CN107592037A - Dual system control device for brushless direct current machine and method based on FPGA - Google Patents
Dual system control device for brushless direct current machine and method based on FPGA Download PDFInfo
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- CN107592037A CN107592037A CN201710992633.9A CN201710992633A CN107592037A CN 107592037 A CN107592037 A CN 107592037A CN 201710992633 A CN201710992633 A CN 201710992633A CN 107592037 A CN107592037 A CN 107592037A
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Abstract
Dual system control device for brushless direct current machine and method of the present invention based on FPGA belong to Motor Control Field；The device includes FPGA, brshless DC motor, drive circuit, voltage x current sample circuit, indicator lamp LED1, indicator lamp LED2 and indicator lamp LED3；FPGA connects brshless DC motor with voltage x current sample circuit by drive circuit respectively, and the indicator lamp LED1, indicator lamp LED2 and indicator lamp LED3 are arranged on FPGA, and Hall sensor is installed on the brshless DC motor；This method includes using position sensor and position-sensor-free dual system, when detection module detects that error occurs in hall signal, then run back-emf zero passage system and carry out motor control, continue to run with brshless DC motor, when detection module detects that two sets of control systems of brshless DC motor go wrong, LED on FPGA can send corresponding indication signal, prompt staff to be handled in time, ensure that motor can safely and efficiently be run；Effectively solves the problems, such as Hall sensor failure.
Description
Technical field
Dual system control device for brushless direct current machine and method of the present invention based on FPGA belong to Motor Control Field.
Background technology
Brshless DC motor has long lifespan, and noise is small, simple in construction, and mechanical performance is excellent, and small volume is in light weight, can
It is high by property, electric spark is not produced, the advantages that overload capacity is strong, and control accuracy is high, and it is widely used in industry, Aero-Space etc. are each
Individual field.Wherein there is position brshless DC motor control to turn into main flow control method, Hall sensor turns into mainstream sensor
Selection, but when Hall sensor measurement error occurs or broken down, now the problem of inaccurate just occurs in hall signal, this
When brshless DC motor the problems such as commutation is wrong occurs, influence production efficiency, or even threaten safety, how to solve Hall appearance
Counter-measure during failure, it is the emphasis and difficult point studied now.
The content of the invention
In view of the above-mentioned problems, the invention provides a kind of dual system control device for brushless direct current machine based on FPGA and side
Method.
The object of the present invention is achieved like this：
A kind of dual system control device for brushless direct current machine based on FPGA, including FPGA, brshless DC motor, driving electricity
Road, voltage x current sample circuit, the first LED light, the second LED light and the 3rd LED light；The FPGA includes inspection
Survey module, interface unit module, back-emf zero passage detection module, filtration module, rotating speed computing module, current calculation module, turn
Fast PI type Fuzzy adjustment module, electric current PI type Fuzzy adjustment module and PWM and inverting module；The signal passes sequentially through rotating speed mould
PI adjustment modules, electric current PI type Fuzzy adjustment module, PWM and inverting module and drive circuit are pasted, reaches brshless DC motor；
The drive circuit sends signal by current calculation module, reaches electric current PI type Fuzzy adjustment module；The brshless DC motor
Send signal and pass sequentially through filtration module, rotating speed computing module arrival rotating speed PI type Fuzzy adjustment module；The brshless DC motor
Send signal and pass sequentially through voltage x current sample circuit and interface unit module arrival back-emf zero-crossing examination module, by anti-
The signal of potential zero-crossing examination module arrives separately at filtration module and PWM and inverting module；The first LED instructions
Lamp, the second LED light and the 3rd LED light are arranged on FPGA, and Hall sensor is installed on the brshless DC motor.
A kind of dual system control device for brushless direct current machine based on FPGA, the drive circuit include power supply Udc,
Transistor VT1, transistor VT2, transistor VT3, transistor VT4, transistor VT5, transistor VT6, resistance R1, resistance R2, electricity
Hinder R3, inductance coil L1, inductance coil L2, inductance coil L3, voltage source Ea, voltage source Eb and voltage source Ec；The Udc connections
VT1 and VT4, the VT1 and VT4, VT3 and VT6, VT5 and VT2 are in parallel, set A points to be sequentially connected among the VT1 and VT4
R1, L1 and Ea, VT3 and the VT6 centre set B points R2, L2 and Eb successively, VT5 the and VT2 intermediaries set C points to connect successively
Meet R3, L3 and Ec, A, B and C tie point N.
