit (60) is taken from the pwm control signal of three-phase alternating-current supply (101) and PWM ripple generating unit (11,12,13) and is imported as it, three-phase alternating current is carried out rectification (2), filtering (3), form DC bus-bar voltage, and control high power transistor (V1-V6) by pwm control signal DC bus-bar voltage is carried out copped wave, the output pulse width modulation voltage uses current sensor (6,7) sampling to obtain current feedback signal (29,30) simultaneously.
3. the drive controlling method of the driver of a both AC and DC motors is characterized in that, at first presses the motor of being controlled by digital control unit (50), finishes the device (1000) of control model, comprises the setting of program entry and the setting of Control Parameter.
4. according to the drive controlling method of claim 2, it is characterized in that, when an inductive asynchronous motor of control (104), be input to digital control unit (50) with the signal (131) of the coaxial mounted photoelectric encoder of inductive asynchronous motor (104) (105), the program entry of digital control unit (50) is set to the closed-loop speed computing (1100) of inductive asynchronous motor, this program with speed command input (127) and photoelectric encoder signal (131) as importing, carry out the speed closed loop computing of inductive asynchronous motor, pass through the vector control computing (1110) of inductive asynchronous motor again, obtain the current-order iu (136) and the iv (137) of the two-phase armature of inductive asynchronous motor, current feedback signal (129) together with two phase windings of exporting by main loop unit, (130) be input to current operator unit (10), in current operator unit (10), the current-order iw (121) of inductive asynchronous motor W phase can obtain by phase adduction negate iw=-(iu+iv) (20); Inductive asynchronous motor W phase current feedback iwf (122) can obtain by phase adduction negate iwf=-(iuf+ivf) (19), finish the electric current loop scale operation by current operator unit (10), and by PWM ripple generating unit (11), (12), (13) produce PWM ripple modulation signal q1～q6, be input to main loop unit (60), control high power transistor V1～V6 carries out copped wave to DC bus-bar voltage (8)～(9), the output pulse width modulation voltage is to lead-out terminal (32), the U of lead-out terminal (32), V, W respectively with the threephase armature winding (33) of inductive asynchronous motor (104), (34), (35) link to each other, thereby drive inductive asynchronous motor (104) running.
5. drive controlling method as claimed in claim 2, it is characterized in that, when a permanent magnet synchronous motor of control (204), be input to digital control unit (50) with the signal (231) of the coaxial mounted photoelectric encoder of permanent magnet synchronous motor (204) (205), the program entry of digital control unit (50) is set to the closed-loop speed computing (1200) of permanent magnet synchronous motor, this program with speed command (227) and photoelectric encoder signal (231) as input, carry out the speed closed loop computing of permanent magnet synchronous motor, pass through the vector control computing (1210) of permanent magnet synchronous motor again, obtain current-order (236) and (237) of two-phase armature, current feedback signal (229) together with two phase windings of exporting by main loop unit, (230) be input to current operator unit (10), in current operator unit (10), the current-order iw (221) of permanent magnet synchronous motor W phase can obtain by phase adduction negate iw=-(iu+iv) (20); Permanent magnet synchronous motor W phase current feedback 1wf (222) can obtain by phase adduction negate iwf=-(iuf+ivf) (19), finish the electric current loop scale operation by current operator unit (10), and by PWM ripple generating unit (11), (12), (13) produce PWM ripple modulation signal q1～q6, be input to main loop unit (60), control high power transistor V1～V6 carries out copped wave to DC bus-bar voltage (8)～(9), the output pulse width modulation voltage is to lead-out terminal (32), the U of lead-out terminal (32), V, W respectively with the threephase armature winding (133) of permanent magnet synchronous motor (204), (134), (135) link to each other, thereby drive permanent magnet synchronous motor (204) running.
