CN107769630A - A kind of permagnetic synchronous motor position decoding monitoring system - Google Patents
A kind of permagnetic synchronous motor position decoding monitoring system Download PDFInfo
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- CN107769630A CN107769630A CN201711120295.6A CN201711120295A CN107769630A CN 107769630 A CN107769630 A CN 107769630A CN 201711120295 A CN201711120295 A CN 201711120295A CN 107769630 A CN107769630 A CN 107769630A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
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- 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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
- H02P25/03—Synchronous motors with brushless excitation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
A kind of permagnetic synchronous motor position decoding monitoring system of the present invention belongs to the permagnetic synchronous motor control design case field monitoring system functions and included：Excitation amplitude monitoring function, driving frequency monitoring function, rotation become feedback monitoring function.The system is revolved available for monitoring for using control system for permanent-magnet synchronous motor of the rotary transformer as position sensor and becomes excitation and driving source and rotary transformer state in demodulating system, it is ensured that rotation becomes excitation and the correctness of demodulating system.The present invention uses multilevel monitor strategy, and abnormal driving source amplitude, driving source frequency anomaly and the failures such as rotary transformer body or connecting line are abnormal can be picked out after fault comprehensive.The present invention is using precision resister configuration driving source magnitude threshold, using FPGA FPGA configuration frequencies thresholding and quadratic sum thresholding, with certain flexibility and versatility, the rotation of different driving voltages, driving frequency and no-load voltage ratio parameter can be used for become excitation and demodulating system after changing parameter.
Description
Technical field
A kind of permagnetic synchronous motor position decoding monitoring system of the present invention belongs to permagnetic synchronous motor control design case field.
Background technology
Permagnetic synchronous motor due to small volume, power density is high, reliability is high the characteristics of, in all kinds of drive systems
It is widely used.Permagnetic synchronous motor is often used as position using Hall sensor, photoelectric code disk or rotary transformer etc.
Put sensor.Wherein rotary transformer is increasingly becoming military systems or all-electric automobile due to that can be resistant to critical conditions for a long time
Deng the selection of bad environments field application.
Rotary transformer (resolver) is a kind of sensor of accurate measured angular position, and it is with jigger
Mode works, and the magnetic coupling amount between armature winding and two secondary windings changes according to rotary part (rotor) position, its
The feedback voltage of secondary output is also therefore with angle of rotor in the functional relation determined；Rotor is typically mounted on turning for electric rotating machine
On axle.The two-way output signal of rotary transformer is really to modulate what is obtained by the sine and cosine signal of shaft angle.
In actual applications, to obtain the shaft angular position information of motor, position decoding system need to be used, works as position sensor
For rotary transformer when, using rotation become excitation with demodulator circuit row energization and demodulation are entered to rotary transformer.Typically use one
The sine-wave excitation source forcing rotary transformer of individual fixed frequency, while the feedback letter by RD conversion chips to rotary transformer
Number handled, obtain data signal.MCU or DSP makes corresponding control action according to the digital code value of angle in controller.
In electric machine control system, rotation becomes the angle position information that excitation provides with demodulating system and directly influences permanent-magnet synchronous
The success or failure of motor control, it is heavy then may lead to not complete predetermined appoint if positional information mistake, gently then causes motor to malfunction
The business even damage of controller.If can easy-to-use realize monitoring to position decoding system, control can be improved
The reliability and integrality of system.This programme provides a kind of permagnetic synchronous motor position decoding monitoring system, realizes to become rotation and swashs
Encourage the effective monitoring with demodulating system working condition.
The content of the invention
The purpose of the present invention is：Become excitation and the monitoring problem of demodulating system for rotation in permagnetic synchronous motor, propose one
Kind monitoring system, the system can realize the monitoring to driving source and rotary transformer, and then realize to position decoding system
Monitoring, while there is certain fault location function, in that context it may be convenient to orient trouble point.Simultaneity factor should have preferably spirit
Activity and versatility, partial parameters can pass through FPGA code revision.
