CN110601637A - Disc type motor driving power generation controller - Google Patents
Disc type motor driving power generation controller Download PDFInfo
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- CN110601637A CN110601637A CN201910944625.6A CN201910944625A CN110601637A CN 110601637 A CN110601637 A CN 110601637A CN 201910944625 A CN201910944625 A CN 201910944625A CN 110601637 A CN110601637 A CN 110601637A
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- disc type
- igbt tube
- type motor
- main control
- inductor
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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
- H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention discloses a disc type motor driving power generation controller which mainly comprises an upper computer, a storage battery, a control power supply, a main control chip, a disc type motor driving control circuit, a current sensor, a voltage sensor, an inductor L1, an inductor L2 and a disc type motor, wherein the storage battery is arranged on the upper computer; the control power supply supplies power to the main control chip and the current sensor. The current sensor monitors the current of the drive circuit. The upper computer sends a control signal of the rotation direction of the disc type motor and a torque instruction to the main control chip through a communication network; the main control chip outputs an IGBT tube on-off control signal so as to control the rotation direction of the disc type motor; the main control chip controls the current and the output torque of the disc type motor. When the invention is used for driving control, the high voltage injected into the disc type motor is restrained through the design of the double inductors, the disc type motor can be ensured to work reliably, and when the invention is used for generating control, the double inductors are used for storing energy and follow current, the voltage of the motor is increased to charge the storage battery, so that the energy of the whole control system can flow between the motor and the power supply in a two-way manner according to instructions.
Description
Technical Field
The invention relates to the field of motor drive, in particular to a disc type motor drive power generation controller.
Background
The disc type motor has the advantages of small rotational inertia, small motor inductance, high response speed and the like, is widely applied to electromechanical integrated products such as robots and the like abroad, gradually replaces traditional servo motor products in certain special fields, is still in a trial-manufacture stage although the disc type permanent magnet motor is developed in China, and has a plurality of technical problems to be overcome, such as lower motor voltage level, low power density and the like.
Due to the special structural form of the disc motor, the voltage level is low, and in the whole application system, the used power supply voltage is 900VDC which far exceeds the rated voltage of the disc motor. The common controller is directly driven by PWM, and 900VDC voltage and harmonic peak voltage are all applied to the motor; meanwhile, the common controller only completes the driving and electric functions of the disc type motor or only completes the power generation function of the motor, and the function is single.
Disclosure of Invention
The present invention is directed to solving the problems of the prior art.
The technical scheme adopted for achieving the purpose of the invention is that the disc type motor driving power generation controller mainly comprises an upper computer, a storage battery, a control power supply, a main control chip, a disc type motor driving control circuit, a current sensor, a voltage sensor, an inductor L1, an inductor L2 and a disc type motor.
When the disc motor is used as a motor, the battery supplies power to the disc motor drive control circuit, the inductor L1 and the inductor L2.
The control power supply supplies power to the main control chip and the current sensor.
The current sensor monitors the current of the driving circuit and sends the current to the main control chip.
And the upper computer sends a control signal of the rotation direction of the disc type motor and a torque instruction to the main control chip through the CAN communication network.
Further, the control signal of the rotation direction of the disk motor is divided into a control signal of the forward rotation of the disk motor and a control signal of the reverse rotation of the disk motor. The disc type motor forward rotation control signal controls the disc type motor to rotate in the forward direction. The disc type motor reverse rotation control signal controls the disc type motor to rotate reversely.
And the main control chip outputs an IGBT tube on-off control signal after receiving a disc type motor rotating direction control signal sent by the upper computer. The IGBT tube on-off control signal controls the on-off of an IGBT tube Q1, an IGBT tube Q2, an IGBT tube Q3 and an IGBT tube Q4 in the disc type motor rotation control circuit, so that the rotation direction of the disc type motor is controlled.
The main control chip receives a torque instruction sent by the upper computer and controls the current and the output torque of the disc motor.
