CN107547026A - A kind of ultrahigh speed permagnetic synchronous motor drive control device based on dual core - Google Patents
A kind of ultrahigh speed permagnetic synchronous motor drive control device based on dual core Download PDFInfo
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- CN107547026A CN107547026A CN201710838889.4A CN201710838889A CN107547026A CN 107547026 A CN107547026 A CN 107547026A CN 201710838889 A CN201710838889 A CN 201710838889A CN 107547026 A CN107547026 A CN 107547026A
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Abstract
The present invention proposes a kind of ultrahigh speed permagnetic synchronous motor drive control device based on dual core.Including radiating module, drive system module, master control system module；Radiating module includes foot of radiator, driver temperature detecting module, fans drive control module and fan；Drive system module includes rectification module, inversion module, driving and isolation module, Hall module；Master control system module includes double-nuclear DSP main control module, FPGA from control module, motor temperature detection module, conditioning module, AD conversion module and power module；Wherein, double-nuclear DSP main control module includes the first core and the second core again, and FPGA includes pwm pulse width signal monitoring module and protection module again from control module.The present invention has broader speed adjustable range and applicability in the case of High-speed Control, compared to generic drive, while suitable for the ultrahigh speed permagnetic synchronous motor without sensor rotation speed estimation.
Description
Technical field
The invention belongs to super high speed motor control technology field, and in particular to a kind of drive of superfast permagnetic synchronous motor
Movement controller.
Background technology
With the fast development of process technology, high speed, the fast development of high-precision numerical control machine have been expedited the emergence of.Ultrahigh speed electricity is main
Key feature of the axle as high-end numerical control machine, its performance indications directly determine the development level of high-end numerical control machine.
Main element of the ultrahigh speed permagnetic synchronous motor as high-speed motorized spindles, there is the advantages of other motors are incomparable.
For current most of high-speed permanent magnetic synchronous motor driver output frequencies mostly in below 1000Hz, control object is band
There are position, the high-speed electric expreess locomotive of velocity feedback module, the requirement of no sensor high-speed permanent magnetic synchronous motor control can not be met.
The content of the invention
The present invention proposes a kind of ultrahigh speed permagnetic synchronous motor drive control device based on dual core.
In order to solve the above-mentioned technical problem, the present invention provides a kind of ultrahigh speed permagnetic synchronous motor driving based on dual core
Controller, it is characterised in that including radiating module, drive system module, master control system module；
Radiating module includes foot of radiator, driver temperature detecting module, fans drive control module and fan；Drive
Dynamic system module includes rectification module, inversion module, driving and isolation module, Hall module；Master control system module includes double
Core DSP main control modules, FPGA are from control module, motor temperature detection module, conditioning module, AD conversion module and power supply mould
Block；Wherein, double-nuclear DSP main control module includes the first core and the second core again, and FPGA includes pwm pulse width again from control module to be believed
Number monitoring module and protection module；
Foot of radiator contacts installation with the power device in the drive control device, for in the drive control device
Power device heat loss through conduction；Driver temperature detecting module is used to gather the temperature of the drive control device in real time and by the temperature
Degree signal is transferred to fans drive control module；Fans drive control module controls wind according to the temperature height of drive control device
The working condition of fan；
Rectification module is rectified into direct current with outside three-phase alternating current, is inversion module and master control system module for power supply；
The inversion module receives driving and the pwm pulse signal of isolation module, and DC inverter is struck a bargain according to pwm pulse signal
Stream electricity, it is that the stator of fans drive control module, Hall module and permagnetic synchronous motor is powered；Driving receives with isolation module
The pwm pulse signal monitored by FPGA from control module, isolation transmission is carried out, and PWM pulse signals are converted into driving
The high level pwm pulse signal of dynamic inversion module；Hall module is used to determine what inversion module inversion obtained using Hall element
Sub- three-phase voltage current signal, the voltage signal of dc bus are sampled and are transferred to Signal-regulated kinase；
Power module is used for the voltage needed for by the voltage conversion into master control system module of rectification module output；Motor temperature