Technical scheme：A kind of permagnetic synchronous motor position decoding monitoring system, for existing permanent-magnet synchronous
Rotation in electric machine control system becomes excitation and is monitored with demodulating system, and existing rotation, which becomes excitation and demodulating system, includes sinusoidal excitation
Source, rotary transformer, rotation become demodulator, it is characterised in that the monitoring system includes excitation supervisory circuit, feedback monitoring electricity
Road, FPGA circuitry, DSP circuit；
The function of excitation supervisory circuit is that the rotation sent to driving source becomes the amplitude of pumping signal and frequency is monitored, to
FPGA circuitry output rotation becomes the amplitude position discrete magnitude and frequency state square wave of pumping signal；
Supervisory circuit is encouraged to include signal conditioning circuit, amplitude supervisory circuit, frequency monitoring circuit three parts；Wherein amplitude
Supervisory circuit includes half-wave rectifying circuit and thresholding comparison circuit；Signal conditioning circuit becomes excitation differential signal to rotation by certain ratio
Example amplification, and single-ended AC signal is converted into, then the single-ended AC signal is output to amplitude supervisory circuit and frequency prison
Control circuit；The single-ended AC signal is converted to direct current signal by half-wave rectifying circuit in amplitude supervisory circuit, then by the direct current
Thresholding comparison circuit in signal access amplitude supervisory circuit, to FPGA circuitry output result discrete magnitude；Frequency monitoring circuit will
The single-ended AC signal of input is converted into the square wave of respective frequencies, output frequency signal；
The function of feedback supervisory circuit is that the sinusoidal feedback and cosine feedback of rotary transformer are monitored, to FPGA electricity
Road exports digital code value；
Feedback supervisory circuit includes envelope detection circuit, A/D convertor circuit and FPGA three parts；Envelope detection electricity
The carrier signal in sinusoidal feedback and cosine feedback signal is got rid of on road, and sinusoidal envelope and cosine envelope are exported to A/D convertor circuit
Signal；A/D convertor circuit Timing Synchronization gathers sinusoidal envelope signal and cosine envelope signal, and digital code value is exported to FPGA circuitry；
FPGA circuitry controls A/D convertor circuit, and carries out quadratic sum computing to the digital code value of sinusoidal envelope and cosine envelope, to DSP electricity
Road output monitoring result；
The output result of FPGA circuitry collection excitation supervisory circuit, become the amplitude monitored results discrete magnitude of pumping signal to rotation
Condition discrimination is carried out, frequency counting is carried out to frequency monitoring output square wave；AD in FPGA circuitry control feedback supervisory circuit turns
Circuit is changed, the digital code value of sinusoidal envelope and cosine envelope after FPGA circuitry collection A/D convertor circuit conversion, FPGA circuitry leads to
Internal quadratic sum arithmetic element is crossed, becoming feedback signal to rotation carries out condition discrimination, is stored in related register；
DSP circuit reads the rotation change excitation amplitude state after FPGA circuitry integrates, rotation becomes driving frequency state and rotation change instead
Feedback state, determine the working condition of system.
The signal conditioning circuit in excitation supervisory circuit in the system includes resistor, capacitor, operational amplifier；
The half-wave rectifying circuit in supervisory circuit is encouraged to include resistor, capacitor, diode, operational amplifier；Encourage supervisory circuit
In thresholding comparison circuit include resistor, comparator；Frequency monitoring circuit in excitation supervisory circuit includes resistor and ratio
Compared with device.
The envelope detection circuit in feedback supervisory circuit in the system has two sets, for removing rotary transformer output
Sine and cosine feedback in carrier signal；A/D convertor circuit selects multi-channel synchronal sampling a/d converter；Envelope detection is filtered
Wave circuit includes detection and filtering two parts, and wherein detecting circuit is made up of resistor, capacitor, diode, operational amplifier；
Filter circuit is made up of resistor, capacitor, operational amplifier.
The system gathers discrete magnitude and the driving frequency that excitation amplitude supervisory circuit exports by FPGA FPGA
The square wave of supervisory circuit output and the sine and cosine envelope code value of feedback supervisory circuit output, while control in feedback supervisory circuit
The operation of A/D convertor circuit.
The system is provided with dsp interface, register group, frequency counting unit, AD state of a controls machine, multiplication in FPGA
Unit, plus and unit, code value comparing unit, filter latch units.