The main control chip receives the current of the current sensor and adjusts the PWM duty ratio, so that the current and the output torque of the disc type motor are adjusted.
The inductor L1 and the inductor L2 are freewheeling and filtering elements.
When the disc type motor is used as a generator, the control power supply supplies power to the main control chip, the current sensor and the voltage sensor.
The current sensor monitors the current of the driving circuit and sends the current to the main control chip.
And the voltage sensor monitors the voltage of the disc type motor driving loop and sends the voltage to the main control chip.
After the main control chip receives the current and the voltage, the duty ratio of PWM is adjusted by using a double closed loop algorithm, so that the current flows from the motor end to the power supply storage battery end to charge the storage battery.
Further, the double closed loop algorithm uses current as an inner loop and voltage as an outer loop.
The inductor L1 and the inductor L2 are energy storage elements.
The circuit structure of the disc type motor driving power generation controller is as follows:
the end where the positive pole of the storage battery is located is A, and the end where the negative pole is located is B. One end of the inductor L1 is a terminal D, and the other end is a terminal E. One end of the inductor L2 is an F terminal, and the other end is a G terminal.
The terminal A is connected with a capacitor C1 in series and then returns to the terminal B. The A end is connected in series with the drain of an IGBT tube Q1. The gate of the IGBT tube Q1 is connected with the PWM1 of the main control chip. The source of the IGBT Q1 is connected in series with the drain of the IGBT Q2. The source of the IGBT Q1 is connected in series with the D terminal of the inductor L1. The E terminal of the inductor L1 is connected to the disc motor.
The gate of the IGBT tube Q2 is connected with the PWM2 of the main control chip. And the source electrode of the IGBT tube Q2 is connected to the terminal B.
The terminal A is connected with a capacitor C1 in series and then returns to the terminal B. The A end is connected in series with the drain of an IGBT tube Q3. The gate of the IGBT tube Q3 is connected with the PWM3 of the main control chip. The source of the IGBT Q3 is connected in series with the drain of the IGBT Q4. The source of the IGBT Q3 is connected in series with the F terminal of the inductor L2. The G terminal of the inductor L2 is connected to the disc motor.
The gate of the IGBT tube Q4 is connected with the PWM4 of the main control chip. And the source electrode of the IGBT tube Q4 is connected to the terminal B.
The IGBT tube Q1, the IGBT tube Q2, the IGBT tube Q3, the IGBT tube Q4 and the capacitor C1 form a disc type motor driving control circuit.
The technical effect of the present invention is undoubted. When the disc type motor is driven and controlled, the high voltage injected into the disc type motor is restrained, and a part of voltage is dropped on the inductor, so that the disc type motor can reliably work and cannot be broken down by overvoltage; during power generation control, the inductor stores and continues current, and the voltage of the motor is boosted to be slightly higher than the voltage of the storage battery to charge the storage battery, so that the energy of the whole control system can flow between the motor and the power supply in a two-way mode according to instructions. The invention is used in the control system of the high-voltage driving power supply, the input end and the output end of the current of the disc type motor are respectively provided with a power inductor, the symmetry of the voltage and the current is ensured, meanwhile, no matter the motor rotates forwards or backwards, the high voltage injected into the motor can be inhibited, a part of the voltage falls on the inductor, and the voltage spike is filtered, thereby ensuring the reliability of the disc type motor; when the disc type motor is in a power generation state, the two power inductors store energy and follow current, so that the controller is easy to increase the power generation voltage to the power supply voltage to charge the storage battery, and the system power generation requirement protection controller and the disc type motor are met.
Drawings
FIG. 1 is a schematic diagram of a disc motor drive power generation controller;
Detailed Description
The present invention is further illustrated by the following examples, but it should not be construed that the scope of the above-described subject matter is limited to the following examples. Various substitutions and alterations can be made without departing from the technical idea of the invention and the scope of the invention is covered by the present invention according to the common technical knowledge and the conventional means in the field.
