CN109347368A - It is a kind of for underwater redundant direct current motor driver - Google Patents
It is a kind of for underwater redundant direct current motor driver Download PDFInfo
- Publication number
- CN109347368A CN109347368A CN201811524657.2A CN201811524657A CN109347368A CN 109347368 A CN109347368 A CN 109347368A CN 201811524657 A CN201811524657 A CN 201811524657A CN 109347368 A CN109347368 A CN 109347368A
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- module
- direct current
- load feedback
- isolation
- control signal
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- 238000002955 isolation Methods 0.000 claims abstract description 31
- 230000003321 amplification Effects 0.000 claims abstract description 20
- 238000003199 nucleic acid amplification method Methods 0.000 claims abstract description 20
- 238000000465 moulding Methods 0.000 claims description 2
- 230000009466 transformation Effects 0.000 claims description 2
- 238000006243 chemical reaction Methods 0.000 description 4
- 230000005611 electricity Effects 0.000 description 3
- 238000005070 sampling Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Multiple Motors (AREA)
Abstract
The invention discloses a kind of for underwater redundant direct current motor driver, comprising: load feedback amplification module, for the running current enhanced processing of current direct current generator to be obtained load feedback signal；Two main controller modules, its input terminal is connected to load feedback amplification module, executes the control instruction that CAN bus transmits and generates initial motor control signal and obtain the first and second motor control signal with the progress operation of the load feedback signal of load feedback amplification module；Two isolation modules, circuit connection is in the first and second main controller module, for first and second motor control signal to be isolated；Motor drive module, input terminal are connected to two isolation modules, for according to the first and second control signal control driving direct current generator after isolation.
Description
Technical field
It is the present invention relates to based on underwater small device electric power source, in particular to a kind of for underwater redundant direct current
Motor driver.
Background technique
Submersible machine rich choice of products, technology maturation, but the control loop for controlling motor be generally placed at the water surface it
On.And since motor product to be put under water, it is easy to appear failure, direct current generator can not be driven.
Summary of the invention
The object of the present invention is to provide a kind of for underwater redundant direct current motor driver, extremely by the control loop of motor
Redundancy control logic be joined in underwater while.
In order to achieve the goal above, the present invention is achieved by the following technical solutions:
It is a kind of for underwater redundant direct current motor driver, its main feature is that, comprising:
Load feedback amplification module, for the running current enhanced processing of current direct current generator to be obtained load feedback letter
Number；
First main controller module, input terminal are connected to load feedback amplification module, execute what CAN bus transmitted
Control instruction generates initial motor control signal and carries out operation with the load feedback signal of load feedback amplification module and obtains
First motor controls signal；
Second main controller module, input terminal are connected to load feedback amplification module, execute what CAN bus transmitted
Control instruction generates initial motor control signal and carries out operation with the load feedback signal of load feedback amplification module and obtains
Second motor control signal；
First isolation module, circuit connection is in the first and second main controller module, for the first motor control to be isolated
Signal processed；
Second isolation module, circuit connection is in the first and second main controller module, for the second motor control to be isolated
Signal processed；
Motor drive module, input terminal are connected to the first and second isolation module, for according to the first control after isolation
Signal control driving direct current generator processed drives direct current generator according to the second control signal control after isolation.
Further include: Transformer Rectifier module, circuit connection in the first and second main controller module and the first and second isolation module,
For being two class direct currents by the AC conversion of 220V.
First motor control signal after isolation is also issued the second master control molding by first isolation module
Block, when second main control module does not receive first motor control signal and does not receive load feedback letter simultaneously
Number, second main controller module exports the second motor control signal.
The operating parameter of the direct current generator is also returned to host computer by first and second main controller module.
The redundant direct current motor driver is set in waterproof case.
Compared with prior art, the present invention having the advantage that
By the control loop of motor as it is underwater while joined redundancy control logic.
Good compatibility: can be with the 12V DC motor of compatible portion.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram for underwater redundant direct current motor driver of the present invention.
Specific embodiment
The present invention is further elaborated by the way that a preferable specific embodiment is described in detail below in conjunction with attached drawing.
