CN108199627A - A kind of distribution driving control system for electric machine - Google Patents
A kind of distribution driving control system for electric machine Download PDFInfo
- Publication number
- CN108199627A CN108199627A CN201711442649.9A CN201711442649A CN108199627A CN 108199627 A CN108199627 A CN 108199627A CN 201711442649 A CN201711442649 A CN 201711442649A CN 108199627 A CN108199627 A CN 108199627A
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- CN
- China
- Prior art keywords
- control
- current
- motor
- time triggered
- bus
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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
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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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/16—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring
- H02P25/22—Multiple windings; Windings for more than three phases
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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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
-
- 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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
Abstract
The present invention relates to a kind of distributed driving control system for electric machine, which is characterized in that contains：One speed control, a signal detection module, N number of current control drive module, a double remaining time triggered protocol bus and a M are synchronised motor.Technical solution of the present invention uses the multigroup independent drive control of multiphase, and when winding or H bridge failures, fault coverage is only K controlled line packet, significantly reduces influence of the failure to system.The capacity requirement of each H bridges is reduced, conducive to the complex optimum of system layout, distributed driving is realized, avoids the problem of inverter utilization rate is low in remaining scheme.Internal communication bus use time triggered protocol bus, have many advantages, such as certainty is good, real-time is good, reliability is high, it is efficient, convenient for fault diagnosis, be easy to the synchronization of N group electric current drive controls.Part then further improves the reliability that key message detects and controls system communication using redundancy technology.
Description
Technical field
The present invention relates to motor control technology fields, and in particular to a kind of distribution driving control system for electric machine.The system
Electronic suitable for aerospace, military equipment and industrial production/electricity generation system needs the application of highly reliable drive control to need
It asks.
Background technology
Electric machine control system generally use full-bridge topologies realize the drive control to motor, the topological structure at present
Required power device quantity is few, it is simple in structure, be easily integrated, but when the power tube of any one bridge arm breaks down, will lead
Entire driving control system failure is caused, and is difficult to Fault Isolation, reliability is low, without fault-tolerant ability.For independent winding motor
Used H bridges topological structure then can effectively avoid the above problem.Independent winding motor is realized independent per mutually using 4 power tubes
Drive control when any one power tube breaks down, only influences the operation of this phase winding, and non-faulting phase winding times can be normal
Work.Fault Isolation is conducive to using H bridge topological structures, it can be achieved that motor operates with failure, but due to general number of motor phases
Limited, once breaking down, performance is still inevitably affected.In addition, driving topology can be effective using redundancy technology
Promote system-wide mission reliability, when failure can realize dynamic restructuring and fault-tolerant driving, but also can exponentially increase simultaneously
System complexity, quality, volume, cost and development time and unscheduled maintenance work etc..And in system worked well,
The inverter circuit of backup path is then difficult to be fully utilized, and reduces the utilization rate of inverter.
Invention content
The technical problem to be solved in the present invention is to overcome that reliability of the prior art is low, fault-tolerant ability is poor, system band
Failure operation poor performance, it is difficult to the defects such as reliability is low with system complexity, inverter utilization rate are taken into account, so as to provide a kind of electricity
The driving control system structure of machine.It is proposed to this end that a kind of distribution driving control system for electric machine, it is characterised in that contain：One
A speed control, a signal detection module, N number of current control drive module, a double remaining time triggered protocol bus
It is synchronised motor with a M.Wherein, double remaining time triggered protocol bus signal path containing there are two, the speed control,
Signal detection module, N number of current control drive module respectively contain there are two time triggered communication port, and are respectively connected to described
Two independent bus runs of double remaining time triggered protocol bus form double remaining communication links.Above-mentioned speed control
Also containing external bus port, the real-time information interaction with upper control computer is used to implement, obtain telecommand and is fed back
Telemetered signal.
M in the distributed driving control system for electric machine proposed is synchronised motor using independent winding structure, shares M phases
(M >=3) individually draw terminals per N groups (N >=2) are mutually divided into, and every group contains K winding wire packet (K >=1), stator tooth slot number
For M × N × K.Wherein, N is determined by current control drive module number, and K is each mutually fixed of each current control drive module driving
The line packet number of sub- winding.
