CN108521242B - Universal control system for permanent magnet synchronous motor and control method thereof - Google Patents
Universal control system for permanent magnet synchronous motor and control method thereof Download PDFInfo
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- CN108521242B CN108521242B CN201810322493.9A CN201810322493A CN108521242B CN 108521242 B CN108521242 B CN 108521242B CN 201810322493 A CN201810322493 A CN 201810322493A CN 108521242 B CN108521242 B CN 108521242B
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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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
- H02P25/024—Synchronous motors controlled by supply frequency
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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
- 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
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Abstract
The invention discloses a general control system and a control method of a permanent magnet synchronous motor, wherein the general control system comprises a control panel and a drive plate; the control board comprises a motor controller module, and the drive board comprises an intelligent power module, a bus voltage detection circuit, a direct current link current detection circuit, a phase current detection circuit, an encoder, a Hall sensor and a rotary transformer interface circuit; the three-phase output end of the intelligent power module is connected with the permanent magnet synchronous motor; the motor controller module carries out comprehensive processing on the phase current signals and the rotor position information and outputs three-phase six-path PWM signals following an expected target, so that the on and off of an inverter switching tube in the intelligent power module are controlled, and the running of the permanent magnet synchronous motor is controlled. A plurality of rotor position detection modes of a sensor and a sensorless are supported, and the stable operation of the motor under various complex conditions is ensured; and a system simulation model is established by adopting a thought based on model design, so that the development efficiency is improved and the development cost is reduced for a user.
Description
Technical Field
The invention relates to the field of electric automobiles, in particular to a universal control system for a permanent magnet synchronous motor and a control method thereof.
Background
In recent years, with the shortage of energy and environmental pollution, the traditional automobile industry faces a great development bottleneck, and the environment-friendly electric automobile gradually becomes the first choice for people to go out, so that the prospect development of the electric automobile industry is wide. The electric automobile mainly comprises an electric driving system, an energy system and an auxiliary system, wherein the electric driving system is a core part of the electric automobile, and the performance and efficiency of the electric driving system directly influence the overall performance of the electric automobile. The electric driving system mainly comprises a motor, power electronic components and a control part. At present, motors commonly used for electric vehicles mainly include direct current motors, induction motors, permanent magnet synchronous motors, switch reluctance motors and the like, wherein the Permanent Magnet Synchronous Motors (PMSM) are widely applied to the field of electric vehicles due to the advantages of high efficiency, simple mechanical structure, high response speed, high torque-to-weight ratio and the like.
In a PMSM control system, rotor position and speed information need to be detected, position sensors such as a common photoelectric encoder and a rotary transformer can detect the rotor position and speed information in real time, and the PMSM control system is simple in realization principle, high in precision and the like. However, in some special environments, such as a region where the temperature of the motor is between 40 degrees and 60 degrees, or a situation where electromagnetic interference is strong and severe vibration often occurs, the detection error of the conventional position sensor is large, and the stability, the rapidity and other indexes cannot meet the requirements. Therefore, the method ensures that the motor can effectively detect the position and the speed information of the rotor under various complex conditions, realizes stable operation, and is the key direction of the research in the field of electric automobiles at present.
The field of the existing electric automobile is new day by day, the updating iteration speed is faster and faster, a hardware circuit of a traditional PMSM control system is often controlled only by a motor of a single model and cannot meet the updating speed requirements of various products, and how to design a universal PMSM control system meets the performance index requirements of various products is a hot point problem concerned by people. In addition, the traditional PMSM control strategy is realized by means of manual coding, but the development period of the manual coding is long, the error rate is high, the transportability is poor, and if the motor model of an operation object changes, the coding needs to be carried out again, so that how to shorten the development period of the product and improve the development efficiency is gradually emphasized by people.
Disclosure of Invention
The invention provides a general control system and a control method of a permanent magnet synchronous motor, which support a plurality of rotor position detection modes of a sensor and a sensorless sensor and ensure that the motor can stably run under various complex conditions; and the method based on model design is adopted to help users improve development efficiency and reduce development cost.