As shown in Figure 1, a kind of for underwater redundant direct current motor driver, comprising: load feedback amplification module 1 is used
In the running current enhanced processing of current direct current generator is obtained load feedback signal；First main controller module 2, input terminal
It is connected to load feedback amplification module 1, the control instruction that CAN bus transmits is executed and generates initial motor control signal simultaneously
Operation, which is carried out, with the load feedback signal of load feedback amplification module obtains motor control signal A；Second main controller module 3,
Its input terminal is connected to load feedback amplification module 1, executes the control instruction that CAN bus transmits and generates an initial motor control
Signal processed simultaneously obtains motor control signal B with the progress operation of the load feedback signal of load feedback amplification module 1；First isolation mode
Block 4, circuit connection is in the first main controller module 2 and the second main controller module 3, for the motor control letter to be isolated
Number A；Second isolation module 5, circuit connection is in the first and second main controller module, for the motor control signal to be isolated
A；Motor drive module 6, input terminal are connected to the first and second isolation module, for being believed according to the first control after isolation
Number control driving direct current generator or according to after isolation second control signal control driving direct current generator.
The first and second above-mentioned main controller module, uses device type are as follows: STM32F405；First and second isolation module makes
The control loop of control signal and motor that main controller module generates is subjected to Phototube Coupling with precision photoelectric coupler, is used
Device type are as follows: HCNR200；Load feedback amplification module 1 is led to the current operating current of direct current generator using operational amplifier
Over-sampling resistance or obtained signal carry out Linear Amplifer, use device type are as follows: AD8552；Transformer Rectifier module uses transformation
The full bridge rectifier that device and heavy-duty diode are constituted by the AC conversion of the 220V50Hz of input at DC5V and DC24V,
Use device type are as follows: 10A10；The full-bridge electricity that motor drive module is constituted using large power triode and heavy-duty diode
Drive circuit realizes the driving of direct current generator, uses device type are as follows: 2N3055,10A10.
In a particular embodiment, this is used for underwater redundant direct current motor driver further include: Transformer Rectifier module 7,
Circuit connection is in the first and second main controller module and the first and second isolation module, for being that two classes are straight by the AC conversion of 220V
Galvanic electricity.
Motor control signal A after isolation is also issued second main control module by first isolation module 2
3, when second main control module does not receive motor control signal A and does not receive load feedback signal simultaneously, institute
3 output motor of the second main controller module control signal B stated.
The operating parameter of the direct current generator is also returned to host computer by first and second main controller module.
The redundant direct current motor driver is set in waterproof case 10.
220V AC conversion in application, is used for the power supply of direct current generator, while exporting all the way by the present invention at DC24V
DC5V controls power supply for internal drive.When main controller module receives the control instruction transmitted from CAN bus
When, main controller module generates modulus control signal, passes through electricity again after the isolation and amplification by controlling signal isolation module
Machine drive module drives direct current generator.After the running current of direct current generator is obtained by sampling resistor, amplified by load feedback
Module is returned to main controller module, and load feedback signal will amendment after carrying out proportional integral derivative operation in main controller module
The Analog control signal crossed is passed to subsequent control signal isolation module and motor drive module again, to reach CAN bus biography
The revolving speed and torque request of the defeated control instruction to come.Main controller module returns the operating parameter of motor by CAN bus
While to upper equipment, main controller module can also be controlled the operating status of direct current generator, to prevent the mistake of motor
The functions such as carrying row and earth leakage protective.
Driver default operation uses the first main controller module, and user can also be switched default system by teleinstruction
To in the second main system device module.The case where passing through load feedback, when any one system jam can not normal driving
When motor, automatically switches to another main system device module and controlled, and upper set is sent for the situation by CAN bus
It is standby.
In conclusion the present invention is a kind of for underwater redundant direct current motor driver, by the control loop of motor as
It joined redundancy control logic while underwater.