Example 1:
referring to fig. 1, a disc motor driving power generation controller mainly includes an upper computer, a 900VDC storage battery, a 28VDC control power supply, a main control chip, a disc motor rotation control circuit, a current sensor, a voltage sensor, an inductor L1, an inductor L2, and a disc motor.
When the disc motor is used as a motor, the battery supplies power to the disc motor drive control circuit, the inductor L1 and the inductor L2.
The control power supply supplies power to the main control chip and the current sensor.
The current sensor monitors the current of the driving circuit and sends the current to the main control chip.
And the upper computer sends a control signal of the rotation direction of the disc type motor and a torque instruction to the main control chip through the CAN communication network.
Further, the control signal of the rotation direction of the disk motor is divided into a control signal of the forward rotation of the disk motor and a control signal of the reverse rotation of the disk motor. The disc type motor forward rotation control signal controls the disc type motor to rotate in the forward direction. The disc type motor reverse rotation control signal controls the disc type motor to rotate reversely.
And the main control chip outputs an IGBT tube on-off control signal after receiving a disc type motor rotating direction control signal sent by the upper computer. The IGBT tube on-off control signal controls the on-off of an IGBT tube Q1, an IGBT tube Q2, an IGBT tube Q3 and an IGBT tube Q4 in the disc type motor rotation control circuit, so that the rotation direction of the disc type motor is controlled. When the disc motor rotates forward, the IGBT tube Q1 and the IGBT tube Q4 are conducted, the IGBT tube Q2 and the IGBT tube Q3 are turned off, when the disc motor rotates backward, the IGBT tube Q2 and the IGBT tube Q3 are conducted, and the IGBT tube Q1 and the IGBT tube Q4 are turned off.
The main control chip receives a torque instruction sent by the upper computer and controls the current and the output torque of the disc motor.
The main control chip receives the current of the current sensor and adjusts the PWM duty ratio, so that the current and the output torque of the disc type motor are adjusted, and the motor and the controller are protected in real time.
The inductor L1 and the inductor L2 are freewheeling and filtering elements.
When the motor is controlled to rotate by applying voltage to the motor in a PWM mode, current flows into a power inductor at the input end of the disc type motor, and a part of voltage drops on the power inductor according to U-L (di/dt), so that the disc type motor is ensured to work at a safe voltage. The power inductors L1 and L2 are distributed at two ends of the motor, so that the symmetry of voltage and current is ensured during bidirectional PWM regulation. In addition, the power inductors L1 and L2 have the functions of freewheeling and filtering harmonic voltage spikes, protect the controller and the motor and reduce current ripple interference.
When the disc type motor is used as a generator, the control power supply supplies power to the main control chip, the current sensor and the voltage sensor.
The current sensor monitors the current of the driving circuit and sends the current to the main control chip.
And the voltage sensor monitors the voltage of the disc type motor driving loop and sends the voltage to the main control chip.
After the main control chip receives the current and the voltage, the duty ratio of PWM is adjusted by using a double closed loop algorithm, so that the current flows from the motor end to the power supply storage battery end to charge the storage battery.
Further, the double closed loop algorithm takes current as an inner loop and voltage as an outer loop, and two inductors are added, so that the problem of large voltage difference between the motor and the storage battery is solved.
The inductor L1 and the inductor L2 are energy storage elements.
During power generation, energy is stored by the power inductor L1 and the inductor L2, and the output voltage of the bus and the output power of the motor are further controlled according to U-L (di/dt), so that the power generation output voltage is stabilized at 900 VDC.
The circuit structure of the disc type motor driving power generation controller is as follows:
the end where the positive pole of the storage battery is located is A, and the end where the negative pole is located is B. One end of the inductor L1 is a terminal D, and the other end is a terminal E. One end of the inductor L2 is an F terminal, and the other end is a G terminal.