Dsp interface is used for the DSP control commands related to FPGA access interface and read-write, state letter to register group
Breath；Frequency counting unit is counted to driving frequency square wave, and excitation frequency is determined according to the square wave number received in the unit interval
Rate；The frequency collected and thresholding are compared by code value comparing unit 1, output comparative result to register group；AD controls shape
State machine is used to produce startup, the read operation control signal for meeting AD sequential, while controls A/D convertor circuit to carry out periodic mould
Number conversion, change-over period 8us；Multiplication unit 1 is used for the digital code to inputting sinusoidal envelope amplitude when each cycle converts
Value carries out square operation；Multiplication unit 2 is used to enter the digital code value for inputting cosine envelope amplitude when each cycle converts
Row square operation；Add with unit be used for square after sine and cosine digital code value sum up computing；Code value comparing unit 2 will add
It is compared with the result code value and thresholding of unit output, output comparative result to register group；Here multiplication unit and plus
The multiplier and adder IP kernel carried with unit using FPGA；Excitation amplitude monitored results discrete magnitude is directly entered register
Group.
It is an advantage of the invention that：
1st, the present invention uses multilevel monitor strategy, and driving source amplitude exception, excitation can be picked out after fault comprehensive
The failures such as source frequency is abnormal and rotary transformer body or connecting line are abnormal.
2nd, the present invention is using precision resister configuration driving source magnitude threshold, using FPGA FPGA configuration frequency doors
Limit and quadratic sum thresholding, there is certain flexibility and versatility, can be used for different driving voltages, driving frequency after changing parameter
And the rotation of no-load voltage ratio parameter becomes excitation and demodulating system.
Brief description of the drawings
Fig. 1 is present system structured flowchart.
Fig. 2 is present invention excitation monitoring function block diagram.
Fig. 3 is present invention excitation supervisory circuit figure.
Fig. 4 is present invention feedback monitoring function block diagram.
Fig. 5 is envelope detection filter circuit figure of the present invention.
Fig. 6 is programmable logic functions block diagram of the present invention.
Fig. 7 is excitation monitoring effect schematic diagram of the embodiment of the present invention.
Fig. 8 is feedback monitoring effect schematic diagram of the embodiment of the present invention
Embodiment
A kind of permagnetic synchronous motor position decoding monitoring system, for the rotation in existing control system for permanent-magnet synchronous motor
Become excitation to be monitored with demodulating system, existing rotation change excitation includes sinusoidal excitation source, rotary transformer, rotation change with demodulating system
Demodulator, it is characterised in that the monitoring system includes excitation supervisory circuit, feedback supervisory circuit, FPGA circuitry, DSP circuit；
The function of excitation supervisory circuit is that the rotation sent to driving source becomes the amplitude of pumping signal and frequency is monitored, to
FPGA circuitry output rotation becomes the amplitude position discrete magnitude and frequency state square wave of pumping signal；
Supervisory circuit is encouraged to include signal conditioning circuit, amplitude supervisory circuit, frequency monitoring circuit three parts；Wherein amplitude
Supervisory circuit includes half-wave rectifying circuit and thresholding comparison circuit；Signal conditioning circuit becomes excitation differential signal to rotation by certain ratio
Example amplification, and single-ended AC signal is converted into, then the single-ended AC signal is output to amplitude supervisory circuit and frequency prison
Control circuit；The single-ended AC signal is converted to direct current signal by half-wave rectifying circuit in amplitude supervisory circuit, then by the direct current
Thresholding comparison circuit in signal access amplitude supervisory circuit, to FPGA circuitry output result discrete magnitude；Frequency monitoring circuit will
The single-ended AC signal of input is converted into the square wave of respective frequencies, output frequency signal；
The function of feedback supervisory circuit is that the sinusoidal feedback and cosine feedback of rotary transformer are monitored, to FPGA electricity
Road exports digital code value；
Feedback supervisory circuit includes envelope detection circuit, A/D convertor circuit and FPGA three parts；Envelope detection electricity
The carrier signal in sinusoidal feedback and cosine feedback signal is got rid of on road, and sinusoidal envelope and cosine envelope are exported to A/D convertor circuit
Signal；A/D convertor circuit Timing Synchronization gathers sinusoidal envelope signal and cosine envelope signal, and digital code value is exported to FPGA circuitry；
FPGA circuitry controls A/D convertor circuit, and carries out quadratic sum computing to the digital code value of sinusoidal envelope and cosine envelope, to DSP electricity
Road output monitoring result；
The output result of FPGA circuitry collection excitation supervisory circuit, become the amplitude monitored results discrete magnitude of pumping signal to rotation
Condition discrimination is carried out, frequency counting is carried out to frequency monitoring output square wave；AD in FPGA circuitry control feedback supervisory circuit turns
Circuit is changed, the digital code value of sinusoidal envelope and cosine envelope after FPGA circuitry collection A/D convertor circuit conversion, FPGA circuitry leads to
Internal quadratic sum arithmetic element is crossed, becoming feedback signal to rotation carries out condition discrimination, is stored in related register；
DSP circuit reads the rotation change excitation amplitude state after FPGA circuitry integrates, rotation becomes driving frequency state and rotation change instead
Feedback state, determine the working condition of system.