A kind of dual system control device for brushless direct current machine based on FPGA, the back-emf zero passage detection module bag
Include resistance R31, resistance R32, resistance R33, resistance R34, resistance R35, resistance R36, resistance R37, resistance R38, resistance R39, electricity
Hinder R40, resistance R41, resistance R42, resistance R43, resistance R44, resistance R45, resistance R46, resistance R56, resistance R57, resistance
R58, resistance R59, resistance R60, resistance R61, electric capacity C7, electric capacity C8, electric capacity C9, electric capacity C10, electric capacity C12, electric capacity C13, electric capacity
C14, operational amplifier B1A, operational amplifier B1B and operational amplifier B1C；R31, R40, R44, R56 connect B1A's with R59
In-phase input end, C12 ground connection being connected between R56 and R59, R32, R41, R45, R57 connect B1B in-phase input end with R62,
C13 ground connection, B1B ground connection are connected between R57 and R62, R33, R42, R46, R58 connects B1C in-phase input end with R61, R58 with
C14 ground connection, B1C ground connection, R34 parallel connection C7, R35 parallel connection C8 and R36 parallel connections C9 ground connection, between R31 and R40 are connected between R61
R39 connections C10 ground connection between R38, R33 and R42 between R37, R32 and R41, B1A reverse input end, B1B it is reverse
Input, B1C reverse input end connection R43 reconnect C10 ground connection.
A kind of double systems based on FPGA realized on the dual system control device for brushless direct current machine based on FPGA
System control method for brushless direct current motor, comprises the following steps：
Step a, using FPGA as Master control chip, position sensor system and position-sensorless systems are downloaded to
In FPGA；
Step b, brshless DC motor is started, Hall sensor and back-emf position-sensor-free start simultaneously, there is position
Sensing system and position-sensorless systems carry out hall sensor signal and voltage x current collection respectively；
Step c, choose Hall sensor first to be controlled brshless DC motor, voltage x current sample circuit collection nothing
The three-phase voltage and current signal of brushless motor, are transferred in interface unit module, while detection module detection hall position
Letter；
If hall sensor signal is sent in filtration module and PWM and inverting module, filtration module without exception
Hall sensor signal is filtered, signal after filtering, which is sent in rotating speed computing module, to be calculated, then is sent to rotating speed mould
Paste in PI adjustment modules, the signal of drive circuit feedback is delivered in current calculation module, the letter after current calculation module calculating
Number it is sent in electric current PI type Fuzzy adjustment module, forms double closed-loop control system, ultimately generates PWM modulation signal and be sent to PWM tune
System and inverting module, drive circuit are controlled according to the signal received to brshless DC motor, and the first LED light is bright,
Second LED light and the 3rd LED light are extinguished；
If exception occurs for hall sensor signal, detection module sends switching signal, now selects position-sensor-free system
System is controlled to brshless DC motor, and the current signal in interface unit module is sent in electric current PI type Fuzzy adjustment module,
Voltage signal is sent in back-emf zero-crossing examination module, and back-emf zero-crossing examination module produces back-emf mistake by calculating
Zero-signal and commutation signal, commutation signal, which is sent directly to be sent to drive circuit in PWM and inverting module, to be carried out at commutation
Reason, module reaches rotating speed computing module, the signal warp that the output of rotating speed computing module calculated to back-emf zero cross signal after filtering
Cross the processing of rotating speed PI type Fuzzy adjustment module, double closed-loop control system be collectively forming with electric current PI type Fuzzy adjustment module, PWM and
Inverting module receives commutation signal and PWM modulation signal, is sent a signal to by calculating in drive circuit, drive circuit is nothing
Brushless motor, which provides signal, makes its rotation, and now the second LED light is lighted, the first LED light and the 3rd LED light
Extinguish；
When detection module detects that exception occurs in the signal of voltage x current sample circuit extraction, then the 3rd LED is lighted, the
One LED light and the second LED light are extinguished, and prompt brshless DC motor control severe deviations occur, stop brushless direct-current
Motor.