The distributed driving control system for electric machine proposed, wherein N number of current control drive module, each module
Current controller, M phase current sensing device, M H bridge inverter there are one containing.Wherein, H bridge inverters are each stated for driving
Dynamic M is synchronised motor per K stator winding line packet in phase.Each current controller contains M feed back input port and M groups
Control output, wherein, M feed back input port is connected respectively with M phase current sensing device, and the control output of M groups is respectively connected to M
A H bridge inverters so as to apply voltage to every K stator winding line packet of phase, realize current control.In addition, current controller is equal
Respectively contain there are two time triggered communication port, and be respectively connected to two independent buses of double remaining time triggered protocol bus
Channel sends corresponding K so as to independent acquisition current-order information, rotor position information and to the speed control
The current information of a winding wire packet, and realize the time synchronization between N number of current control drive module.
The distributed driving control system for electric machine proposed, wherein signal detection module are containing one or more independent
Sense channel, each sense channel contain logical there are one motor rotor position detection unit, a speed detection unit and one
Interrogate processing unit.The motor rotor position detection unit is used to obtain motor rotor position information, the speed detection unit
For obtaining motor speed information.The communication processing unit contains there are two time triggered communication port, and is respectively connected to double
Two independent bus runs of remaining time triggered protocol bus, realize motor speed information being sent to the speed control
Device and motor rotor position information is sent to the current control drive module.
Motor speed instruction is sent to speed control, speed control warp by upper control computer by external bus
Motor status information telemetry is returned upper control computer and is shown, records and human-computer interaction by external bus.Speed control
Motor speed information is obtained from signal detection module, and realize the quick of speed by internal double remaining time triggered protocol bus
No error following exports each phase current instruction or rectangular axis current-order to internal double remaining time triggered protocol bus.N number of electric current
Control current controller in drive module by internal double remaining time triggered protocol bus obtain above-mentioned current-order and
Motor corner information is obtained, while M phase current sensing device obtains from each current control drive module from signal detection module
The M phase currents of institute's control winding line packet are taken, realize the control to institute's control winding electric current.The M groups of the current controller output
Voltage control quantity controls M H-bridge inverter circuit in the current control drive module respectively, realizes to every K winding wire of phase
The independent drive control of packet.
Technical solution of the present invention has the following advantages that：
1st, the independent drive control of N groups will be divided into per phase winding, when winding or H bridge inverter failures, fault coverage is only
For the K winding wire packet that the group is controlled, significantly reduce influence of the failure to system, avoid traditional structure once occur around
Group or fault of converter will influence whole phase even entire electric system, so as to which what the performance that operates with failure to motor was affected asks
Topic.
2nd, using the multigroup independent drive control of multiphase, when there is winding or fault of converter, convenient for Fault Isolation and shape
State reconstructs.By adjusting the failure mutually electric currents of other normal group line packets and the electric current of non-faulting phase, can lifting system failure when
Runnability.
3rd, using the multigroup independent drive control of multiphase, the capacity requirement to each H bridge inverters is reduced, is easy to implement list
A inverter it is integrated.Meanwhile propose that technological approaches increases the quantity of H bridge inverters, be conducive to the comprehensive of system layout
Optimization is closed, realizes distributed driving.During normal operation, inverter capacity can be fully utilized, and avoid remaining scheme inverter
The problem of utilization rate is low.
4th, internal communication bus uses time triggered protocol bus, with certainty is good, real-time is good, reliability is high, effect
The advantages that rate is high, convenient for fault diagnosis, the synchronization of N groups electric current drive control easy to implement.
5th, using the signal detection module of redundance and the internal communication bus of double remainings, crucial letter is further improved
Breath detects and controls the reliability of system communication.
Description of the drawings
Fig. 1：Present system structure diagram.
Specific embodiment
Technical scheme of the present invention is further clearly and completely described below in conjunction with attached drawing, it is clear that described
Embodiment be part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field is general
Logical technical staff all other embodiments obtained without making creative work belong to what the present invention protected
Range.Scheme described herein is only used to provide further understanding of the present invention, and is the part of the application, is not formed pair
The restriction of the present invention program.
