CN107769630B - Permanent magnet synchronous motor position decoding monitoring system - Google Patents
Permanent magnet synchronous motor position decoding monitoring system Download PDFInfo
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- CN107769630B CN107769630B CN201711120295.6A CN201711120295A CN107769630B CN 107769630 B CN107769630 B CN 107769630B CN 201711120295 A CN201711120295 A CN 201711120295A CN 107769630 B CN107769630 B CN 107769630B
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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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Abstract
The invention discloses a permanent magnet synchronous motor position decoding monitoring system, which belongs to the field of permanent magnet synchronous motor control design, and comprises the following functions: an excitation amplitude monitoring function, an excitation frequency monitoring function and a rotary transformer feedback monitoring function. The system aims at a permanent magnet synchronous motor control system using a rotary transformer as a position sensor, and can be used for monitoring the states of an excitation source and the rotary transformer in a rotary transformer excitation and demodulation system and ensuring the correctness of the rotary transformer excitation and demodulation system. The invention adopts a multi-level monitoring strategy, and can identify faults such as excitation source amplitude abnormity, excitation source frequency abnormity, rotary transformer body or connecting line abnormity and the like after fault synthesis. The invention adopts the high-precision resistor to configure the amplitude threshold of the excitation source, adopts the programmable logic FPGA to configure the frequency threshold and the square sum threshold, has certain flexibility and universality, and can be used for the rotary transformer excitation and demodulation systems with different excitation voltages, excitation frequencies and transformation ratio parameters after the parameters are modified.
Description
Technical Field
The invention discloses a position decoding monitoring system for a permanent magnet synchronous motor, and belongs to the field of control design of permanent magnet synchronous motors.
Background
The permanent magnet synchronous motor has the characteristics of small volume, high power density and high reliability, and is widely applied to various driving systems. The permanent magnet synchronous motor usually adopts a hall sensor, a photoelectric coded disc or a rotary transformer and the like as a position sensor. The rotary transformer can endure severe conditions for a long time, and is gradually the choice for application in severe environment fields such as military systems or all-electric automobiles.
A resolver (resolver) is a sensor for precise measurement of angular position, which works in the manner of a variable coupling transformer, the amount of magnetic coupling between a primary winding and two secondary windings varying according to the position of the rotating part (rotor), the feedback voltage of its secondary output therefore also being a determined function of the rotor rotation angle; the rotor is typically mounted on a rotating shaft of the rotating electrical machine. The two output signals of the rotary transformer are actually obtained by modulating sine and cosine signals of the shaft angle.
In practical application, in order to obtain the shaft angle position information of the motor, a position decoding system is used, and when the position sensor is a rotary transformer, a rotary transformer excitation and demodulation circuit is adopted to excite and demodulate the rotary transformer. Usually, a sine wave excitation source with a fixed frequency is used to excite the rotary transformer, and the feedback signal of the rotary transformer is processed by the RD conversion chip to obtain a digital signal. And the MCU or the DSP in the controller performs corresponding control actions according to the digital code value of the angle.
In a motor control system, angular position information provided by a rotary transformer excitation and demodulation system directly influences success or failure of permanent magnet synchronous motor control, if the position information is wrong, misoperation of the motor is caused, and if the position information is wrong, a preset task cannot be completed, and even a controller can be damaged. If the monitoring of the position decoding system can be easily and easily implemented, the reliability and integrity of the control system can be improved. The scheme provides a permanent magnet synchronous motor position decoding monitoring system, and the effective monitoring of the working state of a rotary transformer excitation and demodulation system is realized.
Disclosure of Invention
The purpose of the invention is: the monitoring system can realize the monitoring of an excitation source and a rotary transformer and further realize the monitoring of a position decoding system, and has a certain fault positioning function and can conveniently position a fault point. Meanwhile, the system has better flexibility and universality, and part of parameters can be modified through programmable logic codes.