Beneficial effect：
1st, dual system control device for brushless direct current machine and method of the present invention based on FPGA, utilize hardware concurrent
Advantage, FPGA have broken the pattern that order performs, and more processing tasks are completed within each clock cycle, have surmounted DSP's
Operational capability, greatly improve the efficiency of detection module in FPGA controller.
2nd, dual system control device for brushless direct current machine and method of the present invention based on FPGA, when in FPGA controller
When detection module monitors that the signal of Hall sensor transmission occurs abnormal, FPGA will call position-sensorless systems to brushless
Direct current generator is controlled, and makes brshless DC motor in special circumstances, in the case of can not stopping, there is second layer safety measure guarantor
It is steady to demonstrate,prove motor, safe operation, effectively solves Hall using having position and the system control method adjusted jointly without position
The problem of sensor breaks down.
3rd, dual system control device for brushless direct current machine and method of the present invention based on FPGA, in FPGA controller
Alarm is set, and when detection module detects that two control systems go wrong, the LED on controller can be sent accordingly
Signal, prompt staff to detect the whole control system of brshless DC motor, it is and normal in brshless DC motor
Also corresponding LED prompting is had during operation, brshless DC motor real-time status can be grasped, intuitively, clearly.
Brief description of the drawings
Fig. 1 is the dual system control device for brushless direct current machine structure diagram based on FPGA.
Fig. 2 is drive circuit circuit diagram.
Fig. 3 is back-emf zero passage detection module circuit diagram.
Fig. 4 is the first LED, the 2nd LED and the 3rd LED circuit diagram.
Fig. 5 is brshless DC motor circuit diagram.
In figure：1FPGA, 1-1 detection module, 1-2 interface unit modules, 1-3 back-emf zero passage detections module, 1-4 filtering
Module, 1-5 rotating speeds computing module, 1-6 current calculation modules, 1-7 rotating speed PI type Fuzzies adjustment module, the regulation of 1-8 electric currents PI type Fuzzy
Module, 1-9PWM modulation and inverting module, 2 brshless DC motors, 3 drive circuits, 4 voltage x current sample circuits.
Embodiment
The specific embodiment of the invention is described in further detail below in conjunction with the accompanying drawings.
Embodiment one
A kind of dual system control device for brushless direct current machine based on FPGA, as shown in figure 1, including FPGA1, brushless direct-current
Motor 2, drive circuit 3, voltage x current sample circuit 4, the first LED light, the second LED light and the 3rd LED light；
The FPGA1 include detection module 1-1, interface unit module 1-2, back-emf zero passage detection module 1-3, filtration module 1-4, turn
Fast computing module 1-5, current calculation module 1-6, rotating speed PI type Fuzzy adjustment module 1-7, electric current PI type Fuzzy adjustment module 1-8 and
PWM and inverting module 1-9；The signal passes sequentially through rotating speed PI type Fuzzy adjustment module 1-7, electric current PI type Fuzzy adjustment module
1-8, PWM and inverting module 1-9 and drive circuit 3, reach brshless DC motor 2；The drive circuit 3 sends signal and led to
Overcurrent computing module 1-6, reach electric current PI type Fuzzy adjustment module 1-8；The brshless DC motor 2 sends signal and passed sequentially through
Filtration module 1-4, rotating speed computing module 1-5 reach rotating speed PI type Fuzzy adjustment module 1-7；The brshless DC motor 2 sends letter
Number pass sequentially through voltage x current sample circuit 4 and interface unit module 1-2 reaches back-emf zero-crossing examination module 1-3, pass through
Back-emf zero-crossing examination module 1-3 signal arrives separately at filtration module 1-4 and PWM and inverting module 1-9；Described
One LED light, the second LED light and the 3rd LED light are arranged on FPGA1, are installed on the brshless DC motor 2
Hall sensor.
The present invention downloads to two kinds of control systems in FPGA1 chips, brshless DC motor 2 using FPGA1 as main control chip
System is called position sensor system to carry out brshless DC motor 2 and controlled during startup.