The terminal A is connected with a capacitor C1 in series and then returns to the terminal B. The A end is connected in series with the drain of an IGBT tube Q1. The gate of the IGBT tube Q1 is connected with the PWM1 of the main control chip. The source of the IGBT Q1 is connected in series with the drain of the IGBT Q2. The source of the IGBT Q1 is connected in series with the D terminal of the inductor L1. The E terminal of the inductor L1 is connected to the disc motor.
The gate of the IGBT tube Q2 is connected with the PWM2 of the main control chip. And the source electrode of the IGBT tube Q2 is connected to the terminal B.
The terminal A is connected with a capacitor C1 in series and then returns to the terminal B. The A end is connected in series with the drain of an IGBT tube Q3. The gate of the IGBT tube Q3 is connected with the PWM3 of the main control chip. The source of the IGBT Q3 is connected in series with the drain of the IGBT Q4. The source of the IGBT Q3 is connected in series with the F terminal of the inductor L2. The G terminal of the inductor L2 is connected to the disc motor.
The gate of the IGBT tube Q4 is connected with the PWM4 of the main control chip. And the source electrode of the IGBT tube Q4 is connected to the terminal B.
The IGBT tube Q1, the IGBT tube Q2, the IGBT tube Q3, the IGBT tube Q4 and the capacitor C1 form a disc type motor driving control circuit.
Example 2:
a disc type motor driving power generation controller mainly comprises an upper computer, a storage battery, a control power supply, a main control chip, a disc type motor driving control circuit, a current sensor, a voltage sensor, an inductor L1, an inductor L2 and a disc type motor.
When the disc motor is used as a motor, the battery supplies power to the disc motor drive control circuit, the inductor L1 and the inductor L2.
The control power supply supplies power to the main control chip and the current sensor.
The current sensor monitors the current of the driving circuit and sends the current to the main control chip.
And the upper computer sends a control signal of the rotation direction of the disc type motor and a torque instruction to the main control chip through the CAN communication network.
And the main control chip outputs an IGBT tube on-off control signal after receiving a disc type motor rotating direction control signal sent by the upper computer. The IGBT tube on-off control signal controls the on-off of an IGBT tube Q1, an IGBT tube Q2, an IGBT tube Q3 and an IGBT tube Q4 in the disc type motor rotation control circuit, so that the rotation direction of the disc type motor is controlled.
The main control chip receives a torque instruction sent by the upper computer and controls the current and the output torque of the disc motor.
The main control chip receives the current of the current sensor and adjusts the PWM duty ratio, so that the current and the output torque of the disc type motor are adjusted.
The inductor L1 and the inductor L2 are freewheeling and filtering elements. The inductance L1 and the inductance L2 solve the problem that the voltage difference between the motor and the storage battery is large.
When the disc type motor is used as a generator, the control power supply supplies power to the main control chip, the current sensor and the voltage sensor.
The current sensor monitors the current of the main control chip and sends the current to the main control chip.
And the voltage sensor monitors the voltage of the disc type motor driving control circuit and sends the voltage to the main control chip.
After the main control chip receives the current and the voltage, the duty ratio of PWM is adjusted by using a double closed loop algorithm, so that the current flows from the motor end to the power supply storage battery end to charge the storage battery.
The inductor L1 and the inductor L2 are energy storage elements.
Example 3:
a disc type motor drive power generation controller has the main structure shown in embodiment 2, wherein the circuit structure is as follows:
the end where the positive pole of the storage battery is located is A, and the end where the negative pole is located is B. One end of the inductor L1 is a terminal D, and the other end is a terminal E. One end of the inductor L2 is an F terminal, and the other end is a G terminal.
The terminal A is connected with a capacitor C1 in series and then returns to the terminal B. The A end is connected in series with the drain of an IGBT tube Q1. The gate of the IGBT tube Q1 is connected with the PWM1 of the main control chip. The source of the IGBT Q1 is connected in series with the drain of the IGBT Q2. The source of the IGBT Q1 is connected in series with the D terminal of the inductor L1. The E terminal of the inductor L1 is connected to the disc motor.