The invention realizes the purpose through the following technical scheme:
a general control system of a permanent magnet synchronous motor comprises a control board and a drive board; the control board comprises a motor controller module, and the drive board comprises an intelligent power module, a bus voltage detection circuit, a direct current link current detection circuit, a phase current detection circuit, an encoder, a Hall sensor and a rotary transformer interface circuit; the three-phase output end of the intelligent power module is connected with the permanent magnet synchronous motor; the bus voltage detection circuit, the direct current link current detection circuit, the phase current detection circuit, the encoder, the Hall sensor and the rotary transformer interface circuit are all connected with the motor controller module; the input end of the bus voltage detection circuit is connected with the bus side of the intelligent power module and used for collecting bus voltage information; the direct current link current detection circuit is connected with a direct current link of the intelligent power module and is used for acquiring phase current information of the direct current link; the phase current detection circuit is connected with one phase current branch of the intelligent power module and is used for acquiring one phase current signal; the encoder, the Hall sensor and the rotary transformer interface circuit are connected with the permanent magnet synchronous motor and used for acquiring rotating speed, armature current and rotor position signals; the motor controller module processes a bus voltage signal, a phase current signal, a rotating speed, an armature current and a rotor position signal, outputs a three-phase six-path PWM signal following an expected target, drives the on and off of an inverter switching tube in the intelligent power module, and controls the operation of the permanent magnet synchronous motor.
The motor controller module adopts ADSP-CM408 based on ARM Cortex-M4 kernel.
The control panel is provided with a power conversion circuit, a clock and reset circuit, a JTAG download circuit, an RS232/RS485 communication circuit and a CAN/Ethernet interface circuit; the power conversion circuit, the clock and reset circuit, the JTAG download circuit, the RS232/RS485 communication circuit and the CAN/Ethernet interface circuit are all connected with the processor.
The drive board further comprises a zero-crossing detection circuit, the zero-crossing detection circuit detects the zero-crossing point of the three-phase current output by the intelligent power module, and the output signal is transmitted to the motor controller module.
The intelligent power module comprises an inverter, an undervoltage protection circuit and an overcurrent protection circuit, and the overcurrent protection circuit is connected with the motor controller module.
The phase current detection circuit comprises two test circuits, wherein one test circuit is that a phase current generates corresponding voltage through a sampling resistor, and the voltage enters a motor controller module after being sampled by a modulator; and the other phase current generates corresponding voltage through a current transformer, and the voltage is amplified by an operational amplifier and then enters a motor controller module.
Digital isolators are arranged at the isolation node grid drive and phase current feedback signal isolation positions of the motor controller module.
A control method of a general control system of a permanent magnet synchronous motor comprises the following steps:
rotor position information detected from a resolver
The actual rotating speed of the motor is obtained through rotating speed calculation
Comparing with the given reference rotation speed omega, and obtaining the reference quantity of the current torque component through the speed PI controller by utilizing the relation between the torque and the rotation speed
Simultaneously making reference quantity of current excitation component
Obtaining phase current i under three-phase static coordinate system through phase current detection circuitA、iBIt is converted into a current i under a two-phase static coordinate system by Clark conversionα、iβThen the current is converted into the current i under a two-phase rotating coordinate system through Park conversiond、iqCurrent id、iqAre respectively related to the reference quantity
Comparing, and obtaining a voltage signal u under a two-phase rotating coordinate system through a PI controllerd、uqAnd then the voltage is converted into a voltage u under a two-phase static coordinate system through Park inverse conversionα、 uβThrough space pulse width modulation, three-phase six-path control signals are generated to control the switching states of six power tubes of a three-phase inverter, so that three-phase voltage signals U are generatedA、UB、UCAnd driving the permanent magnet synchronous motor to run.