The technical scheme of the invention is as follows: a permanent magnet synchronous motor position decoding monitoring system is used for monitoring a rotary transformer excitation and demodulation system in an existing permanent magnet synchronous motor control system, wherein the existing rotary transformer excitation and demodulation system comprises a sine excitation source, a rotary transformer and a rotary transformer demodulator, and is characterized in that the monitoring system comprises an excitation monitoring circuit, a feedback monitoring circuit, an FPGA circuit and a DSP circuit;
the excitation monitoring circuit has the functions of monitoring the amplitude and the frequency of a rotary change excitation signal emitted by an excitation source and outputting amplitude state discrete quantity and frequency state square waves of the rotary change excitation signal to the FPGA circuit;
the excitation monitoring circuit comprises a signal conditioning circuit, an amplitude monitoring circuit and a frequency monitoring circuit; the amplitude monitoring circuit comprises a half-wave rectifying circuit and a threshold comparison circuit; the signal conditioning circuit amplifies the rotary transformer excitation differential signal according to a certain proportion, converts the signal into a single-ended alternating current signal and outputs the single-ended alternating current signal to the amplitude monitoring circuit and the frequency monitoring circuit; a half-wave rectifying circuit in the amplitude monitoring circuit converts the single-ended alternating current signal into a direct current signal, and then the direct current signal is connected to a threshold comparison circuit in the amplitude monitoring circuit to output result discrete quantity to an FPGA circuit; the frequency monitoring circuit converts the input single-ended alternating current signal into a square wave with corresponding frequency and outputs a frequency signal;
the feedback monitoring circuit has the functions of monitoring sine feedback and cosine feedback of the rotary transformer and outputting digital code values to the FPGA circuit;
the feedback monitoring circuit comprises an envelope detection circuit, an AD conversion circuit and a programmable logic part; an envelope detection circuit removes carrier signals on sine feedback signals and cosine feedback signals and outputs sine envelope signals and cosine envelope signals to an AD conversion circuit; the AD conversion circuit synchronously acquires sine envelope signals and cosine envelope signals at regular time and outputs digital code values to the FPGA circuit; the FPGA circuit controls the AD conversion circuit, performs square sum operation on digital code values of sine envelope and cosine envelope, and outputs a monitoring result to the DSP circuit;
the FPGA circuit collects the output result of the excitation monitoring circuit, judges the state of the discrete magnitude of the amplitude monitoring result of the rotary-change excitation signal and counts the frequency of the frequency monitoring output square wave; the FPGA circuit controls an AD conversion circuit in the feedback monitoring circuit, acquires digital code values of sine envelope and cosine envelope converted by the AD conversion circuit, and judges the state of the rotary variable feedback signal through an internal square sum operation unit and stores the rotary variable feedback signal in a related register;
and the DSP circuit reads the state of the rotary transformer excitation amplitude, the state of the rotary transformer excitation frequency and the rotary transformer feedback state after the FPGA circuit is integrated, and determines the working state of the system.
The signal conditioning circuit in the excitation monitoring circuit in the system comprises a resistor, a capacitor and an operational amplifier; the half-wave rectification circuit in the excitation monitoring circuit comprises a resistor, a capacitor, a diode and an operational amplifier; the threshold comparison circuit in the excitation monitoring circuit comprises a resistor and a comparator; the frequency monitoring circuit in the excitation monitoring circuit includes a resistor and a comparator.
Two envelope detection circuits in the feedback monitoring circuit in the system are used for removing carrier signals in sine and cosine feedback output by the rotary transformer; the AD conversion circuit selects a multi-channel synchronous sampling AD converter; the envelope detection filter circuit comprises a detection part and a filtering part, wherein the detection circuit consists of a resistor, a capacitor, a diode and an operational amplifier; the filter circuit is composed of a resistor, a capacitor and an operational amplifier.
The system collects discrete quantity output by the excitation amplitude monitoring circuit, square wave output by the excitation frequency monitoring circuit and sine and cosine envelope code value output by the feedback monitoring circuit through the programmable logic FPGA, and simultaneously controls the operation of an AD conversion circuit in the feedback monitoring circuit.
The system is provided with a DSP interface, a register group, a frequency counting unit, an AD control state machine, a multiplication unit, an addition unit, a code value comparison unit and a filtering latch unit in the FPGA.