The signal conditioning circuit in excitation supervisory circuit in the system includes resistor, capacitor, operational amplifier；
The half-wave rectifying circuit in supervisory circuit is encouraged to include resistor, capacitor, diode, operational amplifier；Encourage supervisory circuit
In thresholding comparison circuit include resistor, comparator；Frequency monitoring circuit in excitation supervisory circuit includes resistor and ratio
Compared with device.
The envelope detection circuit in feedback supervisory circuit in the system has two sets, for removing rotary transformer output
Sine and cosine feedback in carrier signal；A/D convertor circuit selects multi-channel synchronal sampling a/d converter；Envelope detection is filtered
Wave circuit includes detection and filtering two parts, and wherein detecting circuit is made up of resistor, capacitor, diode, operational amplifier；
Filter circuit is made up of resistor, capacitor, operational amplifier.
The system gathers discrete magnitude and the driving frequency that excitation amplitude supervisory circuit exports by FPGA FPGA
The square wave of supervisory circuit output and the sine and cosine envelope code value of feedback supervisory circuit output, while control in feedback supervisory circuit
The operation of A/D convertor circuit.
The system is provided with dsp interface, register group, frequency counting unit, AD state of a controls machine, multiplication in FPGA
Unit, plus and unit, code value comparing unit, filter latch units.
Dsp interface is used for the DSP control commands related to FPGA access interface and read-write, state letter to register group
Breath；Frequency counting unit is counted to driving frequency square wave, and excitation frequency is determined according to the square wave number received in the unit interval
Rate；The frequency collected and thresholding are compared by code value comparing unit 1, output comparative result to register group；AD controls shape
State machine is used to produce startup, the read operation control signal for meeting AD sequential, while controls A/D convertor circuit to carry out periodic mould
Number conversion, change-over period 8us；Multiplication unit 1 is used for the digital code to inputting sinusoidal envelope amplitude when each cycle converts
Value carries out square operation；Multiplication unit 2 is used to enter the digital code value for inputting cosine envelope amplitude when each cycle converts
Row square operation；Add with unit be used for square after sine and cosine digital code value sum up computing；Code value comparing unit 2 will add
It is compared with the result code value and thresholding of unit output, output comparative result to register group；Here multiplication unit and plus
The multiplier and adder IP kernel carried with unit using FPGA；Excitation amplitude monitored results discrete magnitude is directly entered register
Group.
The present invention is described in more detail below in conjunction with the accompanying drawings.
A kind of permagnetic synchronous motor position decoding monitoring system includes excitation supervisory circuit, feedback supervisory circuit, FGPA electricity
Road, DSP circuit composition.The pumping signal state for encouraging monitor circuit monitors driving source to export, output amplitude comparative result are discrete
Amount and frequency-distributed amount；Sine and cosine signal that monitor circuit monitors rotation becomes feedback are fed back, exports sinusoidal envelope and cosine bag
The digital code value of network；FPGA circuitry control feedback supervisory circuit, and gather the result of excitation supervisory circuit and the knot of feedback monitoring
Fruit, while various monitored results are integrated；DSP circuit controls and reads the monitored results state in FPGA, according to failure
State judge accordingly and act.