Degree detection module is used for the temperature for gathering motor body, and the temperature signal is transferred into conditioning module；Conditioning module is used to connect
The stator voltage current signal, DC bus-bar voltage signal, the temperature signal of motor body of Hall module collection are received, and by described in
The signal condition of reception is into the signal for meeting AD conversion module input requirements；AD conversion module is used for the stator voltage that will be received
Current signal, motor temperature signal are converted into the data signal that digit chip can receive, and pass to FPGA from control module
In protection module and the second core in double-nuclear DSP main control module；The first core in double-nuclear DSP main control module is used for basis and set
Fixed rotating speed of target and the estimation rotating speed being calculated by the second core, using motor mathematical model, are made by Direct torque
To the pwm control signal for giving driving inversion module, and pwm control signal is sent to FPGA from control module；Second core is used
In the stator three-phase voltage current signal transmitted according to AD conversion mould, electricity is estimated using spreading kalman algorithm for estimating
Machine speed and rotor-position, and motor speed and rotor position data that estimation is obtained pass to the first core；Protection module is used
In the stator three-phase voltage current, DC bus-bar voltage and the motor body temperature signal that receive AD conversion module output, fixed
After sub- three-phase voltage current, DC bus-bar voltage, motor body temperature signal reach the alert if of setting, fault-signal is produced
And block outputs of the FPGA from the pwm control signal of control module；PWM monitoring modules are used to receive to produce in double-nuclear DSP module
Pwm control signal, and interlocking condition judgment is carried out to pwm control signal, if there is the ungratified situation of interlocking condition, produced
Fault-signal simultaneously blocks outputs of the FPGA from the pwm control signal of control module；If pwm control signal meets interlocking condition,
Pwm control signal is exported to driving and isolation module.
Further, the monocycle workflow of magnetic-synchro motor drive controller is as follows：
Step 1, the second core are estimated according to the DC bus-bar voltage and threephase stator voltage and current signal of AD conversion module
Calculation obtains spinner velocity and rotor-position, stator magnetic linkage, electromagnetic torque, phase angle；
Step 2, the spinner velocity that the given rotating speed and the second nuclear estimation that the first core is sent according to host computer obtain is with turning
Sub- position, stator magnetic linkage, electromagnetic torque, phase angle, Direct Torque Control, output are carried out with reference to permagnetic synchronous motor mathematical modeling
6 road pwm control signals；
Step 3, the 6 road pwm control signals that FPGA exports from control module receiving step two, and mould is monitored by PWM
Block carries out the judgement of fault condition, if being judged as failure, blocks the output of pwm control signal；, will if being judged as non-faulting
6 road pwm control signals are exported to drive system；
Step 4, the 6 road pwm control signals exported in drive system receiving step three, so as to control high-power IGBT
Conducting and shut-off, motor stator side is output to by DC inverter into three-phase alternating current..
Compared with prior art, its remarkable advantage is the present invention, using dual core controller, in the case of High-speed Control
Also preferable control performance can be reached, there is broader speed adjustable range and applicability compared to generic drive, be applied to simultaneously
Ultrahigh speed permagnetic synchronous motor without sensor rotation speed estimation.
Brief description of the drawings
Fig. 1 is the composition frame chart of ultrahigh speed permagnetic synchronous motor drive control device of the present invention；
Fig. 2 is the signal flow graph of ultrahigh speed permagnetic synchronous motor drive control device of the present invention.
In figure：1- radiating modules, 2- drive systems module, 3- master control systems module, 1-1- foots of radiator, 1-2- temperature
Detection module, 1-3- fans drives control module, 1-4- fans, 2-1- rectification modules, 2-2- inversion modules, 2-3- driving with every
Detected from module, 2-5- Halls module, 3-1- double-nuclear DSPs main control module, 3-2-FPGA from control module, 3-3- motor temperatures
Module, 3-4- conditioning modules, 3-5-AD modules, 3-6- power modules, the cores of 3-1-1- second, the cores of 3-1-2- first, 3-2-1-PWM
Monitoring module, 3-2-2- protection modules.
Embodiment
It is readily appreciated that, according to technical scheme, in the case where not changing the connotation of the present invention, this area
Those skilled in the art can imagine the superfast permagnetic synchronous motor of the present invention drive control device numerous embodiments.
Therefore, detailed description below and accompanying drawing are only the exemplary illustrations to technical scheme, and are not to be construed as this
The whole of invention is considered as limitation or restriction to technical solution of the present invention.