The gate of the IGBT tube Q2 is connected with the PWM2 of the main control chip. And the source electrode of the IGBT tube Q2 is connected to the terminal B.
The terminal A is connected with a capacitor C1 in series and then returns to the terminal B. The A end is connected in series with the drain of an IGBT tube Q3. The gate of the IGBT tube Q3 is connected with the PWM3 of the main control chip. The source of the IGBT Q3 is connected in series with the drain of the IGBT Q4. The source of the IGBT Q3 is connected in series with the F terminal of the inductor L1. The G terminal of the inductor L2 is connected to the disc motor.
The gate of the IGBT tube Q4 is connected with the PWM4 of the main control chip. And the source electrode of the IGBT tube Q4 is connected to the terminal B.
The IGBT tube Q1, the IGBT tube Q2, the IGBT tube Q3, the IGBT tube Q4 and the capacitor C1 form a disc type motor rotation control circuit.
Claims (6)
1. A disc type motor driving power generation controller is characterized by mainly comprising an upper computer, a storage battery, a control power supply, a main control chip, a disc type motor driving control circuit, a current sensor, a voltage sensor, an inductor L1, an inductor L2 and a disc type motor.
When the disc type motor is used as a motor, the battery supplies power to the disc type motor driving control circuit, the inductor L1 and the inductor L2;
the control power supply supplies power to the main control chip and the current sensor;
the current sensor monitors the current of the driving circuit and sends the current to the main control chip;
the upper computer sends a control signal of the rotation direction of the disc type motor and a torque instruction to the main control chip through a communication network;
the main control chip outputs an IGBT tube on-off control signal through control operation after receiving a disc type motor rotating direction control signal and a torque magnitude instruction sent by an upper computer; the IGBT tube on-off control signal controls the on-off of an IGBT tube Q1, an IGBT tube Q2, an IGBT tube Q3 and an IGBT tube Q4 in the disc type motor driving control circuit, so that the rotation direction of the disc type motor is controlled;
the main control chip receives a torque instruction sent by the upper computer and controls the current and the output torque of the disc motor;
the main control chip receives the current of the current sensor and adjusts the PWM duty ratio, so that the current and the output torque of the disc motor are adjusted;
the inductor L1 and the inductor L2 are follow current and filter elements;
when the disc type motor is used as a generator, the control power supply supplies power to the main control chip, the current sensor and the voltage sensor;
the current sensor monitors the current of the driving circuit and sends the current to the main control chip;
the voltage sensor monitors the voltage of the disc type motor driving loop and sends the voltage to the main control chip;
after receiving the current and the voltage, the main control chip adjusts the duty ratio of PWM by using a double closed-loop algorithm, so that the current flows from the motor end to the power supply storage battery end to charge the storage battery;
the inductor L1 and the inductor L2 are energy storage elements.
2. The disc type motor driving power generation controller according to claim 1, wherein when the disc type motor rotates in the forward direction, the IGBT tube Q1 and the IGBT tube Q4 are switched on, and the IGBT tube Q2 and the IGBT tube Q3 are switched off; when the disk motor rotates reversely, the IGBT tube Q2 and the IGBT tube Q3 are conducted, and the IGBT tube Q1 and the IGBT tube Q4 are disconnected.
