CN109379009A - The PWM control system and method for double BLDC motor four quadrant runnings - Google Patents
The PWM control system and method for double BLDC motor four quadrant runnings Download PDFInfo
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- CN109379009A CN109379009A CN201811415589.6A CN201811415589A CN109379009A CN 109379009 A CN109379009 A CN 109379009A CN 201811415589 A CN201811415589 A CN 201811415589A CN 109379009 A CN109379009 A CN 109379009A
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Classifications
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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
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
- H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
- H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
- H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
- H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
- H02P7/285—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only
- H02P7/29—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only using pulse modulation
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- Engineering & Computer Science (AREA)
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- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The present invention provides the PWM control system and method for a kind of double BLDC motor four quadrant runnings, including power module, single chip control module, drive module, current detection circuit module, light-coupled isolation amplification circuit module, Hall switching module, three-phase output switching circuit module, two BLDC motors, the four quadrant running of described two BLDC motors is controlled by a set of driving circuit of all module compositions.The system and method drives double BLDC control systems using single driving circuit, can reduce driving circuit cost, simplifies circuit and control program, reduces the occupancy to MCU resource, improves reliability.
Description
Technical field
The invention belongs to electromechanical control fields, and in particular to a kind of PWM control system of double BLDC motor four quadrant runnings
And method.
Background technique
Brshless DC motor (BLDC) have good speed adjustment features, power density is big, overload capacity is strong, detent torque is big, imitate
Rate is high, performance is stable, advantages of simple structure and simple, overcomes the birth defects of brushed DC motor, is replaced with electronic commutator
Mechanical commutator, in electromechanical control field has extensive development prospect.Currently, for the control comparative maturity of single BLDC,
It can easily realize speed closed loop and closed-loop current control, still, the control for two BLDC mostly uses two sets of control driving electricity
Road, higher cost, single-chip microcontroller occupancy resource is more, and circuit and control are relative complex.
Patent of invention CN1700585A describes the brushless DC machine double-drive single-chip microcomputer PWM control dress of belt sensor
It sets, although can realize the control to the commutation of double drive brushless motor, revolving speed and starting current by PWM Time-sharing control,
It is that each BLDC all employs a set of driving circuit, pwm signal and hall signal all occupy I/O mouthfuls of single-chip microcontroller (MCU), occupy system
Resource of uniting is more, and circuit is complicated, and control program is relative complex.
Summary of the invention
In view of the deficiencies in the prior art, the present invention propose a kind of double BLDC motor four quadrant runnings PWM control system and
Method.
A kind of PWM control system of double BLDC motor four quadrant runnings, including power module, single chip control module, drive
Dynamic model block, current detection circuit module, light-coupled isolation amplification circuit module, Hall switching module, three-phase output switching circuit mould
Block, two BLDC motors, it is characterised in that: described two BLDC are controlled by a set of driving circuit of all module compositions
The four quadrant running of motor.
Further, the single chip control module include PWM control module, AD sampling module, double BLDC electric machines tests with
Switching control, Hall Sequence Detection, counter module, power supply；The drive module includes pwm signal conditioning circuit, function
Rate tube drive circuit and three-phase inverter bridge circuit.
Further, the PWM control module includes 6 tunnel PWM output signals, and the AD sampling module is the sampling of AD all the way,
Double BLDC electric machines tests and switching control include that I/O control mouth, the Hall Sequence Detection include 3 and be used for Hall all the way
The I/O mouth of signal detection, single chip control module carry out piece choosing, root to double BLDC by controlling I/O mouthfuls all the way of low and high level
The phase sequence of the hall signal of the BLDC selected according to institute's piece of acquisition exports 6 road pwm control signals, and the control signal is through signal condition
After be transferred to the power tube drive circuit, pass through the turn-on and turn-off of 6 switching tubes of the control power tube drive circuit
To realize the four quadrant running of double BLDC.
Further, the mode of the turn-on and turn-off of 6 switching tubes of the control includes that upper tube is modulated, down tube is modulated and two-tube
Modulation.
Further, described choosing includes that the piece of double BLDC hall signals selects the piece choosing with three-phase output, and the Hall of piece choosing
Signal and three-phase output object are necessary for same BLDC.
Further, by the AD sampling module sample the BLDC motor electric current, it can be achieved that its electric current closed loop control
System；The speed closed loop control of BLDC motor can be realized by the counter module.
Further, light-coupled isolation amplification circuit module passes through I/O mouthfuls of control optical coupling isolation circuits and the triode all the way
The movement of amplifying circuit realization relay.