With reference to Fig. 1, ultrahigh speed permagnetic synchronous motor drive control device includes radiating module 1, drive system module 2, master control
System module 3 processed.
Radiating module 1 includes foot of radiator 1-1, starter temperature detecting module 1-2, fans drive control module 1-3
And fan 1-4.Drive system module 2, including rectification module 2-1, inversion module 2-2, driving and isolation module 2-3, Hall
Module 2-5.
Master control system module 3 includes double-nuclear DSP main control module 3-1, FPGA from control module 3-2, second temperature inspection
Survey module 3-3, conditioning module 3-4, AD conversion module 3-5 and power module 3-6.Wherein, double-nuclear DSP main control module 3-1 bags
Include the first core 3-1-2 and the second core 3-1-1.FPGA includes pwm pulse width signal monitoring module 3-2-1 from control module 3-2
With protection module 3-2-2.
In radiating module 1, foot of radiator 1-1 materials are aluminum, for being passed for the power device in drive control device
Radiating is led, it coordinates with drive control device shell is installed, and installation is contacted with the power device in drive control device.Driver temperature
Detection module 1-2 is installed near drive control device radiating module, for gathering the temperature of drive control device in real time and will drive
The temperature analog signal of device is converted into digital temperature signal, is transferred to fans drive control module 1-3.Fans drive control module
The temperature detection signal that 1-3 obtains according to driver temperature detecting module 1-2, by set temperature upper limit and obtained temperature
Detection signal compares, and whether is opened the judgement of fan, if detection temperature is more than the design temperature upper limit, to blower module
Transmission power signal, finally realize fan 1-4 switch control.Fan 1-4 receives fans drive control module 1-3 transmission
Power signal and switching signal carry out on off state switching.
In drive system module 2, rectification module 2-1 is connected with three-phase alternating current by power source protective module, by three-phase
AC rectification is powered into 510V or so direct current for inversion module 2-2 and master control system.The inversion module 2-2 connects
Driving and isolation module 2-3 pwm pulse signal are received, and is fan according to pwm pulse signal inverse of the DC into AC
Drive control module 1-3, Hall module 2-5 and permagnetic synchronous motor stator power supply.Driving is received with isolation module 2-3 and passed through
The pwm signal that FPGA monitors from control module 3-2 is crossed, carries out isolation transmission, pwm signal is accessed into driving chip to be converted into
The high level pwm signal of inversion module can be driven and transmit the signal to inversion module 2-2.Hall module 2-5 is used to make
Stator three-phase voltage current signal, the voltage and current signal of dc bus obtained with Hall element to inversion module 2-2 inversions
Sampled and pass to the Signal-regulated kinase 3-4 in master control system module.
In master control system module 3, power module 3-6 is used for the voltage conversion that rectification module 2-1 is exported into main control
± 15V ,+3.3V needed for system, the voltage such as+1.2V ,+1.5V.Motor temperature detection module 3-3 is used to gather super high speed motor
Body temperature, and the temperature signal is transferred to conditioning module 3-4.Conditioning module 3-4 is used to receive Hall module 2-5 outputs
Super high speed motor stator voltage current signal, DC bus-bar voltage, and receive motor temperature detection module 3-3 collection electricity
Machine body temperature signal, and by the three kinds of signal conditions received into meeting A/D module input requirements in master control system
Signal, and the stator voltage current signal, motor temperature signal, DC bus-bar voltage signal of conditioned motor are passed into AD
Module 3-5.Stator voltage current signal, motor temperature signal after the conditioning that A/D module 3-5 is used to receive are converted into counting
The data signal that word chip can receive, and FPGA is passed to from the protection module 3-2-2 and double-core in control module 3-2
The second core 3-1-1 in DSP main control modules 3-1.The first core 3-1-2 in double-nuclear DSP main control module is used for Direct torque
System, i.e., for the rotating speed of target according to setting and the estimation rotating speed being calculated by the second core, according to the mathematical modulo of real electrical machinery
Type, obtains giving the pwm control signal amount of the inversion module of drive system by Direct Torque Control, and by pwm control signal
Amount is sent to FPGA from control module 3-2.Second core 3-1-1 be used for according to AD moulds pass 3-5 transmit stator three-phase voltage,
Current signal, motor speed and rotor-position are estimated using spreading kalman algorithm for estimating, and the motor for estimating to obtain is turned
Speed and rotor position data pass to the first core 3-1-2.Protection module 3-2-2 is used for the stator three for receiving A/D module 3-5 outputs
Phase voltage, electric current, busbar voltage, motor temperature signal, reached in stator three-phase voltage, electric current, busbar voltage, motor temperature signal
To after the alert if of setting, produce fault-signal and block outputs of the FPGA from control module 3-2 pwm control signal.I.e.