As a further improvement of this aspect, the specific steps to obtain rotor position and speed information are as follows:
injecting a pair of three-phase balanced high-frequency voltage signals under the two-phase static coordinate system, extracting high-frequency current response signals from the two-phase static coordinate system, and processing the signals to obtain the position and speed information of the rotor;
through equation transformation, a response stator current equation under a two-phase static coordinate system of the salient pole permanent magnet synchronous motor under the injection of a high-frequency voltage signal is expressed as follows:
in the formula iαHF、iβHFRespectively the stator current response of the PMSM under the injection of high-frequency voltage signals in a two-phase static coordinate system,
UHFamplitude of the high-frequency voltage signal, w, injectedHFFor the angular frequency, L, of the injected high-frequency voltage signalq、LdThe inductances of the d and q axes, respectively, and θ is the electrical angle of the rotor position.
Written in vector form:
the method for obtaining the rotor position information from the current signal under the αβ axis coordinate system mainly comprises the following steps:
firstly, extracting a high-frequency current response signal from an obtained current signal through a band-pass filter;
second step, first multiplying by a conversion factor
Removing high-frequency positive sequence component by coaxial high-pass filter, and multiplying by a conversion factor
Obtaining a high-frequency negative sequence component;
and thirdly, obtaining the position error and the angle information of the rotor through a PLL algorithm.
Compared with the prior art, the invention has the following technical effects:
the control system of the invention comprises a control panel and a drive panel; the three-phase output end of the intelligent power module of the driving board is connected with the permanent magnet synchronous motor; and a motor controller module of the control panel comprehensively processes the phase current signals and the rotor position information and outputs three-phase six-path PWM signals following the expected target, so that the on-off of an inverter switching tube in the intelligent power module is controlled, and the running of the permanent magnet synchronous motor is controlled.
Furthermore, the universal PMSM control system is adopted, the performance index requirements of various products are met, and the universal PMSM control system has strong universality.
Furthermore, the software part of the invention adopts the idea based on model design, establishes the simulation model of the system, directly compiles the model into C codes, and downloads the C codes to the ADSP-CM408 for operation. Compared with the traditional design method based on the hardware prototype, the time cost of re-modeling and re-compiling the algorithm can be greatly reduced, the development period of the product is shortened, and the development efficiency is improved.
Furthermore, the invention adopts two rotor position detection modes of a sensor and a sensorless rotor, the rotor position detection mode of the sensor adopts a rotary transformer for detection, and the sensorless rotor position detection mode adopts a scheme based on a rotary high-frequency voltage injection method, so that the PMSM can effectively detect the rotor position information in various complex places.
The control method of the present invention employs idThe vector control method of 0 can make the stator current all used for producing the torque, under the condition that the torque produced by the requirement is certain, the required stator current is minimum, namely the maximum torque current ratio control, can greatly reduce the copper consumption, and improve the efficiency. Three-phase six-circuit control signals are generated through signal acquisition and processing, and the switching states of six power tubes of the three-phase inverter are controlled, so that three-phase voltage signals are generatedUA、UB、UCAnd driving the PMSM to stably run.
Drawings
FIG. 1 is a block diagram of a control board circuit;
FIG. 2 is a block circuit diagram of a driver board;
FIG. 3 is a functional block diagram of an SPM smart power module;
FIG. 5 is a block diagram of a zero crossing detection circuit;
FIG. 4 is a phase current sensing feedback diagram; FIG. 6 is a block diagram of a winding current sensing circuit;
FIG. 7 is a diagram of a simulation model for a system built using MATLAB & Simulink;
FIG. 8 is a block diagram of a PMSM vector control algorithm;
FIG. 9 is a flow chart of rotor position and velocity estimation based on rotary high frequency injection;
FIG. 10 is a simulation model diagram of a motor control system based on rotary high-frequency injection.