3. A disc type motor driving power generation controller according to claim 1 or 2, wherein the circuit configuration of the disc type motor driving power generation controller is as follows:
recording the end of the storage battery where the anode is located as A, and recording the end of the storage battery where the cathode is located as B; one end of the inductor L1 is a D end, and the other end is an E end; one end of the inductor L2 is an F end, and the other end is a G end;
the A end is connected with a capacitor C1 in series and then returns to the B end; the A end is connected with the drain electrode of an IGBT tube Q1 in series; the grid electrode of the IGBT tube Q1 is connected with the PWM1 of the main control chip; the source electrode of the IGBT tube Q1 is connected in series with the drain electrode of the IGBT tube Q2; the source of the IGBT tube Q1 is connected with the D end of an inductor L1 in series; the E end of the inductor L1 is connected into the disc type motor;
the grid electrode of the IGBT tube Q2 is connected with the PWM2 of the main control chip; the source electrode of the IGBT tube Q2 is connected to the end B;
the A end is connected with a capacitor C1 in series and then returns to the B end; the A end is connected with the drain electrode of an IGBT tube Q3 in series; the grid electrode of the IGBT tube Q3 is connected with the PWM3 of the main control chip; the source electrode of the IGBT tube Q3 is connected in series with the drain electrode of the IGBT tube Q4; the source of the IGBT tube Q4 is connected with the F end of an inductor L2 in series; the G end of the inductor L2 is connected into the disc type motor;
the grid electrode of the IGBT tube Q4 is connected with the PWM1 of the main control chip; the source electrode of the IGBT tube Q4 is connected to the end B;
the IGBT tube Q1, the IGBT tube Q2, the IGBT tube Q3, the IGBT tube Q4 and the capacitor C1 form a disc type motor driving control circuit.
4. A disc motor drive power generation controller according to claim 1, wherein: the control signal of the rotating direction of the disk motor is divided into a control signal of the forward rotation of the disk motor and a control signal of the reverse rotation of the disk motor; the forward rotation control signal of the disc type motor controls the disc type motor to rotate forward; the disc type motor reverse rotation control signal controls the disc type motor to rotate reversely.
5. A disc motor drive power generation controller according to claim 1, wherein: the double closed loop algorithm takes current as an inner loop and voltage as an outer loop.
6. A disc motor drive power generation controller according to claim 1, wherein: the inductance L1 and the inductance L2 balance the voltage between the disc motor and the battery.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910944625.6A CN110601637A (en) | 2019-09-30 | 2019-09-30 | Disc type motor driving power generation controller |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910944625.6A CN110601637A (en) | 2019-09-30 | 2019-09-30 | Disc type motor driving power generation controller |
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| CN110601637A true CN110601637A (en) | 2019-12-20 |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6131692A (en) * | 1997-03-28 | 2000-10-17 | Komatsu Ltd. | Electric power steering controller |
| CN102856916A (en) * | 2012-04-10 | 2013-01-02 | 北京昆兰新能源技术有限公司 | Reactive power control method and circuit of single-phase photovoltaic inverter |
| CN103036488A (en) * | 2012-11-19 | 2013-04-10 | 腾达电动科技镇江有限公司 | Digital driver of disc type motor |
| CN105099336A (en) * | 2014-05-23 | 2015-11-25 | 株洲南车时代电气股份有限公司 | Shield door system motor control device, system and method |
| CN206041731U (en) * | 2016-08-29 | 2017-03-22 | 眭华兴 | Disk does not have iron core direct current motor driven and has tooth in -wheel motor |
| CN206743147U (en) * | 2017-05-18 | 2017-12-12 | 湖南工程学院 | A kind of mining traction locomotive DC motor driver |
-
2019
- 2019-09-30 CN CN201910944625.6A patent/CN110601637A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6131692A (en) * | 1997-03-28 | 2000-10-17 | Komatsu Ltd. | Electric power steering controller |
| CN102856916A (en) * | 2012-04-10 | 2013-01-02 | 北京昆兰新能源技术有限公司 | Reactive power control method and circuit of single-phase photovoltaic inverter |
| CN103036488A (en) * | 2012-11-19 | 2013-04-10 | 腾达电动科技镇江有限公司 | Digital driver of disc type motor |
| CN105099336A (en) * | 2014-05-23 | 2015-11-25 | 株洲南车时代电气股份有限公司 | Shield door system motor control device, system and method |
| CN206041731U (en) * | 2016-08-29 | 2017-03-22 | 眭华兴 | Disk does not have iron core direct current motor driven and has tooth in -wheel motor |
| CN206743147U (en) * | 2017-05-18 | 2017-12-12 | 湖南工程学院 | A kind of mining traction locomotive DC motor driver |
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Application publication date: 20191220 |