Further, three-phase output switching circuit module realizes the switching control of two BLDC using high power relay.
A kind of PWM control method of double BLDC motor four quadrant runnings, this method is by mentioned-above BLDC motor four-quadrant
The PWM control system of limit operation is realized.
System and method of the invention drives double BLDC control systems using single driving circuit, can reduce driving circuit at
This, simplifies circuit and control program, reduces the occupancy to MCU resource, improve reliability.
Detailed description of the invention
Fig. 1 is the PWM Control system architecture block diagram of double BLDC motor four quadrant runnings of the invention；
Fig. 2 is the three-phase inverter bridge circuit schematic diagram of the PWM control system of double BLDC motor four quadrant runnings of the invention；
Fig. 3 is the current detection circuit of the PWM control system of double BLDC motor four quadrant runnings of the invention；
Fig. 4 is the three-phase output switching circuit of the PWM control system of double BLDC motor four quadrant runnings of the invention；
Fig. 5 is the hall signal switching circuit of the PWM control system of double BLDC motor four quadrant runnings of the invention.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiments of the present invention will be described in further detail.
The present invention proposes a kind of PWM control system of double BLDC motor four quadrant runnings, and Fig. 1 shows its structural block diagram.
The system includes power module, single chip control module, drive module, current detection circuit module, light-coupled isolation amplifying circuit
Module, Hall switching module, three-phase output switching circuit module and motor 1 and motor 2.It is introduced separately below.
1. power module
Power module is mainly made of DC-DC conversion circuit, filter circuit and protection circuit, and main function is for double BLDC
Driving power (12V-84V) is provided and provides accessory power supply (3V-36V) for other modules.
2. single chip control module
Single chip control module includes PWM control module, AD sampling module, double BLDC electric machines tests and switching control, suddenly
Your Sequence Detection, counter module, power supply etc..PWM control module includes 6 tunnel PWM output signals, and AD sampling module is one
Road AD sampling, double BLDC electric machines tests and switching control include that I/O control mouth, Hall Sequence Detection include 3 for suddenly all the way
The I/O mouth of your signal detection.According to the location information of hall signal, single-chip microcontroller can be controlled PWM by control algolithm, can
With turn-on and turn-off respective switch pipe, realizes the rotating forward of BLDC, reversion, rotates forward the functions such as braking and reverse rotating brake；It controls all the way
I/O mouthfuls can be achieved the switching that double BLDC hall signals and three-phase export；Sampling BLDC electric current by AD sampling module may be implemented
The closed-loop current control of motor；The speed closed loop control of BLDC can be realized by counter module.In addition, single chip control module
By the detection to BLDC electric current and hall signal, defencive function is realized.
3. drive module
Drive module is mainly made of pwm signal conditioning circuit, power tube drive circuit and three-phase inverter bridge circuit.
Pwm signal improves load capacity by signal transceiver, while protecting fragile singlechip control chip, then through core of overdriving
Piece exports 6 road pwm signals, controls the turn-on and turn-off of 6 power switch tubes.Three-phase inverter bridge circuit schematic diagram as shown in Fig. 2,
It mainly include 6 switching tubes and its protection circuit, UVW is the output end of three-phase circuit.Pass through the control to 6 road PWM, Ke Yishi
The now conducting of upper bridge arm switching tube (Q1, Q3, Q5) and lower bridge arm switching tube (Q2, Q4, Q6), so that the output of UVW is controlled, it can also
Upper tube modulation, down tube modulation and two-tube modulation are realized by control upper and lower bridge arm.For save the cost, two BLDC share a set of
Driving circuit is controlled, by the control for realizing two BLDC to the control of three-phase output and hall signal.
4. current detection circuit module
Current detection circuit is as shown in Figure 3.Current sense resistor Rs is connected to the input terminal of power supply, passes through operational amplifier
The voltage at the both ends Rs is acquired, input terminal voltage difference Vin+ subtracts Vin- equal to Rs*Is, it and output end voltage Vo are at one
Fixed proportionate relationship samples Vo voltage by single-chip microcontroller, can know current of electric size.If there is slight overcurrent
The case where, the size of current of electric can be adjusted by the PWM duty cycle of single-chip microcontroller algorithm routine regulating switch pipe；In switching tube
When the serious overcurrent condition such as straight-through occurs, single-chip microcontroller will directly close 6 switching tubes, prevent driving plate and burn because of overheat.