Detailed Description
The invention is described below with reference to the following drawings and specific embodiments:
as shown in fig. 1 and 2, the general control system for the permanent magnet synchronous motor of the present invention has a hardware part mainly including a control board and a drive board, fully considers various performance requirements of the electric vehicle field for electrical isolation, etc., and improves the accuracy and reliability of the system while maximizing the efficiency. The circuit structure of each part of the invention is described in detail as follows:
as shown in FIG. 1, the control board includes a processor minimum system circuit, a power conversion circuit, a clock and reset circuit, a JTAG download circuit, an RS232/RS485 communication circuit, a CAN/Ethernet interface circuit, etc. The processor adopts ADSP-CM408 based on ARMCortex-M4 kernel, the working frequency of its floating point arithmetic unit is up to 240MHz, the double-channel 16-bit SRCADC, no missing code, and is suitable for high precision closed-loop control application.
As shown in fig. 2, the driving board includes a low voltage converting circuit, a digital isolating circuit, an intelligent power module, a dc link current detecting circuit, an overcurrent protection circuit, a bus voltage detecting circuit, a zero-crossing point detecting circuit, a phase current detecting module, an encoder, a hall sensor, and a resolver interface circuit. Specifically, the three-phase output end of the intelligent power module is connected with the permanent magnet synchronous motor; one path of direct current link current of the intelligent power module generates corresponding voltage through a sampling resistor, the voltage is amplified through a first operational amplifier and then enters a first sampling circuit for sampling, and the sampled voltage is transmitted to the motor controller module; the other path of direct current link current of the intelligent power module generates an overcurrent protection signal through a current protection circuit, and the overcurrent protection signal enters the intelligent power module and the motor controller module; the bus voltage of the intelligent power module is amplified by the second operational amplifier and then enters the first sampling circuit for sampling, and the sampled bus voltage is transmitted to the motor controller module; three-phase current of the intelligent power module enters a zero crossing point detection circuit, and a detected signal enters a motor controller module; the phase current detection module comprises two implementation schemes, wherein in one scheme, a phase current generates corresponding voltage through a sampling resistor, and the voltage enters the motor controller module after being sampled by a modulator; the other scheme is that the phase current generates corresponding voltage through a current transformer, and the corresponding voltage enters a motor controller module after being amplified by a third operational amplifier; the encoder, the Hall sensor and the rotary transformer interface circuit respectively transmit the rotating speed, the armature current and the rotor position signal to the motor controller module; the motor controller module comprehensively processes the bus voltage signal, the phase current signal, the rotating speed and the rotor position information and outputs a three-phase six-path PWM signal following an expected target, so that the on and off of an inverter switching tube in the intelligent power module are controlled, and the running of the permanent magnet synchronous motor is controlled.
As shown in fig. 3, the inverter solution of the present invention employs SPM smart power module FSBB20CH60C, which integrates under-voltage blocking and over-current protection, further enhancing the reliability of the system; the high-speed built-in HVIC provides a grid driving capability without a photoelectric coupler and a single power supply IGBT; and three independent negative direct current terminals are adopted, so that the current of each phase branch of the inverter can be monitored.
As shown in fig. 4, to achieve stable and high-precision phase current detection feedback, a shunt resistor and a isolated sigma-delta modulator AD7401A are used to generate a modulated bit stream as a function of the input voltage, and then the signal is transmitted across the isolation gate to a low-voltage side filter circuit, and the SINC filter built into the ADSP-CM408 filters the bit stream from the second-order modulator to recover a 16-bit digital signal representing the motor winding current. The detection technology has high linearity degree and low cost, and is simultaneously suitable for alternating current and direct current measurement.
As shown in fig. 5, a single-limit comparator ADCMP601 is used to detect the zero crossing point of the three-phase voltage, and the output signal is transmitted to a timer counting module of the processor through an isolation chip ADUM1300, so as to calculate the on-time of the IGBT and the period of the phase voltage, thereby controlling the rotation speed of the motor.
In more advanced drives, as shown in figure 6, the motor winding current is used as the primary feedback variable, whereas the winding current can be measured indirectly in the dc link using a single shunt resistor, which has the advantage that the shunt signals are all referenced to a common power supply.
