CN107681931A - A kind of brshless DC motor current loop control system and control method - Google Patents
A kind of brshless DC motor current loop control system and control method Download PDFInfo
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- CN107681931A CN107681931A CN201710967497.8A CN201710967497A CN107681931A CN 107681931 A CN107681931 A CN 107681931A CN 201710967497 A CN201710967497 A CN 201710967497A CN 107681931 A CN107681931 A CN 107681931A
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 230000001105 regulatory effect Effects 0.000 claims abstract description 20
- 238000006243 chemical reaction Methods 0.000 claims description 16
- 230000003321 amplification Effects 0.000 claims description 14
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 14
- 230000005611 electricity Effects 0.000 claims description 8
- 238000005070 sampling Methods 0.000 claims description 5
- 238000012545 processing Methods 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 239000004065 semiconductor Substances 0.000 description 3
- 238000004088 simulation Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000012935 Averaging Methods 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000009514 concussion Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001629 suppression Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/28—Arrangements for controlling current
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses a kind of brshless DC motor current loop control system and control method, belongs to DC motor Driver closed-loop control field, including three-phase drive circuit, current regulating circuit and closed control circuit；The drive output of three-phase drive motor is connected with brshless DC motor, the input of current output terminal and current regulating circuit connects, and the input of closed control circuit is connected with the output end of current regulating circuit, the input connection of output end and three-phase drive circuit.A kind of control method of brshless DC motor current loop control system is disclosed in addition.The system circuit structure is simple, has high scalability.
Description
Technical field
The present invention relates to DC motor Driver Closed loop Control field, more particularly to a kind of brshless DC motor electric current loop
Control system and control method.
Background technology
In servo-drive system field, brshless DC motor has operational efficiency height compared to common electric machine, low, speed governing is lost
Can be good the advantages that.Driving element with closed-loop control is the core execution unit in DC motor Driver system, and wherein electric current closes
Ring driving is widely used, its effect is to system due to the characteristics of being exported with constant moment in brushless electric machine driving
Feedback signal handled, by export hobby go control pwm unit, realize the stability control of system output current
System, has been widely used in the contour reliable neighborhood of all kinds of Aeronautics and Astronautics, weapons, ship, electronics.But current current closed-loop
The circuit arrangement of control system is complex, and scalability is relatively low.
The content of the invention
It is an object of the invention to provide a kind of brshless DC motor current loop control system and control method, to improve electricity
Flow the scalability of closed-loop control system.
To realize object above, in a first aspect, the present invention provides a kind of brshless DC motor current loop control system, bag
Include：Three-phase drive circuit, current regulating circuit and closed control circuit；
The drive output of three-phase drive motor is connected with brshless DC motor, current output terminal and current regulating circuit
Input is connected, and the input of closed control circuit is connected with the output end of current regulating circuit, output end and three-phase drive are electric
The input connection on road.
Wherein, described current regulating circuit includes motor load, sample resistance, filter circuit and operation amplifier electricity
Road；
The output end of the three-phase drive motor is connected with motor load, and output end and the sample resistance of motor load connect
Connect, one end ground connection of sample resistance, another output end are connected with filter circuit input, and output end and the computing of filter circuit are put
The input connection of big circuit, the output end of operational amplification circuit are connected with the closed control circuit input.
Wherein, described closed control circuit includes single-chip microcomputer, PCF8591 and MC33035；
The input of single-chip microcomputer is connected with the output end of the operational amplification circuit, output end and PCF8591 input
Connection, output end connection, output end and the input of the three-phase drive circuit of MC33035 input and PCF8591 connect
Connect.
Second aspect, the present invention provide a kind of control method of brshless DC motor current loop control system, including as follows
Step：
The current signal that three-phase drive circuit exports is converted to voltage signal by S1, the current regulating circuit；
S2, the closed control circuit sample to the voltage signal, and will sample obtained adjustable voltage with
Sawtooth waveforms, which is compared, produces PWM square-wave signals；
S3, the closed control circuit export PWM square-wave signals to the three-phase drive circuit to control the three-phase to drive
The on/off of dynamic circuit.
Wherein, described step S1, is specifically included：
The sampled resistance of voltage signal of the three-phase drive circuit output obtains the voltage of sample resistance；
The sample resistance voltage after the filter circuit, operational amplification circuit processing, obtains to be output successively
Voltage signal.