The DSP interface and the register group are used for accessing the FPGA interface by the DSP and reading and writing related control commands and state information; the frequency counting unit counts the excitation frequency square waves, and determines the excitation frequency according to the number of the square waves received in unit time; the code value comparison unit 1 compares the acquired frequency with a threshold and outputs a comparison result to a register group; the AD control state machine is used for generating starting and reading operation control signals according with an AD time sequence and controlling the AD conversion circuit to carry out periodic analog-to-digital conversion with a conversion period of 8 us; the multiplication unit 1 is used for performing square operation on the digital code value of the input sinusoidal envelope amplitude when the conversion is completed in each period; the multiplication unit 2 is used for performing square operation on the digital code value of the input cosine envelope amplitude when the conversion is completed in each period; the addition unit is used for performing addition operation on the squared sine and cosine digital code values; the code value comparison unit 2 compares the result code value output by the addition unit with a threshold and outputs a comparison result to a register group; the multiplication unit and the addition unit both adopt a multiplier and an adder IP core of the FPGA; the discrete quantity of the excitation amplitude monitoring result directly enters a register group.
The invention has the advantages that:
1. the invention adopts a multi-level monitoring strategy, and can identify faults such as excitation source amplitude abnormity, excitation source frequency abnormity, rotary transformer body or connecting line abnormity and the like after fault synthesis.
2. The invention adopts the high-precision resistor to configure the amplitude threshold of the excitation source, adopts the programmable logic FPGA to configure the frequency threshold and the square sum threshold, has certain flexibility and universality, and can be used for the rotary transformer excitation and demodulation systems with different excitation voltages, excitation frequencies and transformation ratio parameters after the parameters are modified.
Drawings
FIG. 1 is a block diagram of the system architecture of the present invention.
FIG. 2 is a block diagram of the excitation monitoring function of the present invention.
Fig. 3 is a circuit diagram of the excitation monitoring of the present invention.
Fig. 4 is a block diagram of the feedback monitoring function of the present invention.
Fig. 5 is a diagram of an envelope detection filter circuit of the present invention.
FIG. 6 is a functional block diagram of the programmable logic of the present invention.
Fig. 7 is a schematic diagram of the excitation monitoring effect of the embodiment of the invention.
FIG. 8 is a schematic diagram of the feedback monitoring effect according to the embodiment of the present invention
Detailed Description
A permanent magnet synchronous motor position decoding monitoring system is used for monitoring a rotary transformer excitation and demodulation system in an existing permanent magnet synchronous motor control system, wherein the existing rotary transformer excitation and demodulation system comprises a sine excitation source, a rotary transformer and a rotary transformer demodulator, and is characterized in that the monitoring system comprises an excitation monitoring circuit, a feedback monitoring circuit, an FPGA circuit and a DSP circuit;
the excitation monitoring circuit has the functions of monitoring the amplitude and the frequency of a rotary change excitation signal emitted by an excitation source and outputting amplitude state discrete quantity and frequency state square waves of the rotary change excitation signal to the FPGA circuit;
the excitation monitoring circuit comprises a signal conditioning circuit, an amplitude monitoring circuit and a frequency monitoring circuit; the amplitude monitoring circuit comprises a half-wave rectifying circuit and a threshold comparison circuit; the signal conditioning circuit amplifies the rotary transformer excitation differential signal according to a certain proportion, converts the signal into a single-ended alternating current signal and outputs the single-ended alternating current signal to the amplitude monitoring circuit and the frequency monitoring circuit; a half-wave rectifying circuit in the amplitude monitoring circuit converts the single-ended alternating current signal into a direct current signal, and then the direct current signal is connected to a threshold comparison circuit in the amplitude monitoring circuit to output result discrete quantity to an FPGA circuit; the frequency monitoring circuit converts the input single-ended alternating current signal into a square wave with corresponding frequency and outputs a frequency signal;
the feedback monitoring circuit has the functions of monitoring sine feedback and cosine feedback of the rotary transformer and outputting digital code values to the FPGA circuit;
the feedback monitoring circuit comprises an envelope detection circuit, an AD conversion circuit and a programmable logic part; an envelope detection circuit removes carrier signals on sine feedback signals and cosine feedback signals and outputs sine envelope signals and cosine envelope signals to an AD conversion circuit; the AD conversion circuit synchronously acquires sine envelope signals and cosine envelope signals at regular time and outputs digital code values to the FPGA circuit; the FPGA circuit controls the AD conversion circuit, performs square sum operation on digital code values of sine envelope and cosine envelope, and outputs a monitoring result to the DSP circuit;
the FPGA circuit collects the output result of the excitation monitoring circuit, judges the state of the discrete magnitude of the amplitude monitoring result of the rotary-change excitation signal and counts the frequency of the frequency monitoring output square wave; the FPGA circuit controls an AD conversion circuit in the feedback monitoring circuit, acquires digital code values of sine envelope and cosine envelope converted by the AD conversion circuit, and judges the state of the rotary variable feedback signal through an internal square sum operation unit and stores the rotary variable feedback signal in a related register;
and the DSP circuit reads the state of the rotary transformer excitation amplitude, the state of the rotary transformer excitation frequency and the rotary transformer feedback state after the FPGA circuit is integrated, and determines the working state of the system.