Excitation supervisory circuit is used for the amplitude position and frequency state for monitoring driving source, including：Signal conditioning circuit, amplitude
Supervisory circuit and frequency monitoring circuit.Wherein amplitude supervisory circuit includes half-wave rectifying circuit and thresholding comparison circuit.Signal is adjusted
Manage circuit and amplitude conditioning is carried out to the pumping signal of input, while the pumping signal of difference is switched into single-ended signal；Amplitude monitors
Circuit is monitored to the single-ended signal after conditioning, and single-ended sinusoidal signal is converted to direct current signal by halfwave rectifier filter circuit,
Thresholding comparison circuit is one to form hysteresis comparison circuit by analog comparator, by direct current signal compared with thresholding output result
Discrete magnitude.Frequency monitoring circuit is a comparison circuit, the exportable square-wave signal consistent with sine wave freuqency after conditioning.
Feedback supervisory circuit is used for the feedback states for monitoring rotary transformer, and peripheral circuit includes envelope detection circuit and AD
Change-over circuit.Envelope detection circuit has 2 sets, is respectively used to remove the carrier signal of sinusoidal feedback and cosine feedback, exports envelope
Signal；A/D convertor circuit is acquired to the sine and cosine envelope signal after detection, should ensure that can gather simultaneously sinusoidal envelope and
Cosine envelope, A/D convertor circuit use multi-channel synchronal sampling ADC.A/D convertor circuit in feedback supervisory circuit is controlled by FPGA
Timing be AD converted, FPGA collection sinusoidal envelope and cosine envelope digital code value, carry out square plus and computing, according to interior
Department's limit determines whether feedback signal is normal.
The discrete magnitude of FPGA circuitry collection excitation supervisory circuit output and the sine and cosine envelope code of feedback supervisory circuit output
Value, while control the operation of A/D convertor circuit in feedback supervisory circuit.Dsp interface, register group, AD controls are designed with FPGA
State machine processed, multiplication unit plus and unit, code value comparing unit.Dsp interface and register group are used for access of the DSP to FPGA
Control command, the status information of interface and read-write correlation；AD state of a controls machine is used to produce the startup for meeting AD sequential, reads behaviour
Make control signal, while control A/D convertor circuit to carry out periodic analog-to-digital conversion, change-over period 5us；Multiplication unit is used for
Square operation is carried out respectively to input sine and cosine amplitude digital code value when each cycle converts；Add with unit be used for square after
Sine and cosine digital code value be overlapped；Code value comparing unit will add to be compared with the result code value of unit output and thresholding,
Export comparative result.
DSP circuit controls the start and stop of AD conversion, while read failure by being written and read to the register designed in FPGA
State, judge which link that rotation becomes excitation and demodulating system has problem according to malfunction, carry out corresponding protection operation.
Further, feeding back the comparison threshold of monitoring can be set by logical code.
Fig. 1 is participated in, rotation is used as in the control system for permanent-magnet synchronous motor of position sensor using rotary transformer
Become excitation with demodulator circuit as position decoding system.It is general to produce rotation change pumping signal, warp using a sine-wave generator
Cross the decay of rotary transformer and with exporting sine and cosine feedback signal after the sensing of shaft angle, rotation becomes numeral corresponding to acquisition after demodulation
Code value.
The permagnetic synchronous motor position decoding monitoring system of the present invention, by excitation supervisory circuit, feedback supervisory circuit, FPGA
Circuit and DSP circuit composition.The running situation for becoming exciting circuit and rotary transformer body is revolved available for monitoring.Wherein excitation prison
Control circuit is used for the amplitude and frequency for monitoring driving source output sine wave；Supervisory circuit is fed back to be used to gather in rotation change feedback signal
Sine and cosine envelope signal；FPGA circuitry is used to control the A/D convertor circuit in feedback supervisory circuit, while gathers excitation monitoring
With feedback circuit feedback signal, the computing of frequency counting, fault comprehensive and feedback monitoring is realized；DSP circuit is controlled and read
Monitored results state in FPGA, according to malfunction accordingly judge and act.