Wherein, described step S2, is specifically included：
The voltage signal that the single-chip microcomputer exports to the operational amplification circuit carries out analog-to-digital conversion and sampled, and is sampled
Voltage；
The PCF8591 carries out digital-to-analogue conversion, output analog voltage signal to the MC33035 to the sampled voltage；
The analog voltage signal compared with sawtooth signal, is produced the PWM of corresponding dutycycle by the MC33035
Square-wave signal.
Compared with prior art, there is following technique effect in the present invention：The present invention is by using closed control circuit, closed loop
Single-chip microcomputer is used in control electric current as main control chip, the current signal of collection current regulating circuit is converted into analog voltage signal,
And the adjustable PWM square-wave signals of dutycycle are produced compared with the sawtooth waveforms inside closed control circuit, and it is modulated to three
In low output signals, realize the envelope modulation to hall signal dutycycle, so as to control corresponding metal-oxide-semiconductor on/off when
Between.The circuit system is simple in construction, has high scalability.
Brief description of the drawings
Below in conjunction with the accompanying drawings, the embodiment of the present invention is described in detail：
Fig. 1 is a kind of structural representation of brshless DC motor current loop control system in the present invention；
Fig. 2 is the structural representation of three-phase drive circuit in the present invention；
Fig. 3 is the structural scheme of mechanism of current regulating circuit in the present invention；
Fig. 4 is the structural representation of closed control circuit in the present invention；
Fig. 5 is single-chip microcomputer DA interface circuit schematic diagrames in the present invention；
Fig. 6 is MC33035 interface circuits schematic diagram in the present invention；
Fig. 7 is a kind of schematic flow sheet of the control method of brshless DC motor current loop control system in the present invention；
Fig. 8 is the workflow schematic diagram of closed control circuit in the present invention；
Fig. 9 is the schematic flow sheet of anti-interference process in the present invention.
Embodiment
In order to illustrate further the feature of the present invention, please refer to the following detailed descriptions related to the present invention and accompanying drawing.Institute
Accompanying drawing is only for reference and purposes of discussion, is not used for being any limitation as protection scope of the present invention.
As shown in figure 1, present embodiment discloses a kind of brshless DC motor current loop control system, including：Three-phase drive
Circuit 10, current regulating circuit 20 and closed control circuit 30；
The drive output of three-phase drive motor is connected with brshless DC motor, current output terminal and current regulating circuit 20
Input connection, the input of closed control circuit 30 is connected with the output end of current regulating circuit 20, output end and three-phase
The input connection of drive circuit 10.Wherein, the structural representation of three-phase drive circuit 10 is as shown in Fig. 2 low by control three
Hold output signal to control the on/off of corresponding metal-oxide-semiconductor, realize constant output current with the control to brshless DC motor.
Further, as shown in figure 3, current regulating circuit 20 includes motor load, sample resistance, filter circuit and fortune
Calculate amplifying circuit；The output end of the three-phase drive motor is connected with motor load, the output end and sample resistance of motor load
Connection, one end ground connection of sample resistance, another output end are connected with filter circuit input, the output end of filter circuit and computing
The input connection of amplifying circuit, the output end of operational amplification circuit are connected with the input of closed control circuit 30.Wherein,
It should be noted that because current signal that three-phase drive circuit 10 exports has the concussion of certain frequency, therefore sample resistance voltage
Circuit, operational amplification circuit processing after filtering, export satisfactory voltage signal, and digital-to-analogue is carried out through closed control circuit 30
Conversion.
It should be noted that the filter circuit in the present embodiment includes but is not limited to RC filter circuits.