As shown in FIG. 7, the software part of the present invention adopts the idea of model-based design (MBD), i.e. MATLAB & Simulink is used to build a simulation model of the system, and the model is directly compiled into C code and downloaded to ADSP-CM408 for operation. Compared with the traditional design method based on hardware prototype, the time cost of re-modeling and re-writing the algorithm can be greatly reduced.
The MBD process has multiple steps to optimize various tasks in the overall design, which can be performed by different design engineers or design teams, which are then combined together to form the overall design and complete system. With this approach, tasks can be designed at a higher abstraction level, optimizing the overall design flow for a given end-use application. In the design of a motor control system, the flow of the MBD mainly comprises:
(1) concept of operation
a) Integral function of an electric machine system
(2) Plant modeling/system architecture
a) Model development of motor, load, power electronic equipment, signal conditioning equipment and other equipment
(3) Controller modeling and requirements
a) Encoder-based magnetic field orientation control of three-phase permanent magnet motor
(4) Analysis and Synthesis
a) The above-described created model is used to determine the dynamics of a plant model
b) System tuning and configuration
(5) Verification and testing
a) Offline simulation and/or real-time simulation
b) Dynamic system time response investigation
(6) Deployment to embedded targets
a) Automatic code generation
b) Testing and verification
c) Updating a controller model
The above may constitute a multi-step approach to tuning the overall design, and each control step may be analyzed separately. After the software and hardware specifications are completed, a complete system architecture can be established for the specific algorithm and function deployment of the whole system.
As shown in fig. 8, the motor control algorithm of the present invention employs a vector control strategy. The basic idea of the vector control strategy is: a method for simulating the torque control of a DC motor in a common three-phase AC motor features that the stator current vector of the motor is decomposed into the exciting current component generating main magnetic field and the torque current component generating torque, the exciting current is oriented on the permanent-magnet flux linkage, and the two components are perpendicular to each other and independent to each other, and then controlled separately.
Therefore, the vector control of the permanent magnet synchronous motor is a control strategy based on the orientation of the magnetic field of the rotor, and the vector control method is divided into an exciting current i according to different control targetsdControl, power factor 0
Control, field weakening control and the like, i is selected according to the inventiondControl is 0. PM (particulate matter)SM guarantees i during operationd0, the torque is only influenced by the stator current q-axis component iqAt the moment the torque equation is
By using idThe control method can ensure that all stator currents are used for generating torque, and the required stator current is the minimum under the condition of certain torque generation requirement, namely the maximum torque current ratio control, so that the copper consumption can be greatly reduced, and the efficiency is improved.
By using idWhen the control is equal to 0, the vector control algorithm block diagram of the PMSM is shown in fig. 8.
As can be seen from the figure, the PMSM vector control system is a double closed-loop control loop of an outer rotating speed loop and an inner current loop. PMSM vector control process: rotor position information detected from a resolver
The actual rotating speed of the motor is obtained through rotating speed calculation
Comparing with the given reference rotation speed omega, and obtaining the reference quantity of the current torque component through the speed PI controller by utilizing the relation between the torque and the rotation speed
Simultaneously making current excitation component reference
Phase current i under a three-phase static coordinate system is obtained through a phase current detection circuitA、iBConverting the current into a current i under a two-phase static coordinate system through Clark conversionα、iβThen the current is converted into a current i under a two-phase rotating coordinate system through Park conversiond、iqCurrent id、iqAre respectively related to the reference quantity
Comparing, and obtaining a voltage signal u under a two-phase rotating coordinate system through a PI controllerd、uqAnd then the voltage is converted into a voltage u under a two-phase static coordinate system through Park inverse conversionα、uβGenerating three-phase six-path control signals through a space pulse width modulation (SVPWM) technology, controlling the switching states of six power tubes of a three-phase inverter, and generating a three-phase voltage signal UA、UB、UCAnd driving the PMSM to stably run.
In a PMSM vector control system, rotor position detection is an indispensable link, the invention supports two detection modes of a sensor and a sensorless sensor, can ensure that a motor can effectively detect the position and speed information of a rotor under various complex conditions, and realizes stable and reliable operation.