The present embodiment is by taking the distributed driving control system of five phases, 60 slot, 54 pole permanent-magnet synchronous machine as an example, and system is by one
Speed control, a triplex redundance signal detection module, 4 current control drive modules, a double remaining time triggered agreement
Bus and five phases, 60 slot, a 54 pole permanent-magnet synchronous machine composition.Every phase of synchronous motor is divided using 3 line packets as one group of leading-out terminal
For 4 groups of independent controls.Then according to aforementioned techniques approach, it may be determined that M=5, N=4, K=3.
The triplex redundance signal detection module that system uses contains there are three independent sense channel, and each sense channel contains
One motor rotor position detection unit, a speed detection unit and a communication processing unit.Motor rotor position detects
For obtaining motor rotor position information, the speed detection unit is used to obtain motor speed information unit.System is using rotation
Change depressor as rotor-position sensor, and obtain rotor velocity simultaneously, while containing there are one there are double serial communications to connect
The control chip of mouth is as communication processing unit.Two independences that communication processing unit passes through double remaining time triggered protocol bus
Bus run, realize and motor speed information be sent to the speed control and sends motor rotor position information
To the current control drive module.
Speed control and 4 current controllers using Texas Instruments (Texas Instruments,
Abbreviation TI) TMS320C28xTM series of digital signals processing chips.Double remaining time triggereds that internal system bus uses are total
Line signal path containing there are two, speed control, triplex redundance signal detection module, 4 current control drive modules respectively contain
Dual serial communication interface, and two independent bus runs of double remaining time triggered protocol bus are respectively connected to, it forms
Double remaining communication links realize the networking between controller.Above-mentioned speed control also contains there are one external bus port, for reality
Now with the real-time information interaction of upper control computer, obtain telecommand and feed back telemetered signal.
4 current control drive modules in driving control system, each module is containing there are one current controller, 5 phases
Current detector, 5 H bridge inverters.Wherein, each H bridge inverters respectively drive 3 stator winding in one phase of synchronous motor
Line packet.Each current controller is containing 5 feed back input ports and 5 groups of PWM control outputs.Wherein, 5 feed back input ports
It is connected respectively with 5 phase current sensing devices, 5 groups of control outputs are respectively connected to 5 H bridge inverters.Each H bridge inverters are used
The winding wire packet of 3 slots in drive control permanent magnet synchronous motor.Every group of pwm signal passes through isolated grid drive chip control
The conducting and shutdown of each bridge arm of H bridges processed so as to apply voltage to the stator winding line packet of every 3 slots of phase, realize current control.
In addition, two independent bus runs of the current controller by double remaining time triggered protocol bus, the independent electric current that obtains refers to
Enable information, rotor position information and the current information that controlled winding wire packet is sent to speed control, and realize and its
Time synchronization between his 3 current control drive modules.
Motor speed instruction signal ω * are transmitted to speed control by upper control computer by external bus timing,
Motor status information telemetry is returned upper control computer through external bus and is shown, records and man-machine friendship by speed control
Mutually.Speed control obtains motor speed by internal double remaining time triggered protocol bus from triplex redundance signal detection module to be believed
Breath, and realize the quick no error following of speed, each phase current instruction or rectangular axis current-order are exported to internal double remaining times
Triggered protocol bus.Current controller in 4 current control drive modules passes through internal double remaining time triggered protocol bus
It obtains above-mentioned current-order and obtains motor corner information, while drive from each current control from triplex redundance signal detection module
5 phase current sensing devices obtain 5 phase currents of institute's control winding line packet in dynamic model block, realize the control to institute's control winding electric current
System.5 groups of voltage control quantities of the current controller output control 5 H bridges in the current control drive module inverse respectively
Become circuit, realize the independent drive control to every 3 slot windings of phase.