Further, as shown in figure 4, closed control circuit 30 includes single-chip microcomputer, PCF8591 and MC33035；Single-chip microcomputer
Input be connected with the output end of the operational amplification circuit, output end and PCF8591 input connect, MC33035's
The connection of input and PCF8591 output end, output end are connected with the input of the three-phase drive circuit 10.Wherein, monolithic
The model ATmega16 of machine, AD conversion module in closed control circuit 30 is using the Approach by inchmeal of 10 inside ATmega16
Type ADC, ADC are connected with the analog multiplexer of 8 passages, and the 8 road single ended input voltages from port A can be adopted
Sample, single ended voltage input voltage on the basis of AVCC (5V).Analog voltage is carried out in the present embodiment by single-chip microcomputer PA2 mouths to adopt
Sample.Transformation result is：
Due to without D/A conversion module, using external PCF8591 conversion chips in the present embodiment, it has inside ATmega16
4 simulation inputs, 1 simulation output and a serial i 2C EBI, PCF8591 3 address pins A0, A1, A2 and A3
Programmed available for hardware address, on PCF8591 devices the address of input and output, to control and data signal all be double by two-wire
It is transmitted in a serial fashion to I2C buses.
As shown in figure 5, Atmega16 has been internally integrated I2C EBIs (PC0, PC1 port), in single-chip microcomputer and it is controlled outer
If transmitted in both directions is carried out between, single-chip microcomputer D/A module is interconnected using I2C buses and PCF8591, will controlled accordingly by data wire
Information transmission processed monitors its DA transition status to PCF8591, realizes the control to exporting analog signal, analog voltage is defeated
It is 0-5V to go out scope.
Export analog voltage and carry out envelope modulation through MC33035 chips, as shown in Figure 6.PCF8591 outputs meet MC33035
The pin of chip 11, MC33035 produce sawtooth signal, the pin of chip 11 and 12 by internal oscillator and peripheral RC oscillating circuits
Pin is internal buffer, and PCF8591 exports analog voltage by buffer compared with sawtooth waveforms caused by oscillator, production
The pwm signal of raw corresponding dutycycle, by rear end modulate circuit, is modulated in three low output signals, realizes and Hall is believed
Number dutycycle carries out envelope modulation, so as to control corresponding metal-oxide-semiconductor to open, the turn-off time.
As shown in fig. 7, present embodiment discloses a kind of control method of brshless DC motor current loop control system, including
Following steps S1 to S3：
The current signal that three-phase drive circuit 10 exports is converted to voltage signal by S1, the current regulating circuit 20；
S2, the closed control circuit 30 sample to the voltage signal, and will sample obtained adjustable voltage
PWM square-wave signals are produced compared with sawtooth waveforms；
S3, the closed control circuit 30 export PWM square-wave signals to the three-phase drive circuit 10 to control described three
The on/off of phase drive circuit 10.
Further, step S1, specifically comprise the following steps：
The sampled resistance of voltage signal that the three-phase drive circuit 10 exports obtains the voltage of sample resistance；
The sample resistance voltage after the filter circuit, operational amplification circuit processing, obtains to be output successively
Voltage signal.
Further, step S2, specifically comprise the following steps：
The voltage signal that the single-chip microcomputer exports to the operational amplification circuit carries out analog-to-digital conversion and sampled, and is sampled
Voltage；
The PCF8591 carries out digital-to-analogue conversion, output analog voltage signal to the MC33035 to the sampled voltage；
The analog voltage signal compared with sawtooth signal, is produced the PWM of corresponding dutycycle by the MC33035
Square-wave signal.
It should be noted that as shown in figure 8, the single-chip microcomputer in the present embodiment after the power-up, carries out software initialization first,
Then AD sampling modules are enabled and carry out analog-to-digital conversion, and 8 to obtaining AD conversion results judge, if in preset electricity
In the range of flow valuve, then start DA conversions and export corresponding analog level, it is corresponding to reduce DA numbers if bigger than preset current value
According to, otherwise increase DA data.Most DA data send to PCF8591 according to I2C bus protocols and carry out DA conversions, output simulation at last
Voltage, through MC33035 signal modulations, reach the purpose for adjusting output signal dutycycle.Progress AD samplings are circulated simultaneously to judge to work as
Preceding output current state, adjustment output analog voltage (dutycycle), finally realizes output current value stabilization in setting range in real time
It is interior.
It should be noted that in actual applications, due to spike interference in AD sampling processes be present, carried out in the present embodiment
Corresponding anti-interference process, as shown in figure 9, by each sampled result compared with previous result, if difference exceedes rule
Determine scope, then reject the singular value, and start next round AD conversion, the AD conversion result storage after being most averaging at last is real
Now to the suppression of spike interference.