Position sensor system and position-sensorless systems carry out hall position respectively when brshless DC motor 2 starts
Signal and voltage and current signal collection, system choose Hall sensor systems and brshless DC motor 2 are controlled first, simultaneously
Detection module 1-1 in FPGA1 also begins to detect hall sensor signal, and hall sensor signal is delivered to filtration module 1-4 and PWM
In modulation and inverting module 1-9, signal is filtered and calculated by rotating speed computing module 1-5 by filtration module 1-4, and signal passes to
In rotating speed PI type Fuzzy adjustment module 1-7, drive circuit 3 is by the current calculation module 1-6 in current feedback to FPGA1, electric current
Current signal is delivered in electric current PI type Fuzzy control module 1-8 by computing module 1-6, and der Geschwindigkeitkreis form two close cycles control with electric current loop
System, PWM modulation signal is formed, is finally output a control signal to by PWM and inverting module 1-9 in drive circuit 3 to brushless
Direct current generator 2 is controlled, and the first LED light is bright always during normal work, and remaining indicator lamp goes out.
When detection module 1-1 detection hall signals occur abnormal, position-sensorless systems are now selected to brushless straight
Stream brshless DC motor 2 is controlled, and voltage x current sample circuit 4 gathers the three-phase voltage of brshless DC motor 2 and current signal,
Current signal is sent in electric current PI type Fuzzy adjustment module 1-8, and voltage signal is sent to back-emf zero-crossing examination module 1-3,
Back-emf zero-crossing examination module 1-3 produces zero cross signal and commutation signal by calculating, and commutation signal is sent directly to PWM tune
Drive circuit 3 is sent in system and inverting module 1-9 and carries out commutation processing, and module 1-4 reaches rotating speed to back-emf signal after filtering
The signal of computing module 1-5, rotating speed computing module 1-5 output is reached in rotating speed PI type Fuzzy adjustment module 1-7, the position sensorless
Device system is identical with position sensor system, and der Geschwindigkeitkreis form Fuzzy cascade control, PWM and commutation mould with electric current loop
Block 1-9 receives commutation signal and PWM modulation signal, is sent a signal to by calculating in drive circuit 3, drive circuit 3 is nothing
Brushless motor 2, which provides signal, makes its rotation, and now the second LED light starts bright, and remaining indicator lamp goes out.
When detection module 1-1 detects that the signal that voltage x current sample circuit 4 extracts abnormal then the 3rd LED occurs and started
Bright, another two indicator lamps go out.There are severe deviations in the prompting control of brshless DC motor 2, it is proposed that stops brshless DC motor 2.
Embodiment two
A kind of dual system control device for brushless direct current machine based on FPGA, as shown in Fig. 2 the drive circuit 3
Including power supply Udc, transistor VT1, transistor VT2, transistor VT3, transistor VT4, transistor VT5, transistor VT6, resistance
R1, resistance R2, resistance R3, inductance coil L1, inductance coil L2, inductance coil L3, voltage source Ea, voltage source Eb and voltage source
Ec；The Udc connection VT1 and VT4, the VT1 and VT4, VT3 and VT6, VT5 and VT2 are in parallel, are set among the VT1 and VT4
Put A points and be sequentially connected R1, L1 and Ea, B points R2, L2 and Eb successively, VT5 the and VT2 intermediaries are set among the VT3 and VT6
C points are set to be sequentially connected R3, L3 and Ec, A, B and C tie point N.
A kind of dual system control device for brushless direct current machine based on FPGA, as shown in figure 3, the back-emf zero passage
Detection module 1-3 includes resistance R31, resistance R32, resistance R33, resistance R34, resistance R35, resistance R36, resistance R37, resistance
R38, resistance R39, resistance R40, resistance R41, resistance R42, resistance R43, resistance R44, resistance R45, resistance R46, resistance R56,
Resistance R57, resistance R58, resistance R59, resistance R60, resistance R61, electric capacity C7, electric capacity C8, electric capacity C9, electric capacity C10, electric capacity C12,
Electric capacity C13, electric capacity C14, operational amplifier B1A, operational amplifier B1B and operational amplifier B1C；R31, R40, R44, R56 and
R59 connections B1A in-phase input end, C12 ground connection is connected between R56 and R59, R32, R41, R45, R57 connect B1B's with R62
In-phase input end, C13 ground connection is connected between R57 and R62, B1B ground connection, R33, R42, R46, R58 connect B1C same phase with R61
Input, C14 ground connection, B1C ground connection, R34 parallel connection C7, R35 parallel connection C8 and R36 parallel connections C9 ground connection, R31 are connected between R58 and R61
R39 connections C10 ground connection between R38, R33 and R42 between R37, R32 and R41 between R40, B1A reverse input
End, B1B reverse input end, B1C reverse input end connection R43 reconnect C10 ground connection.