When meeting alert if, FPGA stops exporting pwm control signal to driving and isolation module from control module 3-2.PWM is monitored
Module 3-2-1 is used to receive caused pwm control signal amount in double-nuclear DSP module, and PWM control signal amounts are interlocked
Condition judgment, because the two-way pwm signal of same bridge arm does not allow to simultaneously turn on, if the pwm signal and same bridge of any bridge arm
The another way signal of arm is useless to be simultaneously turned on, then it is assumed that meets interlocking condition.If there is the ungratified situation of interlocking condition, produce
Fault-signal simultaneously blocks outputs of the FPGA from control module 3-2 pwm control signal.If pwm control signal amount meets mutual bolt
Part, then pwm control signal amount is exported to the driving in drive system and isolation module 2-3.
With reference to Fig. 2, as a kind of embodiment, drive control device entirety monocycle workflow is as follows：
Step 1, the second core 3-1-1 of double-nuclear DSP main control module is according to A/D module 3-5 direct current in master control system module
Busbar voltage and threephase stator voltage and current signal, estimation obtain spinner velocity and rotor-position signal, stator magnetic linkage, electromagnetism
Torque, phase angle.
Step 2, the given rotating speed signal and the second core 3-1-1 that the first core 3-1-2 is sent according to host computer are estimated to obtain
Spinner velocity and rotor-position signal, stator magnetic linkage, electromagnetic torque, phase angle, enter with reference to permagnetic synchronous motor mathematical modeling
Row Direct Torque Control, export 6 road pwm control signals.
Step 3, the 6 road PWM control letters that FPGA exports from control module 3-2 receiving steps two in master control system module
Number, and by the judgement of PWM monitoring modules 3-2-1 progress fault conditions, if being judged as failure, block PWM control signals are defeated
Go out；If being judged as non-faulting, 6 road pwm control signals are exported to drive system 2.
Step 4, the 6 road pwm control signals exported in the receiving step three of drive system 2, so as to control high-power IGBT
Conducting and shut-off, DC inverter is output to motor stator side into three-phase alternating current.
In the case of normal work, one controlling cycle workflow is first core of double-nuclear DSP main control module：
Step 1, the given rotating speed signal that host computer is sent is received, the spinner velocity that the second nuclear estimation of reception obtains is with turning
Sub- position signalling, stator magnetic linkage, electromagnetic torque, phase angle.
Step 2, ultrahigh speed permagnetic synchronous motor is calculated by coordinate transform and permagnetic synchronous motor mathematical modeling
Electromagnetic torqueStator magnetic linkageAnd its phase angle
Step 3, by the error of torque comparator input pi regulator and with stator magnetic linkage phase angleCompare acquisition
Then in conjunction with given reference stator magnetic linkageAnd iα、iβObtain the reference voltage needed for SVPWM modulesWith
Step 4, according to the reference voltage signal exported in step 3WithObtain desired reference stator synthesis
Voltage uref。
Step 5, basic voltage vectors and its action time are calculated using SVPWM modules, export the IGBT of inversion module
Control signal needed for device for power switching, control its on off state.