The signal conditioning circuit in the excitation monitoring circuit in the system comprises a resistor, a capacitor and an operational amplifier; the half-wave rectification circuit in the excitation monitoring circuit comprises a resistor, a capacitor, a diode and an operational amplifier; the threshold comparison circuit in the excitation monitoring circuit comprises a resistor and a comparator; the frequency monitoring circuit in the excitation monitoring circuit includes a resistor and a comparator.
Two envelope detection circuits in the feedback monitoring circuit in the system are used for removing carrier signals in sine and cosine feedback output by the rotary transformer; the AD conversion circuit selects a multi-channel synchronous sampling AD converter; the envelope detection filter circuit comprises a detection part and a filtering part, wherein the detection circuit consists of a resistor, a capacitor, a diode and an operational amplifier; the filter circuit is composed of a resistor, a capacitor and an operational amplifier.
The system collects discrete quantity output by the excitation amplitude monitoring circuit, square wave output by the excitation frequency monitoring circuit and sine and cosine envelope code value output by the feedback monitoring circuit through the programmable logic FPGA, and simultaneously controls the operation of an AD conversion circuit in the feedback monitoring circuit.
The system is provided with a DSP interface, a register group, a frequency counting unit, an AD control state machine, a multiplication unit, an addition unit, a code value comparison unit and a filtering latch unit in the FPGA.
The DSP interface and the register group are used for accessing the FPGA interface by the DSP and reading and writing related control commands and state information; the frequency counting unit counts the excitation frequency square waves, and determines the excitation frequency according to the number of the square waves received in unit time; the code value comparison unit 1 compares the acquired frequency with a threshold and outputs a comparison result to a register group; the AD control state machine is used for generating starting and reading operation control signals according with an AD time sequence and controlling the AD conversion circuit to carry out periodic analog-to-digital conversion with a conversion period of 8 us; the multiplication unit 1 is used for performing square operation on the digital code value of the input sinusoidal envelope amplitude when the conversion is completed in each period; the multiplication unit 2 is used for performing square operation on the digital code value of the input cosine envelope amplitude when the conversion is completed in each period; the addition unit is used for performing addition operation on the squared sine and cosine digital code values; the code value comparison unit 2 compares the result code value output by the addition unit with a threshold and outputs a comparison result to a register group; the multiplication unit and the addition unit both adopt a multiplier and an adder IP core of the FPGA; the discrete quantity of the excitation amplitude monitoring result directly enters a register group.
The present invention will be described in further detail with reference to the accompanying drawings.
A permanent magnet synchronous motor position decoding monitoring system comprises an excitation monitoring circuit, a feedback monitoring circuit, an FGPA circuit and a DSP circuit. The excitation monitoring circuit monitors the state of an excitation signal output by the excitation source and outputs amplitude comparison result discrete quantity and frequency discrete quantity; the feedback monitoring circuit monitors sine and cosine signals fed back by the rotary transformer and outputs digital code values of sine envelope and cosine envelope; the FPGA circuit controls the feedback monitoring circuit, collects the result of the excitation monitoring circuit and the result of the feedback monitoring, and synthesizes various monitoring results; and the DSP circuit controls and reads the state of the monitoring result in the FPGA, and performs corresponding judgment and action according to the fault state.
The excitation monitoring circuit is used for monitoring the amplitude state and the frequency state of an excitation source, and comprises: signal conditioning circuit, amplitude monitoring circuit and frequency monitoring circuit. The amplitude monitoring circuit comprises a half-wave rectifying circuit and a threshold comparison circuit. The signal conditioning circuit is used for carrying out amplitude conditioning on the input excitation signal and converting the differential excitation signal into a single-ended signal; the amplitude monitoring circuit monitors the conditioned single-ended signal, the half-wave rectification filter circuit converts the single-ended sinusoidal signal into a direct current signal, the threshold comparison circuit is a hysteresis comparison circuit formed by an analog comparator, and the direct current signal is compared with a threshold to output discrete quantity of a result. The frequency monitoring circuit is a comparison circuit and can output square wave signals with the same frequency as the conditioned sine wave.