As shown in figure 4, another on FPGA1 control panels carry three LED lights, indicator lamp is used to show brshless DC motor
Current state, the bright expressions of the first LED use position sensor system, and the bright expressions of the 2nd LED use position-sensor-free system
System, the 3rd LED is bright to represent that two kinds of systems have larger error and diagnosed, it is necessary to stop brshless DC motor.
Embodiment three
A kind of double systems based on FPGA realized on the dual system control device for brushless direct current machine based on FPGA
System control method for brushless direct current motor, comprises the following steps：
Step a, using FPGA1 as Master control chip, position sensor system and position-sensorless systems are downloaded to
In FPGA1；
Step b, brshless DC motor 2 is started, Hall sensor and back-emf position-sensor-free start simultaneously, there is position
Sensing system and position-sensorless systems carry out hall sensor signal and voltage x current collection respectively；
Step c, choose Hall sensor first to be controlled brshless DC motor 2, voltage x current sample circuit 4 gathers
The three-phase voltage and current signal of brshless DC motor 2, are transferred in interface unit module 1-2, while detection module 1-1 is detected
Hall position is believed；
If hall sensor signal is sent in filtration module 1-4 and PWM and inverting module 1-9, filtered without exception
Ripple module 1-4 is filtered to hall sensor signal, and signal after filtering, which is sent in rotating speed computing module 1-5, to be calculated, then
It is sent in rotating speed PI type Fuzzy adjustment module 1-7, the signal that drive circuit 3 feeds back is delivered in current calculation module 1-6, electric current
Signal after computing module 1-6 is calculated is sent in electric current PI type Fuzzy adjustment module 1-7, forms double closed-loop control system, finally
Generation PWM modulation signal is sent to PWM and inverting module 1-9, and drive circuit 3 is according to the signal received to brushless dc
Machine 2 is controlled, and the first LED light is bright, and the second LED light and the 3rd LED light are extinguished；
If exception occurs for hall sensor signal, detection module 1-1 sends switching signal, now selects position-sensor-free
System is controlled to brshless DC motor 2, and the current signal in interface unit module 1-2 is sent to electric current PI type Fuzzy regulation mould
In block 1-8, voltage signal is sent in back-emf zero-crossing examination module 1-3, and back-emf zero-crossing examination module 1-3 passes through meter
Calculate generation back-emf zero cross signal and commutation signal, commutation signal are sent directly to be sent to drive in PWM and inverting module 1-9
Dynamic circuit 3 carries out commutation processing, and module 1-4 reaches rotating speed computing module 1-5 to back-emf zero cross signal after filtering, and rotating speed calculates
The signal that module 1-5 outputs calculated passes through rotating speed PI type Fuzzy adjustment module 1-7 processing, with electric current PI type Fuzzy adjustment module 1-8
Double closed-loop control system is collectively forming, PWM and inverting module 1-9 receive commutation signal and PWM modulation signal, pass through meter
Calculation is sent a signal in drive circuit 3, and drive circuit 3 is that the offer signal of brshless DC motor 2 makes its rotation, now the 2nd LED
Indicator lamp is lighted, and the first LED light and the 3rd LED light are extinguished；
As detection module 1-1, to detect that the signal that voltage x current sample circuit 4 extracts occurs abnormal, then the 3rd LED point
Bright, the first LED light and the second LED light are extinguished, and prompt the control of brshless DC motor 2 severe deviations occur, stop nothing
Brushless motor 2.
As shown in figure 5, the invention provides a kind of dual system control method for brushless direct current motor based on FPGA, with nothing
The normal operation of brushless motor 2, Hall sensor start to gather hall signal, and voltage x current sample circuit 4 gathers three-phase electricity
Pressure and current signal, FPGA1 selection hall signals are calculated, while detection module 1-1 detects to hall signal.
