CN110739901A - high-reliability brushless direct current motor driving and position-free control system - Google Patents
high-reliability brushless direct current motor driving and position-free control system Download PDFInfo
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- CN110739901A CN110739901A CN201910947180.7A CN201910947180A CN110739901A CN 110739901 A CN110739901 A CN 110739901A CN 201910947180 A CN201910947180 A CN 201910947180A CN 110739901 A CN110739901 A CN 110739901A
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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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
- H02P29/028—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the motor continuing operation despite the fault condition, e.g. eliminating, compensating for or remedying the fault
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
Abstract
high-reliability brushless DC motor driving and no-position control system, which mainly comprises a power-on protection system, a multiple chopper system, an inverter system, a 12-path IGBT driving circuit, a voltage detection circuit, phase current detection, a DC brushless motor, a microprocessor, a display input interface circuit, a communication module and an FPGA module, can automatically check and fault-tolerant control faults of a motor and a driving power tube, acquire phase current and voltage and adopt a novel sliding mode variable structure to observe and accurately calculate a phase-changing position, has the advantages of high power density and high reliability, and can be used as an airplane electrohydraulic actuator, a static pressure actuator, a satellite gyroscope, a flywheel and other brushless DC motor driving systems which need high-reliability high-power density actuating mechanisms.
Description
Technical Field
The invention relates to the field of aviation, aerospace, war industry and other fields with higher requirements on power density, reliability, precision and efficiency of a brushless direct current motor, and the high-reliability brushless direct current motor driving systems and the non-position control thereof have the advantages of high reliability, high power density and high precision, and can be used as driving systems of direct current brushless motors which need high reliability and high power density, such as airplane electro-hydraulic static actuators (EHA), electromechanical actuators (EMA), satellite gyros for aerospace, flywheels and the like.
Background
The brushless direct current motor has the advantages of high power density and high efficiency, and has universal applications in the fields of aviation, aerospace, vehicles, war industry, civil use and the like, the conventional brushless direct current motor is three-phase and is provided with a position sensor, the power density is low, the reliability is reduced, particularly, the aerospace has extremely high and extremely low temperature, the influence of the installation precision on the accurate reversing of the motor is increased along with the increase of the phase number of the motor, so high-precision position-free control is particularly needed, for improving the reliability of the motor, if a redundant structure is adopted, namely a double-winding motor is generally adopted, the design, the manufacture and the control of the motor are all caused by a plurality of problems, and therefore, the development direction of the motor is that when a certain phase winding of the motor is in a wire outlet problem, other phase windings still work normally, namely, the fault-tolerant function is realized, and the overall performance of the motor can still meet the.
Disclosure of Invention
The invention solves the technical problem of overcoming the defects of the prior art and provides brushless direct current motor driving and position-free control systems which have fault tolerance, high reliability, high power density and high precision.
The technical scheme includes that a high-reliability brushless direct current motor driving and no-position control system is mainly composed of a power-on protection system, a multiple chopper system, an inverter system, 12 paths of IGBT driving circuits, a voltage detection circuit, phase current detection, a direct current brushless motor, a microprocessor, a display input interface circuit, a communication module and an FPGA module, and is characterized in that a high-voltage end of a direct current power supply for supplying power to the system is connected with a current limiting resistor R of the power-on protection system, the resistor C is connected with a capacitor C, the capacitor C is connected with the capacitor C in series, then the resistor R is connected with the resistor R in series, the high-voltage end and a low-voltage end of a power supply are connected with a middle point of the capacitors C and C, the middle point of the capacitors C and C is connected with a middle point of the capacitors C and C, the capacitors C is connected with a drain electrode of an IGBT device Q of the multiple chopper system, an end of an inductor L and a diode D are connected with a source electrode of the Q, a negative electrode of the Q, an inductor L and an end of the inductor L and an L, a negative electrode D, the Q are connected with a source electrode of the Q, and an inductor L, a voltage of the D, and a voltage of the inverter D, the inverter D are connected with a gate of the Q, the inverter circuit is connected with a gate of the inverter Q, the inverter circuit, the inverter Q is connected with the inverter Q, the inverter Q is connected with the inverter Q, the inverter Q is connected with the inverter Q, the inverter Q is connected with the inverter, the inverter is connected with the inverter Q, the inverter.