The feedback monitoring circuit is used for monitoring the feedback state of the rotary transformer, and the peripheral circuit comprises an envelope detection circuit and an AD conversion circuit. The envelope detection circuit comprises 2 sets of envelope detection circuits, wherein the 2 sets of envelope detection circuits are respectively used for removing carrier signals of sine feedback and cosine feedback and outputting envelope signals; the AD conversion circuit collects sine envelope signals and cosine envelope signals after detection, and can simultaneously collect sine envelope signals and cosine envelope signals, and the AD conversion circuit adopts a multi-channel synchronous sampling ADC. An AD conversion circuit in the feedback monitoring circuit carries out AD conversion at a timing controlled by an FPGA, the FPGA collects digital code values of sine envelope and cosine envelope, square addition operation is carried out, and whether a feedback signal is normal or not is determined according to an internal threshold.
The FPGA circuit collects discrete quantities output by the excitation monitoring circuit and sine and cosine envelope code values output by the feedback monitoring circuit, and controls the operation of an AD conversion circuit in the feedback monitoring circuit. The FPGA is provided with a DSP interface, a register group, an AD control state machine, a multiplication unit, an addition unit and a code value comparison unit. The DSP interface and the register group are used for accessing the FPGA interface by the DSP and reading and writing related control commands and state information; the AD control state machine is used for generating starting and reading operation control signals according with an AD time sequence and controlling the AD conversion circuit to carry out periodic analog-to-digital conversion with a conversion period of 5 us; the multiplication unit is used for respectively carrying out square operation on the input sine and cosine amplitude digital code values when the conversion is completed in each period; the addition unit is used for superposing the squared sine and cosine digital code values; the code value comparison unit compares the result code value output by the addition unit with a threshold and outputs a comparison result.
The DSP circuit controls the starting and stopping of AD conversion by reading and writing a register designed in the FPGA, simultaneously reads a fault state, judges which link of the rotary transformer excitation and demodulation system has a problem according to the fault state, and performs corresponding protection operation.
Further, the comparison threshold for feedback monitoring may be set by logic code.
Referring to fig. 1, in a permanent magnet synchronous motor control system using a resolver as a position sensor, a resolver excitation and demodulation circuit is used as a position decoding system. Generally, a sine wave generator is used for generating a rotary transformer excitation signal, a sine and cosine feedback signal is output after attenuation of a rotary transformer and induction of an axial angle, and a corresponding digital code value is obtained after rotary transformer demodulation.
The permanent magnet synchronous motor position decoding monitoring system consists of an excitation monitoring circuit, a feedback monitoring circuit, an FPGA circuit and a DSP circuit. The method can be used for monitoring the operation conditions of the rotary transformer excitation circuit and the rotary transformer body. The excitation monitoring circuit is used for monitoring the amplitude and the frequency of a sine wave output by the excitation source; the feedback monitoring circuit is used for acquiring sine and cosine envelope signals in the rotary variable feedback signals; the FPGA circuit is used for controlling an AD conversion circuit in the feedback monitoring circuit, and simultaneously collecting feedback signals of the excitation monitoring circuit and the feedback circuit to realize frequency counting, fault synthesis and feedback monitoring operation; and the DSP circuit controls and reads the state of the monitoring result in the FPGA, and performs corresponding judgment and action according to the fault state.
Referring to fig. 2, the excitation monitoring function of the system includes amplitude monitoring and frequency monitoring, and its peripheral circuit includes a signal conditioning circuit, a half-wave rectifier circuit, a threshold comparison circuit, and a frequency monitoring circuit. The signal conditioning circuit converts an input excitation differential signal EXC +/-into a single-ended sine wave with the same frequency according to a certain proportionality coefficient; the half-wave rectification circuit and the threshold comparison circuit are used for an amplitude monitoring function, the half-wave rectification circuit converts the single-ended sine wave output by conditioning into a direct current signal, the threshold comparison circuit compares the signal and outputs discrete quantity of a result; the frequency monitoring circuit converts the sine wave after amplitude conditioning into a square wave signal; and the FPGA circuit acquires the discrete magnitude of the amplitude monitoring result and the frequency monitoring square wave for further processing.