When detection module 1-1 detects that hall sensor signal occurs abnormal, stood before the commutation of the rotor of brshless DC motor 2
Carve selection back-emf signal to be calculated, brshless DC motor 2 is controlled using back-emf signal, while detection module 1-
1 starts to detect back-emf signal.
When detection module 1-1 detects that back-emf signal occurs abnormal, then start alert program, three on FPGA1
LED light alternately flashes, and prompts brshless DC motor 2 uncontrollable problem occur, can not continue high precisely work, ensure electricity
Machine is safe for operation.
The present invention is using the FPGA exploitation versions of XILINX companies, model XC6SLX16.FPGA1 is upper separately to carry three LED
Indicator lamp, indicator lamp are used to show the current state of brshless DC motor 2, and the bright expressions of the first LED use position sensor system
System, the bright expressions of the 2nd LED use position-sensorless systems, and the 3rd LED is bright to represent that two kinds of systems have larger error, it is necessary to stop
Only brushless direct-current is diagnosed.
A kind of dual system control method for brushless direct current motor with warning device based on FPGA1, the present invention has following
Step：
Step 1：Start brshless DC motor 2, Hall sensor sampling Hall position signalling, the filtering being sent in FPGA1
In module 1-4 and PWM and inverting module 1-9, while detection module 1-1 examines to hall sensor signal after filtering
Survey, filtration module 1-4 is filtered signal to signal and is sent in rotating speed computing module 1-5, and rotating speed computing module 1-5 is sent
Signal is sent in rotating speed PI type Fuzzy adjustment module 1-7, and the signal that drive circuit 3 feeds back is delivered in current calculation module 1-6,
Signal after current calculation module 1-6 is calculated is sent in electric current PI type Fuzzy adjustment module 1-8, forms double closed-loop control system,
Ultimately generate PWM modulation signal and be sent to PWM and inverting module 1-9, drive circuit 3 is according to the signal received to brushless straight
Stream motor 2 is controlled, and first LED1 indicator lamp is bright always, and remaining indicator lamp goes out.
Step 2：Brshless DC motor motor 2 starts, and back-emf zero crossing position-sensorless systems start simultaneously, electricity
Current voltage sample circuit 4 is sampled to the voltage and current signal of brshless DC motor 2, and the voltage and current signal of sampling are sent to
In interface unit module 1-2 in FPGA1, but without calculating, wait the detection module 1-1 in FPGA1 to send signal and just may be used
To carry out next step calculating.
Step 3：When brshless DC motor 2 is run, the detection module 1-1 in FPGA1 is detecting hall position letter always
Number, as detection module 1-1, to detect that hall signal occurs abnormal, such as signal commutation occurs and be retarded or advanced, detection module 1-1
Switching signal is sent, brshless DC motor 2 is controlled using the back EMF control system signal carried out simultaneously, back-emf mistake
Zero sample circuit is as shown in Figure 3.Signal caused by interface unit module 1-2 is delivered to electric current PI type Fuzzy adjustment module 1-8 and anti-
In potential zero passage detection module 1-3, back-emf zero passage detection module 1-3 obtains back-emf zero cross signal and commutation signal, commutation
Signal is delivered in PWM and inverting module 1-9, and back-emf signal is delivered to rotating speed computing module 1-5 after filtering, is passed through
Rotating speed PI type Fuzzy adjustment module 1-7 processing is collectively forming double closed-loop control system, driving electricity with electric current PI type Fuzzy adjustment module 1-8
Road 3 controls brshless DC motor 2 according to the signal of PWM module, and now second LED2 indicator lamp starts to flash, remaining indicator lamp
Go out.
Step 4：When detection module 1-1 detects that abnormal then LED3 lamps occurs in the signal that voltage x current sample circuit 4 extracts
Start bright, another two indicator lamps go out.There are severe deviations in the prompting control of brshless DC motor 2, it is proposed that stops brshless DC motor
2。
The present invention brshless DC motor 2 is controlled using dual system, when detect position sensor system appearance
When abnormal, extract operating position-sensorless systems signal and carry out brshless DC motor control, ensure brshless DC motor
Accurately, Effec-tive Function.
LED is installed on FPGA1, according to three LED light on and off can Real Time Observation to the state of whole system, be easy to work
It is adjusted as personnel.