Obviously, above-described specific implementation method has carried out the purpose of the present invention, technical solution and advantageous effect in detail
Describe in detail it is bright, it should be understood that above-described embodiment be only the present invention specific embodiment, be only intended to clearly illustrate institute
The citing of work, and be not intended to limit the embodiments.For those of ordinary skill in the art, in the base of above description
It can also be made other variations or changes in different ways on plinth.There is no need and unable to give thoroughly all embodiments
It lifts.It is all within the spirit and principle of the method for the present invention, any modification, equivalent substitution, improvement and etc. done and thus drawn
The obvious changes or variations of stretching, should all be included in the protection scope of the present invention.
Claims (5)
1. a kind of distribution driving control system for electric machine, it is characterised in that contain：One speed control, a signal detection mould
Group, N number of current control drive module, a double remaining time triggered protocol bus and a M are synchronised motor；Wherein, it is described
Double remaining time triggered protocol bus are containing there are two signal path, the speed control, signal detection module, N number of electric current controls
Drive module processed respectively contains there are two time triggered communication port, and be respectively connected to double remaining time triggered protocol bus
Two independent bus runs, form double remaining communication links.The speed control also containing external bus port, is used for
It realizes the real-time information interaction with upper control computer, obtain telecommand and feeds back telemetered signal.
2. the distributed driving control system for electric machine according to claim 1, which is characterized in that the M is synchronised motor
Using independent winding structure, share M phases (M >=3), terminals individually drawn per N groups (N >=2) are mutually divided into, every group contain K around
Group line packet (K >=1), stator tooth slot number are M × N × K；Wherein, N is determined by current control drive module number, and K is each electric current
Control the line packet number of each phase stator winding of drive module driving.
3. the distributed driving control system for electric machine according to claim 1, which is characterized in that N number of current control
Drive module, each module is containing there are one current controller, M phase current sensing device, M H bridge inverters；Wherein, each
The H bridge inverters are used for the K stator winding line packet that M is driven to be synchronised in the every phase of motor；The current controller contains M
A feed back input port and the control output of M groups, the M feed back input port is connected respectively with M phase current sensing device, described
The control output of M groups is respectively connected to M H bridge inverter, so as to apply voltage to every K stator winding line packet of phase, realizes electric current
Control；The current controller respectively contains there are two time triggered communication port, and is respectively connected to double remaining time triggered associations
Two independent bus runs of bus are discussed, current-order information, rotor position information are obtained so as to independent, to the speed control
Device processed sends the current information of K corresponding winding wire packet, and realizes that the time between N number of current control drive module is same
Step.
4. the distributed driving control system for electric machine according to claim 1, which is characterized in that the signal detection module
Contain one or more independent sense channels；Wherein, each sense channel contain there are one motor rotor position detection unit,
One speed detection unit and a communication processing unit；The motor rotor position detection unit is used to obtain rotor position
Confidence ceases, and the speed detection unit is used to obtain motor speed information；The Communication processing list of each signal detection channel
Member contains there are two time triggered communication port, and independent total of be respectively connected to double remaining time triggered protocol bus two
Line passage is realized and motor speed information is sent to the speed control and motor rotor position information is sent to institute
State current control drive module.
5. the distributed driving control system for electric machine according to claim 4, which is characterized in that the signal detection module quilt
When being designed as containing multiple sense channels, each channel is respectively provided with similar composition structure, and each interchannel is mutual indepedent, so as to structure
Into redundance signal detection module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711442649.9A CN108199627B (en) | 2017-12-26 | 2017-12-26 | Distributed motor drive control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711442649.9A CN108199627B (en) | 2017-12-26 | 2017-12-26 | Distributed motor drive control system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108199627A true CN108199627A (en) | 2018-06-22 |
| CN108199627B CN108199627B (en) | 2021-03-09 |
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ID=62584482
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711442649.9A Active CN108199627B (en) | 2017-12-26 | 2017-12-26 | Distributed motor drive control system |
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| Country | Link |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108646650A (en) * | 2018-07-31 | 2018-10-12 | 上海应用技术大学 | Motor monitoring system and method based on TTP communications |
| CN113590518A (en) * | 2021-08-03 | 2021-11-02 | 北京宇系航通科技有限公司 | Synchronization system and method of dual-redundancy data bus |
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| US20110101906A1 (en) * | 2009-04-13 | 2011-05-05 | Masaki Tagome | Synchronous electric motor system |
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