Referring to fig. 3, the signal conditioning circuit is composed of resistors R101-R106, a capacitor C101, and an operational amplifier n101.C, and conditions the excitation signal into a single-ended sinusoidal signal V _ EXC of a certain amplitude through resistance matching and VREF; the half-wave rectification circuit consists of resistors R107-R110, capacitors C102-C103, diodes V101-V102, operational amplifiers N101.A and N101.B; the threshold comparison circuit consists of resistors R111-R117 and comparators N102.A and N102.B; the frequency monitoring circuit is composed of a resistor R118 and a comparator n102. c. The output of the threshold comparison circuit is the discrete quantity of the amplitude comparison result; the output of the frequency monitoring circuit is a frequency square wave.
Referring to fig. 4, the feedback monitoring function of the system is realized by an envelope detection filter circuit, an AD conversion circuit, and an FPGA circuit. The envelope detection circuits are used for removing carrier signals in sine and cosine feedback output by the rotary transformer, and the output of the envelope detection circuits is envelope signals of sine and cosine; the AD conversion circuit carries out periodic AD conversion under the control of the FPGA circuit, sine and cosine envelope signals are converted into corresponding digital code values, and in order to ensure the acquisition simultaneity, the AD converter is selected as a 6-channel synchronous sampling AD converter AD 7656; the FPGA circuit carries out processing such as squaring, adding, comparing and the like on the acquired sine and cosine envelope digital code values, and the feedback monitoring result is obtained and read by software.
Referring to fig. 5, the envelope detection filter circuit comprises two parts of detection and filtering, wherein the detection circuit is composed of resistors R201-R203, a capacitor C201, diodes V201, V202 and an operational amplifier n201. a; the filter circuit is composed of R205-R207, capacitors C202 and C203, and an operational amplifier N201. B.
Through reasonable proportioning of the resistance value and the capacitance value, the high-frequency carrier in the feedback signal of the rotary transformer can be removed, and only the forward amplitude of the envelope signal is reserved.
Referring to fig. 6, the system collects discrete quantities output by the excitation amplitude monitoring circuit, square waves output by the excitation frequency monitoring circuit and sine and cosine envelope code values output by the feedback monitoring circuit through the programmable logic FPGA, and controls the operation of the AD conversion circuit in the feedback monitoring circuit. The FPGA is provided with a DSP interface, a register group, a frequency counting unit, an AD control state machine, a multiplication unit, an addition unit, a code value comparison unit and a filtering latch unit. The DSP interface and the register group are used for accessing the FPGA interface by the DSP and reading and writing related control commands and state information; the frequency counting unit counts the excitation frequency square waves, and determines the excitation frequency according to the number of the square waves received in unit time; the code value comparison unit 1 compares the acquired frequency with a threshold and outputs a comparison result to a register group; the AD control state machine is used for generating starting and reading operation control signals according with an AD time sequence and controlling the AD conversion circuit to carry out periodic analog-to-digital conversion with a conversion period of 8 us; the multiplication unit 1 is used for performing square operation on the digital code value of the input sinusoidal envelope amplitude when the conversion is completed in each period; the multiplication unit 2 is used for performing square operation on the digital code value of the input cosine envelope amplitude when the conversion is completed in each period; the addition unit is used for performing addition operation on the squared sine and cosine digital code values; the code value comparison unit 2 compares the result code value output by the addition unit with a threshold, and outputs the comparison result to the register group. The multiplication unit and the addition unit both adopt multiplier and adder IP cores of the FPGA. The discrete quantity of the excitation amplitude monitoring result directly enters a register group.
The effect of the excitation amplitude monitoring is shown in fig. 7, V _ EXC is a single-ended sinusoidal signal after amplitude conditioning, when the excitation sinusoidal wave disappears abnormally, V _ CMP gradually decreases, and after the excitation sinusoidal wave is lower than the comparison threshold, the comparison result discrete quantity EXC _ VFAULT _ N undergoes state reversal.