Claims (4)
1. a kind of dual system control device for brushless direct current machine based on FPGA, it is characterised in that including FPGA (1), brushless straight
Flow motor (2), drive circuit (3), voltage x current sample circuit (4), the first LED light, the second LED light and the 3rd
LED light；The FPGA (1) includes detection module (1-1), interface unit module (1-2), back-emf zero passage detection module
(1-3), filtration module (1-4), rotating speed computing module (1-5), current calculation module (1-6), rotating speed PI type Fuzzy adjustment module (1-
7), electric current PI type Fuzzy adjustment module (1-8) and PWM and inverting module (1-9)；The signal passes sequentially through rotating speed PI type Fuzzy
Adjustment module (1-7), electric current PI type Fuzzy adjustment module (1-8), PWM and inverting module (1-9) and drive circuit (3), are arrived
Up to brshless DC motor (2)；The drive circuit (3) sends signal by current calculation module (1-6), reaches electric current PI type Fuzzy
Adjustment module (1-8)；The brshless DC motor (2) sends signal and passes sequentially through filtration module (1-4), rotating speed computing module
(1-5) reaches rotating speed PI type Fuzzy adjustment module (1-7)；The brshless DC motor (2) sends signal and passes sequentially through voltage x current
Sample circuit (4) and interface unit module (1-2) reach back-emf zero-crossing examination module (1-3), by back-emf zero crossing
The signal of detection module (1-3) arrives separately at filtration module (1-4) and PWM and inverting module (1-9)；First LED
Indicator lamp, the second LED light and the 3rd LED light are arranged on FPGA (1), are installed on the brshless DC motor (2)
Hall sensor.
A kind of 2. dual system control device for brushless direct current machine based on FPGA according to claim 1, it is characterised in that institute
Stating drive circuit (3) includes power supply Udc, transistor VT1, transistor VT2, transistor VT3, transistor VT4, transistor VT5, crystalline substance
Body pipe VT6, resistance R1, resistance R2, resistance R3, inductance coil L1, inductance coil L2, inductance coil L3, voltage source Ea, voltage source
Eb and voltage source Ec；The Udc connection VT1 and VT4, the VT1 and VT4, VT3 and VT6, VT5 and VT2 are in parallel, the VT1 and
Set among VT4 A points to be sequentially connected R1, L1 and Ea, B points R2, L2 and Eb successively, the VT5 are set among the VT3 and VT6
C points are set to be sequentially connected R3, L3 and Ec, A, B and C tie point N with VT2 intermediaries.
A kind of 3. dual system control device for brushless direct current machine based on FPGA according to claim 1, it is characterised in that institute
State back-emf zero passage detection module (1-3) include resistance R31, resistance R32, resistance R33, resistance R34, resistance R35, resistance R36,
Resistance R37, resistance R38, resistance R39, resistance R40, resistance R41, resistance R42, resistance R43, resistance R44, resistance R45, resistance
R46, resistance R56, resistance R57, resistance R58, resistance R59, resistance R60, resistance R61, electric capacity C7, electric capacity C8, electric capacity C9, electric capacity
C10, electric capacity C12, electric capacity C13, electric capacity C14, operational amplifier B1A, operational amplifier B1B and operational amplifier B1C；R31、
R40, R44, R56 connect B1A in-phase input end with R59, between R56 and R59 connect C12 ground connection, R32, R41, R45, R57 and
R62 connections B1B in-phase input end, C13 ground connection is connected between R57 and R62, B1B ground connection, R33, R42, R46, R58 and R61 connect
B1C in-phase input end is connect, C14 ground connection is connected between R58 and R61, B1C ground connection, R34 parallel connection C7, R35 parallel connections C8 and R36 are simultaneously
Join C9 to be grounded, the R39 connections C10 ground connection between R38, R33 and R42 between R37, R32 and R41 between R31 and R40, B1A
Reverse input end, B1B reverse input end, B1C reverse input end connection R43 reconnect C10 ground connection.