Overcurrent protection is realized except through single-chip microcontroller algorithm routine, is also added hardware protection function, can be closed faster after overcurrent
6 switching tubes are closed, current loop is cut off, need to only adjust RL resistance sizes or pass through electric resistance partial pressure, by Vo Voltage Feedback to drive
The overcurrent turn-off function pin of dynamic chip.
5. light-coupled isolation amplification circuit module
Light-coupled isolation amplification circuit module be realized by I/O mouthfuls of control optical coupling isolation circuits and transistor amplifier after
The movement of electric appliance, as shown in figure 4, guaranteeing that high voltage and high current will not be scurried into control module simultaneously.
6. three-phase output switching circuit module
Three-phase output switching circuit is as shown in Figure 4.In order to realize the function of high current switching, using high power relay reality
The switching control of existing two BLDC, and this control method avoids the possibility that two BLDC are simultaneously turned on, and guarantees fortune every time
Row only one BLDC work.
7. Hall switching module
Double BLDC hall signal switching circuits are as shown in Figure 5.Analog switch have low in energy consumption, speed it is fast, without mechanical contact,
The advantages that small in size and long service life.Using analog switch complete signal link in signal handoff functionality, for connect and
The lesser hall signal of turn-off current.
The control method of system of the invention is mainly to be powered by electric power source pair of module whole system, single-chip microcontroller control
Module carries out piece choosing to double BLDC by I/O mouthfuls of control of low and high level, and piece choosing and three-phase including double BLDC hall signals are defeated
Piece choosing (hall signal and three-phase output object of piece choosing are necessary for same BLDC) out, then breadload selects the Hall of BLDC to believe
Number, 6 road pwm control signals are exported according to the phase sequence of hall signal, pwm signal passes through signal condition, is transferred to power tube driving
Circuit controls the turn-on and turn-off of 6 switching tubes, and the control mode of use includes upper tube modulation, down tube is modulated and two-tube modulation,
The four quadrant running that BLDC can be achieved can be realized the rotating forward of motor, reversion, quick start, acceleration and fast braking (including energy
Consumption braking, regenerative braking or reversing braking) etc. functions.When needing another way BLDC to work, can be stopped by fast braking function
The only rotation of current BLDC, and piece choosing is carried out to another way BLDC by I/O mouthfuls of control of low and high level, then according to practical feelings
Condition selects the functions such as suitable control mode, rotation direction and starting, acceleration, braking.By the way that BLDC phase current sensing is arranged
Circuit effectively prevent driving circuit and double BLDC over-current phenomenon avoidances；By the way that light-coupled isolation amplifying circuit is arranged, high current is avoided to scurry into
Control system；To improve the reliability of whole system.By the way that hall signal is counted and is sampled to electric current, Ke Yishi
The now speed closed loop and closed-loop current control of corresponding BLDC.
Below in conjunction with double BLDC gearbox gear-shift testboard bays, technical solution of the present invention is clearly and completely retouched
It states, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on the present invention
In embodiment, those of ordinary skill in the art's all other implementation obtained without making creative work
Example, shall fall within the protection scope of the present invention.
CCU6 module output 6 is utilized using the XC2267M single-chip microcontroller of Infineon XC2000 series for the control section PWM
Road pwm signal, its main feature is that PWM duty cycle is adjustable, dead time is adjustable.According to the placement position of tri- Hall elements of BLDC
(60 ° or 120 °), determine the output state of 6 road pwm signals, are improved by 74HC245 chip pwm signal, transmitting
To driving chip.Driving chip uses 6ED003L06-F2, and maximum blocking voltage reaches 600V, and there is overcurrent and low-voltage to examine
Brake.Current sense resistor uses BVS-I-R002, and amplifier uses INA139 chip.Hall signal switching uses three groups of two-way
Analog switch CD4053 chip, inside can be realized specific connection containing three groups of single pole double throw analog switches by address code ABC
And turn-off function；By, to full 0 (low level) or complete 1 (high level) signal, realizing the piece choosing of hall signal, then to ABC
The hall signal of corresponding BLDC is filtered, Hall Sequence Detection and the counter port of single-chip microcontroller are then passed to,
And then realize control and the velocity close-loop control of BLDC of PWM.The output of BLDC three-phase is cut using 40A triple-pole double throw relay
It changes, the mechanical life of relay is 50,000,000 times, and under conditions of 24V/10A, electrical endurance be can reach 2,000,000 times.