The feedback monitoring effect is shown schematically in fig. 8, the square sum upper threshold is set to be 0x2CB41780, the lower threshold is set to be 0x1AD27480, when the motor rotating speed is 2000r/min, the installed three pairs of pole rotating speed is 6000r/min, when the sine feedback disconnection occurs at the time t, the sine amplitude disappears to be 0 rapidly, the digital code value acquired by the sine envelope is reduced, the square sum code value is also reduced gradually, and when the square sum code value exceeds the threshold range, the sine and cosine feedback error is alarmed. It should be noted that the feedback monitoring circuit cannot identify partial faults at individual angles, for example, sinusoidal feedback faults cannot be detected at electrical angles of 0 ° and 180 °; cosine feedback faults cannot be detected at electrical angles of 90 °, 270 °.
Through the excitation amplitude monitoring circuit, the system can identify the abnormal fault of the excitation source amplitude; through the excitation frequency monitoring circuit, the system can identify the abnormal frequency fault of the excitation source; through the feedback monitoring circuit, the system can identify the rotary transformer fault or the wiring fault. Through system monitoring, whether the electrical characteristics and the electrical connection of an excitation source and a resolver sensor in a resolver excitation and demodulation system are normal or not can be basically confirmed, and the prerequisite condition for carrying out other self-detection items in the aspect of a motor control system is provided.
The system is suitable for the permanent magnet synchronous motor using the rotary transformer as the position sensor, and under the control of the FPGA, the system respectively monitors the working states of the excitation source and the rotary transformer sensor through the excitation monitoring circuit and the feedback monitoring circuit to determine whether the position decoding system works normally. According to the system, the excitation source amplitude abnormal fault can be identified through the excitation amplitude monitoring circuit, the excitation source frequency abnormal fault can be identified through the excitation frequency monitoring circuit, and the rotation transformer fault or the wiring fault can be identified through the feedback monitoring circuit.
Claims (6)
1.A permanent magnet synchronous motor position decoding monitoring system is used for monitoring a rotary transformer excitation and demodulation system in an existing permanent magnet synchronous motor control system, wherein the existing rotary transformer excitation and demodulation system comprises a sine excitation source, a rotary transformer and a rotary transformer demodulator, and is characterized in that the monitoring system comprises an excitation monitoring circuit, a feedback monitoring circuit, an FPGA circuit and a DSP circuit;
the excitation monitoring circuit has the functions of monitoring the amplitude and the frequency of a rotary change excitation signal emitted by an excitation source and outputting amplitude state discrete quantity and frequency state square waves of the rotary change excitation signal to the FPGA circuit;
the excitation monitoring circuit comprises a signal conditioning circuit, an amplitude monitoring circuit and a frequency monitoring circuit; the amplitude monitoring circuit comprises a half-wave rectifying circuit and a threshold comparison circuit; the signal conditioning circuit amplifies the rotary transformer excitation differential signal according to a certain proportion, converts the signal into a single-ended alternating current signal and outputs the single-ended alternating current signal to the amplitude monitoring circuit and the frequency monitoring circuit; a half-wave rectifying circuit in the amplitude monitoring circuit converts the single-ended alternating current signal into a direct current signal, and then the direct current signal is connected to a threshold comparison circuit in the amplitude monitoring circuit to output result discrete quantity to an FPGA circuit; the frequency monitoring circuit converts the input single-ended alternating current signal into a square wave with corresponding frequency and outputs a frequency signal;
the feedback monitoring circuit has the functions of monitoring sine feedback and cosine feedback of the rotary transformer and outputting digital code values to the FPGA circuit;
the feedback monitoring circuit comprises an envelope detection circuit, an AD conversion circuit and a programmable logic part; an envelope detection circuit removes carrier signals on sine feedback signals and cosine feedback signals and outputs sine envelope signals and cosine envelope signals to an AD conversion circuit; the AD conversion circuit synchronously acquires sine envelope signals and cosine envelope signals at regular time and outputs digital code values to the FPGA circuit; the FPGA circuit controls the AD conversion circuit, performs square sum operation on digital code values of sine envelope and cosine envelope, and outputs a monitoring result to the DSP circuit;
the FPGA circuit collects the output result of the excitation monitoring circuit, the discrete quantity of the excitation amplitude monitoring result directly enters a register group, and the frequency counting is carried out on the frequency monitoring output square wave; the FPGA circuit controls an AD conversion circuit in the feedback monitoring circuit, acquires digital code values of sine envelope and cosine envelope converted by the AD conversion circuit, and performs squaring, adding and comparing processing on the rotary variable feedback signal through an internal multiplication unit, an adding unit and a code value comparison unit to obtain a feedback monitoring result which is stored in a relevant register;
and the DSP circuit reads the state of the rotary transformer excitation amplitude, the state of the rotary transformer excitation frequency and the rotary transformer feedback state after the FPGA circuit is integrated, and determines whether the position decoding system works normally.