Referring to Fig. 2, the excitation monitoring function of system, which includes amplitude monitoring and frequency monitoring two parts, its peripheral circuit, to be included
Signal conditioning circuit, half-wave rectifying circuit, thresholding comparison circuit, frequency monitoring circuit.Signal conditioning circuit is by the excitation of input
Differential signal EXC+/- by a certain percentage coefficient be converted into the single-ended sine wave of same frequency；Half-wave rectifying circuit and thresholding comparison circuit
For amplitude monitoring function, half-wave rectifying circuit will be converted into direct current signal, thresholding ratio by the single-ended sine wave for nursing one's health output
The signal is compared compared with circuit, output result discrete magnitude；Sine wave after frequency monitoring circuit nurses one's health amplitude is converted into
Square-wave signal；FPGA circuitry gathers amplitude monitored results discrete magnitude and frequency monitoring square wave, is further processed.
Referring to Fig. 3, signal conditioning circuit is made up of resistor R101-R106, capacitor C101, amplifier N101.C, passed through
Resistance matches the single-ended sinusoidal signal V_EXC by pumping signal conditioning into certain amplitude with VREF；Half-wave rectifying circuit is by resistance
Device R107-R110, capacitor C102-C103, diode V101-V102, amplifier N101.A and N101.B are formed；Thresholding is more electric
Routing resistance device R111-R117, comparator N102.A, N102.B composition；Frequency monitoring circuit is by resistor R118 and comparator
N102.C is formed.The output of thresholding comparison circuit is amplitude com parison result discrete magnitude；The output of frequency monitoring circuit is frequency
Rate square wave.
Referring to Fig. 4, the feedback monitoring function of system is realized by envelope detection filter circuit, A/D convertor circuit, FPGA circuitry.
Wherein envelope detection circuit has two sets, the carrier signal in sine and cosine feedback for removing rotary transformer output, its
Output is sinusoidal and cosine envelope signal；A/D convertor circuit carries out periodic AD conversion under FPGA circuitry control, will
Sine and cosine envelope signal is converted into corresponding digital code value, and to ensure to gather while property, a/d converter elects 6 Channel Synchronous as here
Oversampling A/D-converter AD7656；FPGA circuitry carry out square to collecting sine and cosine envelope digital code value plus and, compare etc.
Reason, obtain feedback monitored results and read by software.
Referring to Fig. 5, envelope detection filter circuit includes detection and filtering two parts, and wherein detecting circuit is by resistor
R201-R203, capacitor C201, diode V201, V202, amplifier N201.A composition；Filter circuit is by R205-R207, electric capacity
Device C202, C203, amplifier N201.B composition.
By reasonably matching resistance value and capacitance, the high frequency carrier in rotary transformer feedback signal can be gone
Remove, only retain the positive amplitude of envelope signal.
Referring to Fig. 6, system gathers discrete magnitude and the excitation that excitation amplitude supervisory circuit exports by FPGA FPGA
The square wave of frequency monitoring circuit output and the sine and cosine envelope code value of feedback supervisory circuit output, while control feedback monitoring electricity
The operation of A/D convertor circuit in road.Dsp interface, register group, frequency counting unit, AD state of a controls are designed with FPGA
Machine, multiplication unit, plus and unit, code value comparing unit, filter latch units.Dsp interface and register group are used for DSP to FPGA
Access interface and the related control command of read-write, status information；Frequency counting unit counts to driving frequency square wave,
Square wave number according to being received in the unit interval determines driving frequency；Code value comparing unit 1 enters the frequency collected and thresholding
Row compares, output comparative result to register group；AD state of a controls machine is used to produce the startup for meeting AD sequential, read operation control
Signal, while control A/D convertor circuit to carry out periodic analog-to-digital conversion, change-over period 8us；Multiplication unit 1 is used in each cycle
Square operation is carried out to the digital code value for inputting sinusoidal envelope amplitude when converting；Multiplication unit 2 is used to change in each cycle
Square operation is carried out to the digital code value for inputting cosine envelope amplitude during completion；Add with unit be used for square after sine and cosine number
Character code value sums up computing；Code value comparing unit 2 will add to be compared with the result code value of unit output and thresholding, exports ratio
Relatively result is to register group.Here multiplication unit uses the multiplier and adder IP kernel that FPGA is carried with plus with unit.