It is discussed in detail although the contents of the present invention have passed through above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read above content, for of the invention
A variety of modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (5)
1. a kind of for underwater redundant direct current motor driver characterized by comprising
Load feedback amplification module, for the running current enhanced processing of current direct current generator to be obtained load feedback signal；
First main controller module, input terminal are connected to load feedback amplification module, execute the control that CAN bus transmits
Instruction, which generates initial motor control signal and carries out operation with the load feedback signal of load feedback amplification module, obtains first
Motor control signal；
Second main controller module, input terminal are connected to load feedback amplification module, execute the control that CAN bus transmits
Instruction, which generates initial motor control signal and carries out operation with the load feedback signal of load feedback amplification module, obtains second
Motor control signal；
First isolation module, circuit connection is in the first and second main controller module, for the first motor control letter to be isolated
Number；
Second isolation module, circuit connection is in the first and second main controller module, for the second motor control letter to be isolated
Number；
Motor drive module, input terminal are connected to the first and second isolation module, for being believed according to the first control after isolation
Number control driving direct current generator or according to after isolation second control signal control driving direct current generator.
2. being used for underwater redundant direct current motor driver as described in claim 1, which is characterized in that further include: transformation is whole
Flow module, circuit connection is in the first and second main controller module and the first and second isolation module, for turning the alternating current of 220V
Turn to two class direct currents.
3. being used for underwater redundant direct current motor driver as described in claim 1, which is characterized in that first isolation
First motor control signal after isolation is also issued second main control module by module, when the second master control molding
Block does not receive first motor control signal and does not receive load feedback signal, second main controller module simultaneously
Export the second motor control signal.
4. being used for underwater redundant direct current motor driver as described in claim 1, which is characterized in that described first and second
The operating parameter of the direct current generator is also returned to host computer by main controller module.
5. being used for underwater redundant direct current motor driver as described in claim 1, which is characterized in that the redundant direct current
Motor driver is set in waterproof case.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811524657.2A CN109347368A (en) | 2018-12-13 | 2018-12-13 | It is a kind of for underwater redundant direct current motor driver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811524657.2A CN109347368A (en) | 2018-12-13 | 2018-12-13 | It is a kind of for underwater redundant direct current motor driver |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109347368A true CN109347368A (en) | 2019-02-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811524657.2A Pending CN109347368A (en) | 2018-12-13 | 2018-12-13 | It is a kind of for underwater redundant direct current motor driver |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103631174A (en) * | 2012-08-29 | 2014-03-12 | 中国科学院沈阳自动化研究所 | Miniature underwater robot propulsion control system and rudder control method thereof |
| CN104579029A (en) * | 2013-10-29 | 2015-04-29 | 北京精密机电控制设备研究所 | Tri-redundancy brushless DC servo drive controller |
| US20180262144A1 (en) * | 2015-09-01 | 2018-09-13 | Rockwell Automation Technologies, Inc. | System And Method For Isolation Of Load Dynamics In Motor Drive Tuning |
| CN209516978U (en) * | 2018-12-13 | 2019-10-18 | 美钻深海能源科技研发（上海）有限公司 | It is a kind of for underwater redundant direct current motor driver |
-
2018
- 2018-12-13 CN CN201811524657.2A patent/CN109347368A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103631174A (en) * | 2012-08-29 | 2014-03-12 | 中国科学院沈阳自动化研究所 | Miniature underwater robot propulsion control system and rudder control method thereof |
| CN104579029A (en) * | 2013-10-29 | 2015-04-29 | 北京精密机电控制设备研究所 | Tri-redundancy brushless DC servo drive controller |
| US20180262144A1 (en) * | 2015-09-01 | 2018-09-13 | Rockwell Automation Technologies, Inc. | System And Method For Isolation Of Load Dynamics In Motor Drive Tuning |
| CN209516978U (en) * | 2018-12-13 | 2019-10-18 | 美钻深海能源科技研发（上海）有限公司 | It is a kind of for underwater redundant direct current motor driver |
Non-Patent Citations (1)
| Title |
|---|
| 张岩;秦晓芳;刘根水;: "光耦在直流电机驱动系统中的应用", 电子技术, no. 10 * |
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