6. drive controlling method as claimed in claim 2, it is characterized in that, when controlling two permanent magnet direct current motors (304) and (404) simultaneously, be input to digital control unit (50) with signal (331) and (431) of permanent magnet direct current motor (304) and (404) coaxial mounted photoelectric encoder (305) and (405), the program entry of digital control unit (50) is set to (1300), program (1310) with speed command 1 (327) and photoelectric encoder signal (331) as input, carry out the closed-loop speed computing of permanent magnet direct current motor (304), obtain current-order (336); Program (1320) with speed command 2 (427) and photoelectric encoder signal (431) as input, carry out the closed-loop speed computing of permanent magnet direct current motor (404), obtain current-order (437), current-order (336) and (437) corresponding to two permanent magnet direct current motors, be input to current operator unit (10) together with the current feedback signal corresponding to two permanent magnet direct current motors (329) and (430) by main loop unit output, finish the electric current loop scale operation of two permanent magnet direct current motors by current operator unit (10), and by PWM ripple generating unit (11), (12), (13) produce PWM ripple modulation signal q1～q6, be input to main loop unit (60), control high power transistor V1～V6 carries out copped wave to DC bus-bar voltage (8)～(9), the output pulse width modulation voltage is to output end of driver (32), the V of lead-out terminal (32), W respectively with the two-phase armature winding (334) of permanent magnet direct current motor (304), (333) link to each other; U, the W of lead-out terminal (32) links to each other with two-phase armature winding (335), (393) of permanent magnet direct current motor (404) respectively, thereby drives two permanent magnet direct current motors (304) and (404) running independently.
7. as the drive controlling method of above-mentioned claim 2, it is characterized in that, when a permanent magnet direct current motor of control (504), be input to digital control unit (50) with the signal (531) of the coaxial mounted photoelectric encoder of permanent magnet direct current motor (504) (505), the program entry of digital control unit (50) is set to the closed-loop speed computing (1400) of permanent magnet direct current motor, this program with speed command (527) and photoelectric encoder signal (531) as input, carry out the speed closed loop computing of permanent magnet direct current motor, obtain current-order (536), it is zero that current-order (537) is set simultaneously, (536) and (537) together with current feedback signal (529) and current feedback signal (530) by the armature winding of main loop unit output, this signal is zero, be input to current operator unit (10), finish the electric current loop scale operation by current operator unit (10), and by PWM ripple generating unit (11), (12), (13) produce PWM ripple modulation signal q1～q6, at this moment, q1 and q2 are zero, be input to main loop unit (60), control high power transistor V1～V4 carries out copped wave to DC bus-bar voltage (8)～(9), the output pulse width modulation voltage is to lead-out terminal (32), the V of lead-out terminal (32), W links to each other with (533) with the two-phase armature winding (534) of permanent magnet synchronous motor (504) respectively, thereby drives permanent magnet direct current motor (504) running.
8. as each drive controlling method of above-mentioned claim, it is characterized in that, the Control Software of digital control unit comprises main program, timer interrupt program 1, timer interrupt program 2, digital PID subprogram, wherein finish system initialization by main program, parameter is provided with, functions such as setting of interrupt routine inlet and cycle detection fault; Timer interrupt program 1 is used to finish PID control, and timer interrupt program 2 is used to finish the vector control computing and obtains output current; Software PID Controller subprogram is called for timer interrupt program 1.
9. as the drive controlling method of above-mentioned claim 7, it is characterized in that the main operating procedure of the main program flow of digital control unit Control Software is as follows:
(1), system initialization,
(2), according to the setting of control model, the judgement system is in the state of a control of which kind of motor,
(a) if drive two permanent magnet direct current motors, the pid parameter of two motors is set at first, the entry address of timer interrupt program 1 and timer interrupt program 2 is set respectively then;
(b) if drive a permanent magnet direct current motor, the PID majority of permanent magnet direct current motor is set at first, and wherein phase current instruction iv=0 is set, the entry address of timer interrupt program 1 and timer interrupt program 2 is set respectively again;
(c) if drive permanent magnet synchronous motor, the pid parameter of permanent magnet synchronous motor at first is set, and slip angle ns (t)=0 is set, and then the entry address of timer interrupt program 1 and timer interrupt program 2 is set respectively;
(d) if drive the inductive asynchronous motor, the pid parameter of inductive asynchronous motor is set at first, and then the entry address of difference equipment timer interrupt program 1 and timer interrupt program 2;
(e) if above-mentioned four kinds of patterns are not then to send fault alarm;
(3) open timer interrupt program 1 and timer interrupt program 2,
(4) malfunction monitoring is carried out in circulation, then carries out troubleshooting if any fault.