(1) With sensor detection means
The hardware platform is provided with a rotary transformer interface circuit for detecting the position of the rotor. The resolver is a single-phase excitation two-phase output (amplitude modulation type) brushless resolver, which is called a resolver for short. When sinusoidal current flows through the primary excitation winding, the two ends of the secondary winding can induce the potential with the same frequency according to the law of electromagnetic induction, and the magnitude of the potential is related to the relative electrical angle between the stator and the rotor and can be used for detecting the position of the rotor.
The output signal of the resolver is an analog quantity, so that the resolver needs to be matched with a resolver digital converter for use, and the output signal of the resolver is converted into a digital quantity to realize an interface with the processor ADSP-CM 408. Meanwhile, the present invention adopts I2CI/O extender PCA9555 implementation I with AD2S12102C communication protocol, I of AD2S12102The C address is 0100001.
(2) Sensorless detection mode
According to the salient pole characteristic of PMSM, adopt high frequency signal injection can effectively detect rotor position. According to different injection signals, a high-frequency voltage injection method and a high-frequency current injection method can be divided; according to the position difference of the injection signal in the motor model coordinate system, the method can be divided into a rotary high-frequency injection method and a pulse vibration high-frequency injection method. Because the motor drivers mostly adopt voltage type inverters, the high-frequency voltage injection method is easier to realize; the pulsed high frequency injection method is sensitive to the parameters of the rotor position and velocity estimator, which makes it difficult to adjust the parameters of the system, so the rotary high frequency injection method is selected. Therefore, the position sensorless detection method adopted by the invention is based on a rotary high-frequency voltage injection method.
The rotary high-frequency voltage injection method is based on vector control, a pair of three-phase balanced high-frequency voltage signals are injected under a two-phase static coordinate system, then high-frequency current response signals are extracted from the two-phase static coordinate system, and the signals are processed, so that the position and speed information of a rotor is obtained.
Through equation transformation, a response stator current equation under a two-phase static coordinate system of the salient pole permanent magnet synchronous motor under the injection of a high-frequency voltage signal is expressed as follows:
in the formula iαHF、iβHFRespectively the stator current response of the PMSM under the injection of high-frequency voltage signals in a two-phase static coordinate system,
UHFamplitude of the high-frequency voltage signal, w, injectedHFFor the angular frequency, L, of the injected high-frequency voltage signalq、LdThe inductances of the d and q axes, respectively, and θ is the electrical angle of the rotor position.
Written in vector form:
as shown in FIG. 9, the current signal in αβ axis coordinate system to obtain rotor position information can be divided into three steps, the first step, passing through a band-pass filterExtracting a high-frequency current response signal from the obtained current signal; second, remove the high frequency positive sequence component by the coaxial high-pass filter (SFF), and multiply by a conversion factorObtaining a high-frequency negative sequence component; and thirdly, obtaining the position error and the angle information of the rotor through a PLL algorithm.
In FIG. 9
Is an estimate of the electrical angle of the motor rotor,
is an estimate of the electrical angular velocity of the rotor of the motor, and epsilon is an error signal obtained by a heterodyne method, in which
When the PI regulator approaches the error e to 0, the estimated value of the rotor position approaches the true value.
A motor control system simulation model based on rotary high-frequency injection is shown in fig. 10, one phase current generates a corresponding voltage signal through a 0.05 Ω sampling resistor, an AD7401A module can convert the input voltage signal into a single data bit stream, the data is processed by an SINC filter module, and the processed data is transmitted to a motor controller module; the other path of phase current passes through a current transformer CAS-6-NP and an operational amplifier AD8515 module, an amplified voltage signal is output to an ADC sampling module arranged in the processor for sampling, and the sampled signal is output to a motor controller module; after the bus voltage signal is amplified by the operational amplifier AD8515 module, the sampling chip AD7417 module transmits the sampled bus voltage signal to the motor controller module; the encoder, the Hall sensor and the rotary transformer interface module respectively transmit signals such as rotating speed, armature current, rotor position and the like to the motor controller module; the motor controller module carries out comprehensive processing on the phase current signal, the rotor position information and the like and outputs a three-phase six-path PWM signal following an expected target, so that the switching tube of the inverter is controlled to be switched on and off, and the motor is controlled to stably run.