Claims (2)
1. a kind of ultrahigh speed permagnetic synchronous motor drive control device based on dual core, it is characterised in that including radiating module
(1), drive system module (2), master control system module (3)；
Radiating module (1) includes foot of radiator (1-1), driver temperature detecting module (1-2), fans drive control module
(1-3) and fan (1-4)；Drive system module (2) includes rectification module (2-1), inversion module (2-2), drives with isolating
Module (2-3), Hall module (2-5)；Master control system module (3) includes double-nuclear DSP main control module (3-1), FPGA from control
Molding block (3-2), motor temperature detection module (3-3), conditioning module (3-4), AD conversion module (3-5) and power module
(3-6)；Wherein, double-nuclear DSP main control module (3-1) includes the first core (3-1-2) and the second core (3-1-1) again, and FPGA is from control
Module (3-2) includes pwm pulse width signal monitoring module (3-2-1) and protection module (3-2-2) again；
Foot of radiator (1-1) contacts installation with the power device in the drive control device, for for the drive control device
In power device heat loss through conduction；Driver temperature detecting module (1-2) is used for the temperature for gathering the drive control device in real time
And the temperature signal is transferred to fans drive control module (1-3)；Fans drive control module (1-3) is according to drive control device
Temperature height, control fan (1-4) working condition；
Rectification module (2-1) is rectified into direct current with outside three-phase alternating current, is inversion module (2-2) and master control system module
(3) power；The inversion module (2-2) receives driving and the pwm pulse signal of isolation module (2-3), and is believed according to pwm pulse
Number inverse of the DC into AC, is fans drive control module (1-3), Hall module (2-5) and permagnetic synchronous motor
Stator power supply；Driving receives the pwm pulse signal monitored by FPGA from control module (3-2) with isolation module (2-3), enters
Row isolation is transmitted, and pwm pulse signal is converted into driving to the high level pwm pulse signal of inversion module (2-2)；Hall
Stator three-phase voltage current signal, the direct current that module (2-5) is used to obtain inversion module (2-2) inversion using Hall element are female
The voltage signal of line is sampled and is transferred to Signal-regulated kinase (3-4)；
Power module (3-6) is used for the electricity needed for by the voltage conversion into master control system module (3) of rectification module (2-1) output
Pressure；Motor temperature detection module (3-3) is used for the temperature for gathering motor body, and the temperature signal is transferred into conditioning module
(3-4)；Conditioning module (3-4) is used to receive the stator voltage current signal of Hall module (2-5) collection, DC bus-bar voltage letter
Number, the temperature signal of motor body, and by the signal condition of the reception into the letter for meeting AD conversion module (3-5) input requirements
Number；AD conversion module (3-5) be used for will receive stator voltage current signal, motor temperature signal is converted into digit chip can
With the data signal of reception, and FPGA is passed to from the protection module (3-2-2) in control module (3-2) and double-nuclear DSP master
Control the second core (3-1-1) in module (3-1)；The first core (3-1-2) in double-nuclear DSP main control module is used for the mesh according to setting
Mark rotating speed and the estimation rotating speed being calculated by the second core (3-1-1), using motor mathematical model, are made by Direct torque
To the pwm control signal for giving driving inversion module (2-2), and pwm control signal is sent to FPGA from control module (3-
2)；Second core (3-1-1) is used for the stator three-phase voltage current signal for passing (3-5) according to AD conversion mould and transmitting, and uses expansion
Exhibition kalman estimate algorithm estimates motor speed and rotor-position, and the motor speed and rotor position data that estimation is obtained
Pass to the first core (3-1-2)；Protection module (3-2-2) is used for the stator three-phase voltage for receiving AD conversion module (3-5) output
Electric current, DC bus-bar voltage and motor body temperature signal, in stator three-phase voltage current, DC bus-bar voltage, motor sheet
After fluid temperature signal reaches the alert if of setting, produce fault-signal and block PWM controls of the FPGA from control module (3-2)
The output of signal；PWM monitoring modules (3-2-1) are used to receive caused pwm control signal in double-nuclear DSP module, and PWM is controlled
Signal processed carries out interlocking condition judgment, if there is the ungratified situation of interlocking condition, produces fault-signal and blocks FPGA from control
The output of the pwm control signal of molding block (3-2)；If pwm control signal meets interlocking condition, pwm control signal is exported
To driving and isolation module (2-3).
