CN110784128A - Universal multi-path permanent magnet synchronous alternating current servo motor controller - Google Patents
Universal multi-path permanent magnet synchronous alternating current servo motor controller Download PDFInfo
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- CN110784128A CN110784128A CN201911076026.3A CN201911076026A CN110784128A CN 110784128 A CN110784128 A CN 110784128A CN 201911076026 A CN201911076026 A CN 201911076026A CN 110784128 A CN110784128 A CN 110784128A
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- 239000003990 capacitor Substances 0.000 claims abstract description 17
- 230000000875 corresponding effect Effects 0.000 claims description 15
- 238000004891 communication Methods 0.000 claims description 14
- 238000000034 method Methods 0.000 claims description 5
- 238000010521 absorption reaction Methods 0.000 claims description 4
- 238000001914 filtration Methods 0.000 claims description 4
- 238000005516 engineering process Methods 0.000 claims description 3
- 238000009499 grossing Methods 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 claims description 2
- 230000001276 controlling effect Effects 0.000 claims 1
- 238000009434 installation Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 239000000498 cooling water Substances 0.000 description 4
- 238000004458 analytical method Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 3
- 230000010354 integration Effects 0.000 description 3
- 230000005611 electricity Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 238000005538 encapsulation Methods 0.000 description 1
- 239000010408 film Substances 0.000 description 1
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- 230000001939 inductive effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 229910052761 rare earth metal Inorganic materials 0.000 description 1
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/04—Arrangements for controlling or regulating the speed or torque of more than one motor
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L23/00—Details of semiconductor or other solid state devices
- H01L23/34—Arrangements for cooling, heating, ventilating or temperature compensation ; Temperature sensing arrangements
- H01L23/46—Arrangements for cooling, heating, ventilating or temperature compensation ; Temperature sensing arrangements involving the transfer of heat by flowing fluids
- H01L23/473—Arrangements for cooling, heating, ventilating or temperature compensation ; Temperature sensing arrangements involving the transfer of heat by flowing fluids by flowing liquids
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K7/00—Constructional details common to different types of electric apparatus
- H05K7/20—Modifications to facilitate cooling, ventilating, or heating
- H05K7/20218—Modifications to facilitate cooling, ventilating, or heating using a liquid coolant without phase change in electronic enclosures
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K7/00—Constructional details common to different types of electric apparatus
- H05K7/20—Modifications to facilitate cooling, ventilating, or heating
- H05K7/2039—Modifications to facilitate cooling, ventilating, or heating characterised by the heat transfer by conduction from the heat generating element to a dissipating body
Abstract
The invention relates to a universal multi-path permanent magnet type synchronous alternating current servo motor controller which mainly comprises a main control board, a motor drive board, an IGBT module, a capacitor, a current sensor, a connector, a radiator, a case and the like. The servo motor controller can control one or at most four motors according to the requirements, the hardware platform is strong in universality, the selection flexibility of the number of the motors is high, and the whole machine adopts the integrated and light-weight design concept, so that the diversified requirements of customers on the control of the servo motors can be met.
Description
Technical Field
The invention belongs to the field of industrial automation equipment control, and particularly relates to a universal multi-path permanent magnet type synchronous alternating current servo motor controller.
Background
With the continuous development of rare earth permanent magnet materials, power electronics and control technologies, the permanent magnet synchronous alternating current servo motor has the advantages of light weight, high efficiency, small size and the like, and is widely applied to the field of new energy automobiles and the field of industrial control, but a plurality of permanent magnet synchronous alternating current servo motors can be simultaneously used as executing devices on some new energy automobiles adopting distributed driving and some special fields of industrial control, the cost of single motor is higher due to the independent control of a single driver, the required space for installation and arrangement is larger, the circuit arrangement is complex, the integration degree is poor, and the economic benefit is poor.
Disclosure of Invention
The invention aims to solve the problems of complex control and poor integration when a single driver is respectively driven in the situation that a plurality of permanent magnet synchronous alternating current servo motors are simultaneously applied, and provides a universal multi-path permanent magnet synchronous alternating current servo motor controller.