2. The decoding monitoring system for the position of the permanent magnet synchronous motor according to claim 1, wherein the signal conditioning circuit in the excitation monitoring circuit in the system comprises a resistor, a capacitor and an operational amplifier; the half-wave rectification circuit in the excitation monitoring circuit comprises a resistor, a capacitor, a diode and an operational amplifier; the threshold comparison circuit in the excitation monitoring circuit comprises a resistor and a comparator; the frequency monitoring circuit in the excitation monitoring circuit includes a resistor and a comparator.
3. The permanent magnet synchronous motor position decoding monitoring system of claim 1, wherein there are two sets of envelope detection circuits in the feedback monitoring circuit in the system, for removing the carrier signals in the sine and cosine feedback output by the rotary transformer; the AD conversion circuit selects a multi-channel synchronous sampling AD converter; the envelope detection filter circuit comprises a detection part and a filtering part, wherein the detection circuit consists of a resistor, a capacitor, a diode and an operational amplifier; the filter circuit is composed of a resistor, a capacitor and an operational amplifier.
4. The permanent magnet synchronous motor position decoding monitoring system according to claim 1, wherein the system collects discrete quantities output by the excitation amplitude monitoring circuit, square waves output by the excitation frequency monitoring circuit and sine and cosine envelope code values output by the feedback monitoring circuit through a programmable logic FPGA, and controls the operation of an AD conversion circuit in the feedback monitoring circuit.
5. The permanent magnet synchronous motor position decoding monitoring system according to claim 1, wherein a DSP interface, a register set, a frequency counting unit, an AD control state machine, a multiplying unit, an adding unit, a code value comparing unit and a filtering latch unit are arranged in the FPGA.
6. The permanent magnet synchronous motor position decoding monitoring system according to claim 5, wherein the DSP interface and the register set are used for an access interface of the DSP to the FPGA and reading and writing related control commands and state information; the frequency counting unit counts the excitation frequency square waves, and determines the excitation frequency according to the number of the square waves received in unit time; the code value comparison unit 1 compares the acquired frequency with a threshold and outputs a comparison result to a register group; the AD control state machine is used for generating starting and reading operation control signals according with an AD time sequence and controlling the AD conversion circuit to carry out periodic analog-to-digital conversion with a conversion period of 8 us; the multiplication unit 1 is used for performing square operation on the digital code value of the input sinusoidal envelope amplitude when the conversion is completed in each period; the multiplication unit 2 is used for performing square operation on the digital code value of the input cosine envelope amplitude when the conversion is completed in each period; the addition unit is used for performing addition operation on the squared sine and cosine digital code values; the code value comparison unit 2 compares the result code value output by the addition unit with a threshold and outputs a comparison result to a register group; the multiplication unit and the addition unit both adopt a multiplier and an adder IP core of the FPGA; the discrete quantity of the excitation amplitude monitoring result directly enters a register group.
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| CN111552204A (en) * | 2019-02-12 | 2020-08-18 | 株洲中车时代电气股份有限公司 | Resolver simulator based on FPGA |
| CN110794343B (en) * | 2019-10-14 | 2021-10-26 | 中车永济电机有限公司 | Rotary transformer wiring self-detection system |
| CN111025190B (en) * | 2019-11-28 | 2021-11-09 | 中国航空工业集团公司西安航空计算技术研究所 | Rotary transformer signal conditioning circuit and method |
| CN112671275A (en) * | 2020-12-04 | 2021-04-16 | 上海航天控制技术研究所 | High-precision rotary transformer control decoding system and method |
| CN113541538A (en) * | 2021-07-26 | 2021-10-22 | 珠海格力电器股份有限公司 | Servo driver and servo driving system |
| CN114079415A (en) * | 2021-10-09 | 2022-02-22 | 华为数字能源技术有限公司 | Motor angle detection device, motor controller and electric automobile |
| CN117782168B (en) * | 2024-02-26 | 2024-05-28 | 南京新紫峰电子科技有限公司 | Excitation method, device and medium of rotary transformer sensor |
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