The scope of the present invention is not limited to the above-described embodiments, and various modifications and variations of the present invention are intended to be included in the scope of the claims and their equivalents, which are described in the specification, for a person of ordinary skill in the art.
Claims (7)
1. A control method of a permanent magnet synchronous motor universal control system is characterized in that,
the control system comprises a control board and a drive board; the control board comprises a motor controller module, and the drive board comprises an intelligent power module, a bus voltage detection circuit, a direct current link current detection circuit, a phase current detection circuit, an encoder, a Hall sensor and a rotary transformer interface circuit; the three-phase output end of the intelligent power module is connected with the permanent magnet synchronous motor; the bus voltage detection circuit, the direct current link current detection circuit, the phase current detection circuit, the encoder, the Hall sensor and the rotary transformer interface circuit are all connected with the motor controller module; the input end of the bus voltage detection circuit is connected with the bus side of the intelligent power module and used for collecting bus voltage information; the direct current link current detection circuit is connected with a direct current link of the intelligent power module and is used for acquiring phase current information of the direct current link; the phase current detection circuit is connected with one phase current branch of the intelligent power module and is used for acquiring one phase current signal; the encoder, the Hall sensor and the rotary transformer interface circuit are connected with the permanent magnet synchronous motor and used for acquiring rotating speed, armature current and rotor position signals; the motor controller module processes a bus voltage signal, a phase current signal, a rotating speed, an armature current and a rotor position signal, outputs a three-phase six-path PWM signal following an expected target, drives an inverter switching tube in the intelligent power module to be switched on and off, and controls the permanent magnet synchronous motor to operate;
the control method comprises the following steps:
rotor position information detected from a resolver
The actual rotating speed of the motor is obtained through rotating speed calculation
Comparing with the given reference rotation speed omega, and obtaining the reference quantity of the current torque component through the speed PI controller by utilizing the relation between the torque and the rotation speed
Simultaneously making reference quantity of current excitation component
Phase current i under a three-phase static coordinate system is obtained through a phase current detection circuitA、iBConverting the current into a current i under a two-phase static coordinate system through Clark conversionα、iβThen the current is converted into the current i under a two-phase rotating coordinate system through Park conversiond、iqCurrent id、iqAre respectively related to the reference quantity
Comparing, and obtaining a voltage signal u under a two-phase rotating coordinate system through a PI controllerd、uqAnd then the voltage is converted into a voltage u under a two-phase static coordinate system through Park inverse conversionα、uβThrough space pulse width modulation, three-phase six-path control signals are generated to control the switching states of six power tubes of a three-phase inverter, so that three-phase voltage signals U are generatedA、UB、UCDriving the permanent magnet synchronous motor to run;
the specific steps for obtaining rotor position and speed information are as follows:
injecting a pair of three-phase balanced high-frequency voltage signals under the two-phase static coordinate, extracting high-frequency current response signals from the two-phase static coordinate system, and processing the signals to obtain rotor position and speed information;
through equation transformation, a response stator current equation under a two-phase static coordinate system of the salient pole permanent magnet synchronous motor under the injection of a high-frequency voltage signal is expressed as follows:
in the formula iαHF、iβHFRespectively the stator current response of the PMSM under the injection of high-frequency voltage signals in a two-phase static coordinate system,
UHFfor the amplitude of the injected high-frequency voltage signal, wHFFor the angular frequency, L, of the injected high-frequency voltage signalq、LdThe inductances of d and q axes are respectively, and theta is the electrical angle of the rotor position;
written in vector form:
the method for obtaining the rotor position information from the current signal under the αβ axis coordinate system mainly comprises the following steps:
firstly, extracting a high-frequency current response signal from an obtained current signal through a band-pass filter;
second step, first multiplying by a conversion factor
Removing high-frequency positive sequence component by coaxial high-pass filter, and multiplying by a conversion factor
Obtaining a high-frequency negative sequence component;
and thirdly, obtaining the position error and the angle information of the rotor through a PLL algorithm.