This technology is applied to double BLDC gearbox gear-shift testboard bays, a BLDC controls one or two grades, another BLDC
Three fourth gear are controlled, double BLDC share a set of control driving circuit, when carrying out different stalls switching, need to only control one I/O mouthfuls
Switch hall signal and three-phase output circuit, and identical driver module is called (to rotate forward acceleration/retrosequence module or anti-
Turn acceleration/retrosequence module), the switching of one or two grades and three fourth gear can be realized, simplify circuit structure and driver.By
It is run in only one BLDC of each run, therefore will not occur one or two without mutual interlocking gear in gear-shifting actuating mechanism
The mistake that shelves and three fourth gear are put into gear simultaneously, ensure that the reliability of test gear shift.Double BLDC gear control methods are as shown in table 1,
Accelerate and on-position and calling program module including I/O mouthfuls of control switching states, the direction of rotation BLDC, BLDC.
1 pair of BLDC gear control method of table
The embodiment of the present invention is realized double by the switching control to two BLDC hall signals and three-phase output circuit
The PWM control method of BLDC four quadrant running.Double BLDC share a set of control driving circuit and hall signal Acquisition Circuit, circuit
Simply, few to the resource occupation of single-chip microcontroller, when controlling four gears, one I/O mouthfuls of low and high level need to be only controlled, calling is passed through
Identical positive and negative rotation program realizes the four quadrant running of double BLDC, simplifies algorithm routine, improves reliability.
Claims (9)
1. a kind of PWM control system of double BLDC motor four quadrant runnings, including power module, single chip control module, driving
Module, current detection circuit module, light-coupled isolation amplification circuit module, Hall switching module, three-phase output switching circuit module,
Two BLDC motors, it is characterised in that: described two BLDC electricity are controlled by a set of driving circuit of all module compositions
The four quadrant running of machine.
2. a kind of PWM control system of double BLDC motor four quadrant runnings according to claim 1, it is characterised in that: institute
Stating single chip control module includes PWM control module, AD sampling module, double BLDC electric machines tests and switching control, Hall sequence
Detection, counter module, power supply；The drive module includes pwm signal conditioning circuit, power tube drive circuit and three-phase
Bridge inverter main circuit.
3. a kind of PWM control system of double BLDC motor four quadrant runnings according to claim 2, it is characterised in that: institute
Stating PWM control module includes 6 tunnel PWM output signals, and the AD sampling module is the sampling of AD all the way, double BLDC electric machines tests
It include that I/O control mouth, the Hall Sequence Detection include 3 I/O mouths detected for hall signal, list all the way with switching control
Piece machine control module carries out piece choosing to double BLDC by controlling I/O mouthfuls all the way of low and high level, according to the choosing of institute's piece of acquisition
The phase sequence of the hall signal of BLDC exports 6 road pwm control signals, and the control signal is transferred to the power after signal condition
Tube drive circuit realizes double BLDC by the turn-on and turn-off of 6 switching tubes of the control power tube drive circuit
Four quadrant running.
4. a kind of PWM control system of double BLDC motor four quadrant runnings according to claim 3, it is characterised in that: institute
The mode for stating the turn-on and turn-off of 6 switching tubes of control includes upper tube modulation, down tube modulation and two-tube modulation.
5. a kind of PWM control system of double BLDC motor four quadrant runnings according to claim 3, it is characterised in that: institute
The piece choosing that piece choosing includes piece choosing and the three-phase output of double BLDC hall signals is stated, and the hall signal of piece choosing and three-phase export object
It is necessary for same BLDC.
6. a kind of PWM control system of double BLDC motor four quadrant runnings according to claim 3, it is characterised in that: logical
Cross the AD sampling module sample the BLDC motor electric current, it can be achieved that its electric current closed-loop control；Pass through the counter
Module can realize the speed closed loop control of BLDC motor.
7. a kind of PWM control system of double BLDC motor four quadrant runnings according to claim 3, it is characterised in that: institute
State light-coupled isolation amplification circuit module by the I/O mouthful control optical coupling isolation circuits all the way and transistor amplifier realization after
The movement of electric appliance.
8. a kind of PWM control system of double BLDC motor four quadrant runnings according to claim 2, it is characterised in that: institute
State the switching control that three-phase output switching circuit module realizes two BLDC using high power relay.
9. a kind of PWM control method of double BLDC motor four quadrant runnings, it is characterised in that: this method is appointed by claim 1-8
A kind of PWM control system realization of double BLDC motor four quadrant runnings described in one.
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