Excitation amplitude monitored results discrete magnitude is directly entered register group.
The effect of excitation amplitude monitoring is as shown in fig. 7, V_EXC is the single-ended sinusoidal signal after amplitude is nursed one's health, when sharp
After encouraging sine wave abnormal disappearance, V_CMP is gradually reduced, and is sent out less than comparative result discrete magnitude EXC_VFAULT_N after comparison threshold
Raw state upset.
The signal of feedback monitoring effect is limited to 0x2CB41780 as shown in figure 8, setting quadratic sum to visit, and Xiamen is limited to
0x1AD27480, when motor speed is 2000r/min, three pairs of poles rotation variable speed of installation is 6000r/min, when t occurs
During sine feedback broken string, sinusoidal magnitude value rapidly disappears as 0, and the digital code value that sinusoidal envelope is adopted reduces, quadratic sum code value also by
It is decrescence small, during more than threshold range, sine and cosine feedback error of alarming.It should be noted that feedback supervisory circuit is in indivedual angles
On, it is None- identified partial fault, sinusoidal feedback failure can not be such as detected at 0 °, 180 ° of electrical angles；In 90 °, 270 ° of electricity
Cosine feedback failure can not be detected at angle.
By excitation amplitude supervisory circuit, system can pick out driving source amplitude abnormal failure；Monitored by driving frequency
Circuit, system can pick out driving source frequency anomaly failure；By feeding back supervisory circuit, system cocoa pick out rotation become failure or
Wiring faults.By system monitoring, can basic confirmation rotation become the electrical characteristics that excitation becomes sensor with driving source in demodulating system, rotation
It is the prerequisite for carrying out remaining Autonomous test item of electric machine control system aspect and whether electrical connection is normal.
The present invention is suitable for use with permagnetic synchronous motor of the rotary transformer as position sensor, and system controls in FPGA
Under, driving source is monitored respectively with the working condition for becoming sensor is revolved to determine position by encouraging supervisory circuit and feeding back supervisory circuit
Whether working properly put solution code system.Present system can pick out driving source amplitude exception by excitation amplitude supervisory circuit
Failure, by driving frequency supervisory circuit, driving source frequency anomaly failure can be picked out, by feeding back supervisory circuit, can be recognized
It has rotation and becomes failure or wiring faults.
Claims (6)
- A kind of 1. permagnetic synchronous motor position decoding monitoring system, for becoming to the rotation in existing control system for permanent-magnet synchronous motor Excitation is monitored with demodulating system, and existing rotation change excitation includes sinusoidal excitation source, rotary transformer, rotation change solution with demodulating system Adjust device, it is characterised in that the monitoring system includes excitation supervisory circuit, feedback supervisory circuit, FPGA circuitry, DSP circuit；The function of excitation supervisory circuit is that the rotation sent to driving source becomes the amplitude of pumping signal and frequency is monitored, to FPGA Circuit output rotation becomes the amplitude position discrete magnitude and frequency state square wave of pumping signal；Supervisory circuit is encouraged to include signal conditioning circuit, amplitude supervisory circuit, frequency monitoring circuit three parts；Wherein amplitude monitors Circuit includes half-wave rectifying circuit and thresholding comparison circuit；Signal conditioning circuit becomes excitation differential signal to rotation and put by a certain percentage Greatly, and single-ended AC signal is converted into, then the single-ended AC signal is output to amplitude supervisory circuit and frequency monitoring electricity Road；The single-ended AC signal is converted to direct current signal by half-wave rectifying circuit in amplitude supervisory circuit, then by the direct current signal The thresholding comparison circuit accessed in amplitude supervisory circuit, to FPGA circuitry output result discrete magnitude；Frequency monitoring circuit will input Single-ended AC signal be converted into the square waves of respective frequencies, output frequency signal；The function of feedback supervisory circuit is that the sinusoidal feedback and cosine feedback of rotary transformer are monitored, defeated to FPGA circuitry Go out digital code value；Feedback supervisory circuit includes envelope detection circuit, A/D convertor circuit and FPGA three parts；Envelope detection circuit is gone The carrier signal in sinusoidal feedback and cosine feedback signal is removed, sinusoidal envelope is exported to A/D convertor