The invention relates to a universal multi-path permanent magnet type synchronous alternating current servo motor controller which comprises a main control board, a motor drive board, an IGBT module, a capacitor, a current sensor, a connector, a radiator and a case, wherein the main control board is connected with the motor drive board; the main control board is respectively connected with the upper-layer control system and the motor drive board through the CAN communication module, receives an external control signal, responds to the control intention of the upper layer, forwards a corresponding instruction to the motor drive module, collects the state information of each motor module and receives the state query of the upper computer; the motor driving board receives a control signal of the main control board through the CAN communication module on the upper layer, is connected with the IGBT module on the lower layer, carries out complex analysis and calculation on a DSP chip of the control board, generates PWM waves for driving the IGBT module to realize accurate control on the motor, and is used for providing a power supply and realizing driving on the motor; the upper layer of the IGBT module is connected with a motor drive board, the lower layer of the IGBT module is directly connected with a motor through a motor drive output end connector and a high-voltage wire, and the upper layer of the IGBT module receives a PWM signal to realize the on-off of input voltage, so that high-voltage electricity with required frequency is generated; two ends of the capacitor are directly connected with the input B + and B-ends of the power battery and are used for filtering the input voltage of the power battery and high-voltage peaks generated by the high-frequency switch of the IGBT module; the current sensor is arranged on a three-phase alternating-current high-voltage wire at the driving output end of the motor, the signal feedback end is directly connected with the main control board, and the actual current of the motor is collected and directly fed back to the main control board to be used as feedback input of closed-loop control; the radiator is used as an installation frame of the IGBT, so that heat generated by the IGBT in the working process of the motor controller is taken away conveniently; the case is used for installation of all hardware and arrangement of cooling water paths, and is provided with water inlet and outlet mounting holes, so that cooling water can enter the radiator to circularly take away heat.
The main control board receives upper-layer control intentions through the CAN communication module, then internal CAN communication is utilized to transmit the intentions to the four motor drive boards, the motor drive boards receive instructions and then obtain corresponding PWM signals through operation of the internal data processing module, if the motor works in a rotating speed mode, a corresponding current is obtained through table lookup according to a target speed by using the speed ring and is output to the power module, the motor is driven to work by using the power module IGBT, and the current is fed back to the speed ring according to the rotating speed of the tachometer to realize closed-loop control; if the motor works in a torque mode, a corresponding current value is obtained directly through a current loop table look-up, the motor is output through a power module and is driven to work under a target torque, the actual working current of the motor is collected through a current sensor and fed back to the current loop to realize closed-loop control, the four motor drive plates have the same working principle, corresponding actions are executed according to instructions sent by a main control plate, and the main control plate completes coordination control and communication management work among the four motor drive plates, so that the multi-path motor can work simultaneously.
The universal multi-path permanent magnet synchronous alternating current servo motor controller can realize the simultaneous control of one-path or at most four-path permanent magnet synchronous alternating current servo motors, has the weight not more than 25kg, can greatly save the installation space, simplifies the control logic, is convenient for the arrangement of high-voltage power supply lines, has higher integration degree and strong universality of a hardware platform, can realize the flexible arrangement of one or more motors under the condition of not replacing the motor controller, reduces the economic cost of selecting and using a plurality of motor controllers, and improves the overall benefit.
Drawings
FIG. 1 is a schematic diagram of a main circuit of a general multi-path permanent magnet synchronous AC servo motor controller according to the present invention;
FIG. 2 is a schematic diagram of a motor drive board of a universal multi-path permanent magnet synchronous AC servo motor controller according to the present invention;
fig. 3 is a control flow chart of the software of the universal multi-path permanent magnet synchronous ac servo motor controller according to the present invention.
Detailed Description
The present invention will be further explained with reference to the following examples and the accompanying drawings.
Examples
This embodiment is only a part of the embodiment of the present invention, and not a whole embodiment. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
FIG. 1 is a schematic diagram of a main circuit of a general multi-path permanent magnet synchronous AC servo motor controller according to the present invention; FIG. 2 is a schematic diagram of a motor drive board of a universal multi-path permanent magnet synchronous AC servo motor controller according to the present invention; the universal multi-path permanent magnet synchronous alternating current servo motor controller comprises a main control board, a motor drive board, an IGBT module, a capacitor, a current sensor, a connector, a radiator and a case; the main control board is respectively connected with the upper-layer control system and the motor drive board through the CAN communication module, receives an external control signal, responds to the control intention of the upper layer, forwards a corresponding instruction to the motor drive module, collects the state information of each motor module and receives the state query of the upper computer; the motor driving board receives a control signal of the main control board through the CAN communication module on the upper layer, is connected with the IGBT module on the lower layer, carries out complex analysis and calculation on a DSP chip of the control board, generates PWM waves for driving the IGBT module to realize accurate control on the motor, and is used for providing a power supply and realizing driving on the motor; the upper layer of the IGBT module is connected with a motor drive board, the lower layer of the IGBT module is directly connected with a motor through a motor drive output end connector and a high-voltage wire, and the upper layer of the IGBT module receives a PWM signal to realize the on-off of input voltage, so that high-voltage electricity with required frequency is generated; two ends of the capacitor are directly connected with the input B + and B-ends of the power battery and are used for filtering the input voltage of the power battery and high-voltage peaks generated by the high-frequency switch of the IGBT module; the current sensor is arranged on a three-phase alternating-current high-voltage wire at the driving output end of the motor, the signal feedback end is directly connected with the main control board, and the actual current of the motor is collected and directly fed back to the main control board to be used as feedback input of closed-loop control; the radiator is used as an installation frame of the IGBT, so that heat generated by the IGBT in the working process of the motor controller is taken away conveniently; the case is used for installation of all hardware and arrangement of cooling water paths, and is provided with water inlet and outlet mounting holes, so that cooling water can enter the radiator to circularly take away heat.