The principle of the scheme is that for an independent carrier, such as an airplane, a satellite, a gun, an automobile and the like, the power supply of the carrier is direct current, when direct current is suddenly electrified, due to the transient process of the carrier, the performance of the carrier is similar to alternating current, if an infinite current device possibly damages a capacitor due to overlarge current of the capacitor, a resistor needs to be added into a loop, in order to reduce loss, the resistor needs to be cut off from the system when the voltage reaches the maximum value, the current limiting resistor R1 adopts a thermistor with a negative temperature coefficient, the resistor is a designed value, as the current increases and time accumulates, the temperature rise of the resistor increases, the resistor becomes zero after reaching a fixed value of , the resistor is equivalent to cut off from the system to complete the electrifying multiple protection process, the adopted chopper circuits are two parallel structures, the chopper circuits are hot redundancy, the chopper circuits can be cut off from the system when a fault occurs, in addition, the chopper circuits can normally work, the single chopper circuit is a voltage reducing circuit, the power tube is a full-phase control component, the gate of the IGBT drive circuit is connected with a 12 circuit, when the fault current of the IGBT is detected, the inverter, the phase current of the inverter, the inverter can be detected by the inverter, the phase current of the inverter, the inverter can be detected phase current of a phase, the inverter can be detected phase current of a phase voltage of a phase, the inverter, the.
For the brushless direct current motor for aviation and aerospace, the position sensor is a weak link due to severe temperature change, the size of the motor can be reduced by adopting position-free control, the reliability of the motor can be greatly improved, for the brushless direct current motor, the collected stator phase current and voltage are used as input quantities, a sliding mode state observation system is built on the basis of a brushless direct current motor mathematical model, the parameters of the observer are continuously corrected by calculating the deviation between the output value of the sliding mode state observer and the output value actually measured by the motor, the output value of the observer is continuously converged and is close to the actual value, and the tiny feedback deviation value is amplified by selecting a proper approximation rule and an observer gain value, so that the convergence is accelerated. The state equation of the line voltage is as follows:
wherein X is ═ iab，ibc，icd，ide，iea]TIs a line current
U＝[uab，ubc，ucd，ude，uea]TIs line voltage
E＝[eab，ebc，ecd，ede，eea]TIs line back electromotive force
The constructed sliding-mode observer is as follows:
in the formula (I), the compound is shown in the specification,
subtracting the two formulas to obtain:
line back emf is available when the sliding mode faces exist and converge for a finite time:
[z1z2z3z4z5]T＝[-eab-ebc-ecd-ede-eea]T
to reduce, an approximate saturation function is used instead of the saturation function:
the commutation point can be obtained through calculation by measuring the back electromotive force zero crossing point of the brushless direct current motor wire, and further the non-position displacement direction control of the brushless direct current motor is carried out.
The communication module adopts various redundancy design schemes, CAN be compatible with CAN, 1553B and ARINC429 bus, the command of the system CAN be transmitted to the controller through the bus, meanwhile, the running parameters and states of the motor such as temperature, voltage, current and the states of each phase CAN be transmitted to the monitoring system through the bus, the system is provided with a display input interface for the convenience of debugging, and the monitoring and instruction input of the running parameters of the motor CAN also be carried out through the display input interface.
The invention has the advantages that the structure of the multi-phase motor is compact, the power density is high, when the motor or a driving phase has a fault, the system automatically judges the fault position and cuts off the fault phase, the efficiency of the motor system is improved, the double chopping control current is adopted, the harmonic wave of the motor is small, the efficiency is high, the heating of the motor is small, the redundant structure of the hot backup is adopted, when chopping circuits have a fault, the system is automatically switched, in addition, chopping circuits can meet the system requirement, the motor acquires the phase current and the voltage, the commutation point of the rotor is calculated by adopting the observation of the improved sliding mode variable structure, the commutation point is accurate, the time delay is not needed, the commutation of the inverter bridge part is only realized without modulation, the heating of the motor winding is reduced, the motor precision is improved, and the multi-phase motor can be used as a driving system of an execution motor on carriers such as EHA, EMA.
Drawings
FIG. 1 is a schematic diagram of high-reliability brushless DC motor driving and position-less control systems according to the technical solution of the present invention;
FIG. 2 is a software flow chart of high-reliability brushless DC motor driving and position control-free system according to the technical solution of the present invention;
Detailed Description
As shown in fig. 1, a high-reliability brushless dc motor driving and position-less control system is mainly composed of an upper power protection system 1, a multiple chopper system 2, an inverter system 3, 12 IGBT driving circuits 4, a voltage detection circuit 5, phase current detection 6, a dc brushless motor 7, a microprocessor 8, a display input interface circuit 9, a communication module 10 and an FPGA module 11, a dc power supply high-voltage end for supplying power to the system is connected to a current-limiting resistor R of the upper power protection system 1, R is connected to a capacitor C, C is connected in series with C, then to a power supply low-voltage end, resistors R and R are connected in series, a head and a tail are connected to a high-voltage end and a low-voltage end of the power supply, the middle point is connected to the middle point of capacitors C and C, the high-voltage end of the multiple chopper system 2 is connected to a drain electrode of an IGBT device Q of the multiple chopper system 2 via the upper power supply 1, an inductor L and a diode D, the negative electrode of the IGBT device Q is connected to a source of the Q, a drain electrode of the inductor L is connected to a drain electrode of the Q, a drain electrode of the diode D, a drain electrode of the IGBT device Q is connected to a drain electrode of the Q, a gate of the IGBT device, a gate device Q5, a gate device Q, a gate device is connected to a gate device Q5, a gate device Q device, a gate device is connected to a gate device Q device of the inverter circuit, a gate device Q device is connected to a gate device, a gate device Q device, a gate device is connected to a gate device, a gate device Q device is connected to a gate device, a gate device to a gate device, a gate device to a gate device, a gate device to a gate device of the inverter circuit, a gate device to a gate device, a gate device to.