circuit and cosine envelope is believed Number；A/D convertor circuit Timing Synchronization gathers sinusoidal envelope signal and cosine envelope signal, and digital code value is exported to FPGA circuitry； FPGA circuitry controls A/D convertor circuit, and carries out quadratic sum computing to the digital code value of sinusoidal envelope and cosine envelope, to DSP electricity Road output monitoring result；The output result of FPGA circuitry collection excitation supervisory circuit, the amplitude monitored results discrete magnitude for becoming pumping signal to rotation are carried out Condition discrimination, frequency counting is carried out to frequency monitoring output square wave；AD conversion electricity in FPGA circuitry control feedback supervisory circuit Road, the digital code value of sinusoidal envelope and cosine envelope after FPGA circuitry collection A/D convertor circuit conversion, FPGA circuitry passes through interior The quadratic sum arithmetic element in portion, feedback signal is become to rotation and carries out condition discrimination, is stored in related register；DSP circuit reads the rotation after FPGA circuitry integrates and becomes excitation amplitude state, rotation change driving frequency state and rotation change feedback shape State, determine the working condition of system.
- A kind of 2. permagnetic synchronous motor position decoding monitoring system according to claim 1, it is characterised in that the system In excitation supervisory circuit in signal conditioning circuit include resistor, capacitor, operational amplifier；Encourage in supervisory circuit Half-wave rectifying circuit includes resistor, capacitor, diode, operational amplifier；Encourage the thresholding comparison circuit in supervisory circuit Including resistor, comparator；Frequency monitoring circuit in excitation supervisory circuit includes resistor and comparator.
- A kind of 3. permagnetic synchronous motor position decoding monitoring system according to claim 1, it is characterised in that the system In feedback supervisory circuit in envelope detection circuit have two sets, for remove rotary transformer output sine and cosine feedback In carrier signal；A/D convertor circuit selects multi-channel synchronal sampling a/d converter；Envelope detection filter circuit include detection and Two parts are filtered, wherein detecting circuit is made up of resistor, capacitor, diode, operational amplifier；Filtered electrical routing resistance Device, capacitor, operational amplifier composition.
- A kind of 4. permagnetic synchronous motor position decoding monitoring system according to claim 1, it is characterised in that the system The discrete magnitude of excitation amplitude supervisory circuit output and the side of driving frequency supervisory circuit output are gathered by FPGA FPGA Ripple and the sine and cosine envelope code value of feedback supervisory circuit output, while control the fortune of A/D convertor circuit in feedback supervisory circuit OK.
- A kind of 5. permagnetic synchronous motor position decoding monitoring system according to claim 1, it is characterised in that the system Dsp interface, register group, frequency counting unit, AD state of a controls machine, multiplication unit plus and unit, code are provided with FPGA It is worth comparing unit, filters latch units.
- A kind of 6. permagnetic synchronous motor position decoding monitoring system according to claim 5, it is characterised in that dsp interface It is used for the DSP control commands related to FPGA access interface and read-write, status information to register group；Frequency counting unit Driving frequency square wave is counted, driving frequency is determined according to the square wave number received in the unit interval；Code value comparing unit 1 The frequency collected and thresholding are compared, output comparative result to register group；AD state of a control machines meet for generation The startup of AD sequential, read operation control signal, while control A/D convertor circuit to carry out periodic analog-to-digital conversion, change-over period 8us；Multiplication unit 1 is used to carry out square operation to the digital code value for inputting sinusoidal envelope amplitude when each cycle converts； Multiplication unit 2 is used to carry out square operation to the digital code value for inputting cosine envelope amplitude when each cycle converts；Add and Unit be used for square after sine and cosine digital code value sum up computing；Code value comparing unit 2 will add the knot exported with unit Fruit code value and thresholding are compared, output comparative result to register group；Here multiplication unit uses with plus with unit The multiplier and adder IP kernel that FPGA is carried；Excitation amplitude monitored results discrete magnitude is directly entered register group.
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