10. as the drive controlling method of above-mentioned claim 7, it is characterized in that the main operating procedure of the timer interrupt program 1 of digital control unit Control Software is as follows:
(1) beginning,
(2) read the count value n2 (t) of encoder 2,
(3) call in the pid parameter of motor 2,
(4) call the current operator subprogram,
(5) calculate the current instruction value iv of motor 2,
(6) read the count value nl (t) of encoder 1,
(7) call in the pid parameter of motor 1,
(8) call the current operator subprogram,
(9) calculate the current instruction value iu of motor 1,
(10) return.
11. the drive controlling method as above-mentioned claim 7 is characterized in that the main operating procedure of digital control unit PID Controller subprogram is as follows:
(1) beginning,
(2) calculate feedback displacement and feedback speed by code device signal,
(3) carry out the PID computing of speed: computational speed deviation, speed proportional, rate integrating, speed differential, obtain current instruction value Ig (t),
(4) absolute value with current-order Ig (t) is limited in the maximum permissible value MAXIg,
(5) obtain torque current set-point i,
(6) return.
12. the drive controlling method as above-mentioned claim 7 is characterized in that the main operating procedure of digital control unit timer interrupt program 2 is as follows:
(1) beginning,
(2) calculate slip angular frequency Vs:
In the formula: R
r/ L
rBe the rotor time constant of inductive asynchronous motor, id is a field supply, and (3) obtain slip angle ns (t) with the Vs integration,
(4) read encoder to count value n (t),
(5) obtain vector control angle n (t)=n (t)+ns (t),
(6) obtain current instruction value iu and iv by electric current set-point i, field supply id and vector control angle n (t):
(7) output current command value iu and iv,
(8) return.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN98125178A CN1071067C (en) | 1998-12-02 | 1998-12-02 | Driver for both AC and DC motors and its drive control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN98125178A CN1071067C (en) | 1998-12-02 | 1998-12-02 | Driver for both AC and DC motors and its drive control method |
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| Publication Number | Publication Date |
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| CN1255777A CN1255777A (en) | 2000-06-07 |
| CN1071067C true CN1071067C (en) | 2001-09-12 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100384080C (en) * | 2006-01-06 | 2008-04-23 | 上海微电子装备有限公司 | Digital adjustable double-ring motor controller for photoetching machine and digital adjusting method |
| CN101594037B (en) * | 2008-04-11 | 2011-11-30 | 株式会社日立制作所 | synchronous motor and control method of synchronous motor |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104143948B (en) * | 2013-05-08 | 2017-06-27 | 上海微电子装备有限公司 | A kind of general-purpose machine drive device and driving method |
| CN105141202A (en) * | 2015-09-24 | 2015-12-09 | 浙江工业大学 | Intelligent direct-current motor driving device main circuit |
| TWI630785B (en) * | 2017-03-17 | 2018-07-21 | 茂達電子股份有限公司 | Motor control system and motor driving circuit |
| CN108226839B (en) * | 2017-12-27 | 2020-07-03 | 苏州英威腾电力电子有限公司 | Converter, and abnormality detection method and device of Hall sensor |
| WO2021083164A1 (en) * | 2019-10-31 | 2021-05-06 | 苏州宝时得电动工具有限公司 | Adapter for electric tool and electric tool |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2284474Y (en) * | 1996-12-06 | 1998-06-17 | 冶金工业部自动化研究院 | Full digital a. c permanent-magnet servomotor driving gear |
-
1998
- 1998-12-02 CN CN98125178A patent/CN1071067C/en not_active Expired - Fee Related
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2284474Y (en) * | 1996-12-06 | 1998-06-17 | 冶金工业部自动化研究院 | Full digital a. c permanent-magnet servomotor driving gear |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100384080C (en) * | 2006-01-06 | 2008-04-23 | 上海微电子装备有限公司 | Digital adjustable double-ring motor controller for photoetching machine and digital adjusting method |
| CN101594037B (en) * | 2008-04-11 | 2011-11-30 | 株式会社日立制作所 | synchronous motor and control method of synchronous motor |
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| CN1255777A (en) | 2000-06-07 |
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