As shown in fig. 2, after the system is powered on, the system is initialized, then a speed set value read from an input interface or a communication structure is read, at this time, each bridge arm is sequentially powered on, frequency is increased step by step to drive a rotor to rotate, an a/D sampling circuit collects phase current and voltage signals of a motor and transmits the collected values to an FPGA module, an FGPA module calculates back electromotive force zero crossing points according to the read data, the zero crossing points are commutation points, detected current and voltage values are transmitted to a DSP controller, the DSP analyzes and diagnoses faults according to the current and voltage values, if the detected voltage is equal to bus voltage, short circuit faults of a chopper circuit are calculated, if the detected voltage is small, the chopper circuit is open-circuit faults, the controller displays fault signals, a fault power tube is locked, the chopping frequency of another power tube is increased, then fault diagnosis of the inverter bridge power tube is performed, the diagnosis method is that whether each phase current is normal, if a fault of a certain phase is found, the power tube of the phase is required to be locked, the motor becomes a 4-phase motor or a 3-phase motor, a topology structure is changed again according to reduce the current ripple current and the current of the topology and the current of the phase is reduced if the fault is reduced, and the current is reduced in a normal region.
In conclusion, the high-reliability brushless direct current motor driving and position-free control systems provided by the invention provide redundant high-reliability motor driving systems and position-free control algorithms, and can be used in occasions requiring high-reliability brushless direct current motors, such as aviation and aerospace.
Those skilled in the art will appreciate that the invention may be practiced without these specific details.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (7)
- A high-reliability brushless direct-current motor driving and position-free control system is mainly composed of an upper power protection system (1), a multiple chopper system (2), an inverter system (3), 12 paths of IGBT driving circuits (4), a voltage detection circuit (5), phase current detection (6), a direct-current brushless motor (7), a microprocessor (8), a display input interface circuit (9), a communication module (10) and an FPGA module (11), and is characterized in that a high-voltage end of a direct-current power supply for supplying power to the system is connected with a current-limiting resistor R of the upper power protection system (1), the resistor R is connected with a capacitor C, the capacitor C is connected with the capacitor C in series, the capacitor C is connected with a low-voltage end of the power supply, the resistor R is connected with the resistor R in series, the resistor R is connected with the high-voltage end and the low-voltage end of the power supply at the head and tail ends, the middle point of the capacitors C and C is connected with the middle point of the capacitors C and C, the capacitor C, the drain of the IGBT device Q is connected with the drain of the FPGA device Q, the diode D, the drain of the diode Q and the high-voltage detection circuit, the FPGA drive circuit, the Q-detection circuit, the bridge arm-detection circuit is connected with the Q-detection circuit, the bridge arm-detection circuit, the bridge-detection circuit, the bridge-detection circuit, the.
- 2. The high reliability brushless DC motor driving and position-less control system according to claim 1, wherein the current limiting resistor R1 in the power-on protection system (1) is a negative temperature coefficient thermistor whose resistance decreases rapidly with increasing temperature, the capacitors C1 and C2 are thin film capacitors with two capacitors in series, and the resistors R2 and R3 with in series, and the two resistors are connected in series, then connected in parallel with the two capacitors and connected to the middle point.
- 3. The high-reliability brushless DC motor driving and position-less control system according to claim 1, wherein the multiple chopper systems (2) are two independent chopper systems, IGBT power transistors Q1 and Q2 used by the two chopper systems are mutually hot-backed up, the multiple chopper systems are operated simultaneously under normal conditions, each of the multiple chopper systems occupies half of the total load, the service life of the power transistors is prolonged, the multiple chopper systems can be isolated from the system if a fault occurs, wherein power transistors are damaged and do not affect the operation of the whole system, the controller (8) monitors the phase currents detected by the phase current detection circuit (6) under normal conditions, analyzes and judges the fault, and simultaneously transmits the current values to the FPGA module (11), the FPGA module (11) controls the chopping frequency of Q1 and Q2 through an intelligent control algorithm according to the detected current, further controls the current magnitude and the rotating speed of the motor, and when a Q1 or Q2 fails, the IGBT driving circuit (4) locks the failed power transistor and changes the frequency of the normal power transistor.