2. The control method of the universal control system for the permanent magnet synchronous motors is characterized in that the motor controller module adopts ADSP-CM408 based on ARM Cortex-M4 kernel.
3. The control method of the universal control system for the permanent magnet synchronous motors according to claim 1, wherein a power conversion circuit, a clock and reset circuit, a JTAG download circuit, an RS232/RS485 communication circuit and a CAN/Ethernet interface circuit are arranged on the control panel; the power conversion circuit, the clock and reset circuit, the JTAG download circuit, the RS232/RS485 communication circuit and the CAN/Ethernet interface circuit are all connected with the processor.
4. The control method of the permanent magnet synchronous motor universal control system according to claim 1, wherein the drive board further comprises a zero crossing point detection circuit, the zero crossing point detection circuit performs zero crossing point detection on the three-phase current output by the intelligent power module, and the output signal is transmitted to the motor controller module.
5. The control method of the permanent magnet synchronous motor general control system according to claim 1, wherein the intelligent power module comprises an inverter, an undervoltage protection circuit and an overcurrent protection circuit, and the overcurrent protection circuit is connected with the motor controller module.
6. The control method of the universal control system for the permanent magnet synchronous motors according to claim 1, wherein the phase current detection circuit comprises two test circuits, one test circuit is that the phase current generates corresponding voltage through a sampling resistor, and the voltage enters the motor controller module after being sampled by a modulator; and the other phase current generates corresponding voltage through a current transformer, and the voltage is amplified by an operational amplifier and then enters a motor controller module.
7. The control method of the permanent magnet synchronous motor universal control system according to any one of claims 1 to 6, characterized in that digital isolators are respectively arranged at the isolation node gate drive and phase current feedback signal isolation positions of the motor controller module.
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| CN109327172A (en) * | 2018-10-25 | 2019-02-12 | 核工业理化工程研究院 | Method for controlling permanent magnet synchronous motor and control system based on pulsating high frequency signal injection |
| CN110032088A (en) * | 2019-05-08 | 2019-07-19 | 渤海大学 | The three-phase alternating-current motor Virtual simulation lab system and experimental method of hardware in loop |
| CN110932641A (en) * | 2019-11-20 | 2020-03-27 | 中国航空工业集团公司西安航空计算技术研究所 | Motor control method and device and electronic equipment |
| CN111817628B (en) * | 2020-06-03 | 2024-02-23 | 中国船舶重工集团公司第七0七研究所 | All-digital permanent magnet synchronous motor control device and method for extremely-low-rotation-speed rotating system |
| CN111830435B (en) * | 2020-07-27 | 2021-07-13 | 北京航空航天大学 | Open-circuit fault diagnosis method for power tube of six-phase permanent magnet fault-tolerant motor system |
| CN112014732B (en) * | 2020-08-27 | 2023-06-02 | 中科新松有限公司 | Torque current detection device and method |
| CN113193801B (en) * | 2021-04-20 | 2022-04-01 | 华中科技大学 | High-speed motor simulator control system and high-speed motor simulator |
| CN113965128A (en) * | 2021-06-07 | 2022-01-21 | 深圳市维京驱动有限公司 | Permanent magnet motor integrated driving and detecting system and method |
| CN113872485B (en) * | 2021-09-27 | 2024-06-14 | 佛山市顺德区美的电子科技有限公司 | Control method, device, equipment, system and storage medium of motor |
| CN114337465A (en) * | 2022-03-10 | 2022-04-12 | 华南理工大学 | Intelligent control module and control method thereof |
| CN116232161A (en) * | 2023-04-03 | 2023-06-06 | 西安航天民芯科技有限公司 | Non-inductive FOC high-speed motor control device and method based on MT32F006 |
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