It is 4. a kind of in the base realized described in claim 1,2 or 3 on the dual system control device for brushless direct current machine based on FPGA
In FPGA dual system control method for brushless direct current motor, it is characterised in that comprise the following steps：
Step a, position sensor system and position-sensorless systems are downloaded to for Master control chip with FPGA (1)
In FPGA (1)；
Step b, brshless DC motor (2) is started, Hall sensor and back-emf position-sensor-free start simultaneously, there is position biography
Sensor system and position-sensorless systems carry out hall sensor signal and voltage x current collection respectively；
Step c, choose Hall sensor first to be controlled brshless DC motor (2), voltage x current sample circuit (4) collection
The three-phase voltage and current signal of brshless DC motor (2), it is transferred in interface unit module (1-2), while detection module (1-
1) hall position letter is detected；
If hall sensor signal is sent in filtration module (1-4) and PWM and inverting module (1-9), filtered without exception
Ripple module (1-4) is filtered to hall sensor signal, and signal after filtering is sent to rotating speed computing module (1-5) and fallen into a trap
Calculate, then be sent in rotating speed PI type Fuzzy adjustment module (1-7), the signal of drive circuit (3) feedback is delivered to current calculation module
In (1-6), the signal after current calculation module (1-6) calculates is sent in electric current PI type Fuzzy adjustment module (1-7), forms double close
Ring control system, ultimately generate PWM modulation signal and be sent to PWM and inverting module (1-9), drive circuit (3) is according to reception
To signal brshless DC motor (2) is controlled, the first LED light is bright, the second LED light and the 3rd LED instruction
Lamp extinguishes；
If exception occurs for hall sensor signal, detection module (1-1) sends switching signal, now selects position-sensor-free system
System is controlled to brshless DC motor (2), and the current signal in interface unit module (1-2) is sent to the regulation of electric current PI type Fuzzy
In module (1-8), voltage signal is sent in back-emf zero-crossing examination module (1-3), back-emf zero-crossing examination module (1-
3) PWM and inverting module (1- are sent directly to by calculating generation back-emf zero cross signal and commutation signal, commutation signal
9) drive circuit (3) is sent in and carries out commutation processing, module (1-4) reaches rotating speed calculating mould to back-emf zero cross signal after filtering
Block (1-5), the signal that rotating speed computing module (1-5) output calculated is handled by rotating speed PI type Fuzzy adjustment module (1-7), with electricity
Stream PI type Fuzzy adjustment module (1-8) is collectively forming double closed-loop control system, and PWM and inverting module (1-9) receive commutation
Signal and PWM modulation signal, sent a signal to by calculating in drive circuit (3), drive circuit (3) is brshless DC motor
(2) providing signal makes its rotation, and now the second LED light is lighted, and the first LED light and the 3rd LED light are extinguished；
When detection module (1-1), to detect that the signal of voltage x current sample circuit (4) extraction occurs abnormal, then the 3rd LED point
Bright, the first LED light and the second LED light are extinguished, and prompt brshless DC motor (2) control severe deviations occur, stop
Brshless DC motor (2).
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| CN108566133A (en) * | 2018-03-30 | 2018-09-21 | 北京控制工程研究所 | A kind of the angle measurement fault diagnosis and control method of control system for permanent-magnet synchronous motor |
| CN108631682A (en) * | 2018-04-26 | 2018-10-09 | 北京控制工程研究所 | A kind of closed loop control method when flexibility windsurfing drive system angle-measuring equipment failure |
| CN109379004A (en) * | 2018-11-28 | 2019-02-22 | 科力远混合动力技术有限公司 | A kind of three-phase brushless motor driving plate |
| CN110247589A (en) * | 2019-06-13 | 2019-09-17 | 飞龙汽车部件股份有限公司 | A kind of electronic water pump for automobile control method and electronic water pump for automobile and medium |
| CN110829950A (en) * | 2019-11-13 | 2020-02-21 | 上海电动工具研究所（集团）有限公司 | Brushless motor position enhancement detection circuit and method for electric tool |
| CN114050549A (en) * | 2022-01-11 | 2022-02-15 | 华邦创科(惠州市)智能科技有限公司 | Single-phase power supply quick circuit-breaking protection system |
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| CN110829950A (en) * | 2019-11-13 | 2020-02-21 | 上海电动工具研究所（集团）有限公司 | Brushless motor position enhancement detection circuit and method for electric tool |
| CN114050549A (en) * | 2022-01-11 | 2022-02-15 | 华邦创科(惠州市)智能科技有限公司 | Single-phase power supply quick circuit-breaking protection system |
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