- 4. The kinds of high-reliability brushless DC motor driving and position-free control system according to claim 1, wherein the inverter bridge (3) is a five-full-bridge arm structure, the DC brushless motor (7) is a five-phase motor, the inverter bridge (3) and the DC brushless motor (7) can output the required rated torque and rated speed on the premise of at most two-phase failure, the phase current detection (6) collects the phase current of the motor and sends the result to the processor (8), the processor (8) judges whether the phase current of the motor is normal or not and sends the calculation result to the FPGA module (11), if a phase or driving bridge arm of the motor is detected to be failed, the FPGA module (11) locks the power tube of the phase through 12 IGBT driving circuits and correspondingly changes the chopping frequency of the remaining phases to change the torque ripple caused by phase number reduction.
- 5. The high-reliability brushless DC motor driving and position-free control system according to claim 1, wherein the DC brushless motor (7) is of a position-sensor-free structure, the voltage detection circuit (5) detects the phase voltages of the motor, the phase current detection (6) detects the current and transmits the detection result to the FPGA module (11), the FPGA module (11) software first changes the phase voltages into line voltages and converts the phase currents into line currents, then an improved variable structure sliding mode observer is constructed according to a mathematical model of the motor, the observed line back electromotive force is a commutation point, direct commutation is achieved without time delay, and meanwhile, the rotating speed is calculated according to the commutation point interval.
- 6. The high reliability brushless DC motor driving and position-free control system according to claim 1, wherein the communication module (10) is compatible with CAN bus, 1553B bus and ARINC429 bus module.
- 7. The kinds of high reliability brushless DC motor driving and position-free control system according to claim 1, wherein the IGBT power transistors Q3, Q4, Q5, Q6, Q7, Q8, Q9, Q10, Q11, Q12 used in the inverter bridge (3) only have switch operation during normal operation, no modulation operation, when a motor or driving bridge has a fault, the power transistors on the bridge are locked, the motor phase and the bridge are recombined, and then the modulation operation for reducing torque ripple is started.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112564579A (en) * | 2020-11-30 | 2021-03-26 | 中国航空工业集团公司西安航空计算技术研究所 | Master-slave architecture electromechanical controller and health management method |
| CN112730931A (en) * | 2020-12-17 | 2021-04-30 | 潍柴动力股份有限公司 | Fault diagnosis method, apparatus, device and medium for PWM-driven load |
| CN112858755A (en) * | 2021-01-14 | 2021-05-28 | 中微渝芯(重庆)电子科技有限公司 | Three-phase current sampling method and system |
| WO2021203589A1 (en) * | 2020-04-08 | 2021-10-14 | 西安热工研究院有限公司 | Permanent magnet direct-current electric motor commutation control apparatus and method based on sliding mode observer |
| CN115528977A (en) * | 2022-09-30 | 2022-12-27 | 天津大学温州安全(应急)研究院 | Bus capacitor current analysis method during open-circuit fault-tolerant operation of five-phase motor |
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| WO2021203589A1 (en) * | 2020-04-08 | 2021-10-14 | 西安热工研究院有限公司 | Permanent magnet direct-current electric motor commutation control apparatus and method based on sliding mode observer |
| CN112564579A (en) * | 2020-11-30 | 2021-03-26 | 中国航空工业集团公司西安航空计算技术研究所 | Master-slave architecture electromechanical controller and health management method |
| CN112730931A (en) * | 2020-12-17 | 2021-04-30 | 潍柴动力股份有限公司 | Fault diagnosis method, apparatus, device and medium for PWM-driven load |
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| CN112858755A (en) * | 2021-01-14 | 2021-05-28 | 中微渝芯(重庆)电子科技有限公司 | Three-phase current sampling method and system |
| CN112858755B (en) * | 2021-01-14 | 2024-03-19 | 中微渝芯(重庆)电子科技有限公司 | Three-phase current sampling method and system |
| CN115528977A (en) * | 2022-09-30 | 2022-12-27 | 天津大学温州安全(应急)研究院 | Bus capacitor current analysis method during open-circuit fault-tolerant operation of five-phase motor |
| CN115528977B (en) * | 2022-09-30 | 2023-12-08 | 天津大学温州安全(应急)研究院 | Bus capacitor current analysis method during open-circuit fault tolerant operation of five-phase motor |
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