It should be noted that realize that electric current closes by plug-in as main control chip using single-chip microcomputer in the present embodiment
The method of ring control logic, it enormously simplify the complexity of circuit, improve the stability of system, while be easy to carry out function expansion
Exhibition.
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent substitution and improvements made etc., it should be included in the scope of the protection.
Claims (6)
- A kind of 1. brshless DC motor current loop control system, it is characterised in that：Including three-phase drive circuit, current regulating circuit And closed control circuit；The drive output of three-phase drive motor is connected with brshless DC motor, the input of current output terminal and current regulating circuit End connection, the input of closed control circuit is connected with the output end of current regulating circuit, output end and three-phase drive circuit Input connects.
- 2. the system as claimed in claim 1, it is characterised in that：Described current regulating circuit includes motor load, sampling electricity Resistance, filter circuit and operational amplification circuit；The output end of the three-phase drive motor is connected with motor load, and the output end of motor load is connected with sample resistance, is taken One end ground connection of sample resistance, another output end are connected with filter circuit input, output end and the operation amplifier electricity of filter circuit The input connection on road, the output end of operational amplification circuit are connected with the closed control circuit input.
- 3. system as claimed in claim 2, it is characterised in that：Described closed control circuit include single-chip microcomputer, PCF8591 with And MC33035；The input of single-chip microcomputer is connected with the output end of the operational amplification circuit, output end and PCF8591 input connect, The output end connection of MC33035 input and PCF8591, output end are connected with the input of the three-phase drive circuit.
- 4. the control method of the brshless DC motor current loop control system as described in claim 1 ~ 3, it is characterised in that：Including Following steps：The current signal that three-phase drive circuit exports is converted to voltage signal by S1, the current regulating circuit；S2, the closed control circuit sample to the voltage signal, and will sample obtained adjustable voltage and sawtooth Ripple, which is compared, produces PWM square-wave signals；S3, the closed control circuit export PWM square-wave signals to the three-phase drive circuit to control the three-phase drive electricity The on/off on road.
- 5. control method as claimed in claim 4, it is characterised in that：Described step S1, is specifically included：The sampled resistance of voltage signal of the three-phase drive circuit output obtains the voltage of sample resistance；The sample resistance voltage after the filter circuit, operational amplification circuit processing, obtains electricity to be output successively Press signal.
- 6. control method as claimed in claim 5, it is characterised in that：Described step S2, is specifically included：The voltage signal that the single-chip microcomputer exports to the operational amplification circuit carries out analog-to-digital conversion and sampled, and obtains sampling electricity Pressure；The PCF8591 carries out digital-to-analogue conversion, output analog voltage signal to the MC33035 to the sampled voltage；The analog voltage signal compared with sawtooth signal, is produced the PWM square waves of corresponding dutycycle by the MC33035 Signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710967497.8A CN107681931A (en) | 2017-10-17 | 2017-10-17 | A kind of brshless DC motor current loop control system and control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710967497.8A CN107681931A (en) | 2017-10-17 | 2017-10-17 | A kind of brshless DC motor current loop control system and control method |
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| CN105515483A (en) * | 2014-10-14 | 2016-04-20 | 北京谊安医疗系统股份有限公司 | Torque ripple inhibition circuit of brushless direct current motor and device |
| CN105656369A (en) * | 2016-02-18 | 2016-06-08 | 江苏科技大学 | Combined type antitheft control device and method for electric vehicle |
| CN207304417U (en) * | 2017-10-17 | 2018-05-01 | 中国电子科技集团公司第四十三研究所 | A kind of brshless DC motor current loop control system |
-
2017
- 2017-10-17 CN CN201710967497.8A patent/CN107681931A/en active Pending
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| KR19980074228A (en) * | 1997-03-22 | 1998-11-05 | 캐빈 엠.리어든 | DC motor current control device and method |
| CN1824452A (en) * | 2006-02-21 | 2006-08-30 | 上海威特力焊接设备制造有限公司 | Contravariant arc welding power source having multikind external characteristic outputs |
| CN101373944A (en) * | 2008-06-25 | 2009-02-25 | 何伟斌 | Driver for brushless DC motor |
| CN201378820Y (en) * | 2008-08-05 | 2010-01-06 | 北京和利时电机技术有限公司 | Three-phase real-time automatic sub-stepping drive |
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