2. the ultrahigh speed permagnetic synchronous motor drive control device based on dual core as claimed in claim 1, it is characterised in that its list
Cycling flow is as follows：
Step 1, the second core (3-1-1) is according to the DC bus-bar voltage and threephase stator voltage x current of AD conversion module (3-5)
Signal, estimation obtain spinner velocity and rotor-position, stator magnetic linkage, electromagnetic torque, phase angle；
Step 2, what given rotating speed and the second core (3-1-1) estimation that the first core (3-1-2) is sent according to host computer obtained turns
Sub- speed and rotor-position, stator magnetic linkage, electromagnetic torque, phase angle, are directly turned with reference to permagnetic synchronous motor mathematical modeling
Square controls, and exports 6 road pwm control signals；
Step 3, the 6 road pwm control signals that FPGA exports from control module (3-2) receiving step two, and mould is monitored by PWM
Block (3-2-1) carries out the judgement of fault condition, if being judged as failure, blocks the output of pwm control signal；If it is judged as non-event
Barrier, then export 6 road pwm control signals to drive system (2)；
Step 4, the 6 road pwm control signals exported in drive system (2) receiving step three, so as to control leading for high-power IGBT
Logical and shut-off, motor stator side is output to by DC inverter into three-phase alternating current.
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| CN201710838889.4A CN107547026A (en) | 2017-09-18 | 2017-09-18 | A kind of ultrahigh speed permagnetic synchronous motor drive control device based on dual core |
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| CN201710838889.4A CN107547026A (en) | 2017-09-18 | 2017-09-18 | A kind of ultrahigh speed permagnetic synchronous motor drive control device based on dual core |
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| CN108551288A (en) * | 2018-06-20 | 2018-09-18 | 深圳日海新能源科技有限公司 | A kind of operation method of neural network current controller and device and the controller |
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| CN108923697A (en) * | 2018-06-07 | 2018-11-30 | 江苏江荣智能科技有限公司 | A kind of more kernel electric machine control systems |
| CN109586538A (en) * | 2018-12-06 | 2019-04-05 | 上海航天控制技术研究所 | A kind of autonomous controllable high-precision height response electromechanical servo component |
| CN109617460A (en) * | 2018-12-28 | 2019-04-12 | 南京越博动力系统股份有限公司 | A kind of electric machinery control device based on vector controlled |
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| CN110729701A (en) * | 2019-10-29 | 2020-01-24 | 上海同致汽车配件有限公司 | Control method of permanent magnet synchronous motor servo control system |
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| CN108809192B (en) * | 2018-06-07 | 2020-12-04 | 江苏江荣智能科技有限公司 | Parameter self-tuning permanent magnet synchronous motor control system |
| CN108809192A (en) * | 2018-06-07 | 2018-11-13 | 江苏江荣智能科技有限公司 | A kind of parameter self-tuning control system for permanent-magnet synchronous motor |
| CN108923697A (en) * | 2018-06-07 | 2018-11-30 | 江苏江荣智能科技有限公司 | A kind of more kernel electric machine control systems |
| CN108923697B (en) * | 2018-06-07 | 2020-12-04 | 江苏江荣智能科技有限公司 | Multi-kernel motor control system |
| CN108551288A (en) * | 2018-06-20 | 2018-09-18 | 深圳日海新能源科技有限公司 | A kind of operation method of neural network current controller and device and the controller |
| CN109586538A (en) * | 2018-12-06 | 2019-04-05 | 上海航天控制技术研究所 | A kind of autonomous controllable high-precision height response electromechanical servo component |
| CN109617460A (en) * | 2018-12-28 | 2019-04-12 | 南京越博动力系统股份有限公司 | A kind of electric machinery control device based on vector controlled |
| CN110417316A (en) * | 2019-07-19 | 2019-11-05 | 南京航空航天大学 | A method of inhibiting the pulsation of Direct Torque Control of Induction starting current |
| CN110729701A (en) * | 2019-10-29 | 2020-01-24 | 上海同致汽车配件有限公司 | Control method of permanent magnet synchronous motor servo control system |
| CN113067529A (en) * | 2019-12-31 | 2021-07-02 | 比亚迪股份有限公司 | Motor control system and vehicle with same |
| WO2021136279A1 (en) * | 2019-12-31 | 2021-07-08 | 比亚迪股份有限公司 | Electric motor control system and vehicle having same |
| CN113067529B (en) * | 2019-12-31 | 2023-01-06 | 比亚迪股份有限公司 | Motor control system and vehicle with same |
| CN112271962A (en) * | 2020-10-23 | 2021-01-26 | 大力电工襄阳股份有限公司 | Control method of novel high-voltage synchronous variable-frequency soft starting device |
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