The motor driving board is used for receiving a control instruction of the main control board through the CAN communication module, the DSP chip outputs a PWM signal after complex analysis and calculation, and the intelligent power module drives the three-phase permanent magnet type synchronous alternating current servo motor by using input high-voltage direct current and then through frequency conversion of the three-phase sine PWM voltage type inverter;
the IGBT module is used for receiving control voltage output by the motor drive board and outputting alternating current with required frequency by switching on and off;
the capacitor is used for smoothing the input voltage of the bus and absorbing a voltage peak generated by high-frequency switching of the IGBT;
the current sensor is used for feeding back the actual output current of the motor to the motor control board to carry out closed-loop control on a current loop;
the connector is used for connecting the direct-current high-voltage bus and a high-voltage wire at the drive output end of the motor;
the radiator is used for taking away heat generated by the IGBT module in the working process of the motor controller;
the case is used for installing all devices of the hardware of the motor controller and shielding external electromagnetic interference.
Furthermore, the motor driving board adopts a 28335 model DSP chip of TMS320C2000TM Digital Signal Controller (DSC) series of TI company, which is a 32-bit control chip with floating point arithmetic capability.
Further, the IGBT power module uses three 450A english-flying EUPEC enhanced half-bridge modules, model FF450R12ME4, per motor drive. The module adopts the British flying fourth generation IGBT technology, has the characteristics of low conduction voltage, high switching speed, low encapsulation inductance and the like, is internally provided with the NTC temperature sensor, and can independently monitor the internal temperature of each module. The upper arm and the lower arm of the IGBT module adopt ACPL-332J optical couplers to complete driving and overcurrent protection, and driving signals of the same bridge arm are interlocked to avoid conduction of the same arm.
Furthermore, the bus supporting capacitor is selected from three domestic EACO thin film capacitors with the model of SHP-900-. The bus supporting film capacitor has the characteristics of low internal resistance, large ripple current, high reliability, long service life and the like.
Furthermore, the absorption capacitor is a domestic EACO non-inductive high-frequency absorption capacitor with the model of STM-1200-2.0-P, the peak current reaches 1000A, and the voltage spike generated when the power main loop IGBT is switched on or switched off at high frequency can be effectively absorbed.
Furthermore, rated working current of the direct-current high-voltage bus connector and the motor driving output end connector can reach 250A, the maximum current is 400A, the working voltage is 1000V, and the protection level of IP67 is met.
Fig. 3 is a control flow diagram of software of a universal multi-path permanent magnet synchronous ac servo motor controller according to the present invention, as shown in fig. 3, a main control board receives an upper layer control intention through a CAN communication module, and then issues the intention to four motor drive boards by using internal CAN communication, the motor drive boards receive instructions and then obtain corresponding PWM signals through operation of an internal data processing module, if the motor works in a rotation speed mode, a corresponding current is obtained by looking up a table according to a target speed by using a speed ring, and is output to a power module, the motor is driven to work by using a power module IGBT, and the current is fed back to the speed ring according to the rotation speed of a tachometer to realize closed-loop control; if the motor works in a torque mode, a corresponding current value is obtained directly through a current loop table look-up, the motor is output through a power module and is driven to work under a target torque, the actual working current of the motor is collected through a current sensor and fed back to the current loop to realize closed-loop control, the four motor drive plates have the same working principle, corresponding actions are executed according to instructions sent by a main control plate, and the main control plate completes coordination control and communication management work among the four motor drive plates, so that the multi-path motor can work simultaneously.
Claims (1)
1. A universal multi-path permanent magnet type synchronous alternating current servo motor controller comprises a main control board, a motor drive board, an IGBT module, a capacitor, a current sensor, a connector, a radiator and a case; the method is characterized in that:
the main control board receives upper-layer control intentions through the CAN communication module, then internal CAN communication is utilized to transmit the intentions to the four motor drive boards, the motor drive boards receive instructions and then obtain corresponding PWM signals through operation of the internal data processing module, if the motor works in a rotating speed mode, a corresponding current is obtained through table lookup according to a target speed by using the speed ring and is output to the power module, the motor is driven to work by using the power module IGBT, and the current is fed back to the speed ring according to the rotating speed of the tachometer to realize closed-loop control; if the motor works in a torque mode, a corresponding current value is obtained directly through a current loop table look-up, the motor is output through a power module and is driven to work under a target torque, the actual working current of the motor is collected through a current sensor and fed back to the current loop to realize closed-loop control, the four motor drive plates have the same working principle, corresponding actions are executed according to instructions sent by a main control plate, and the main control plate finishes coordination control and communication management work among the four motor drive plates, so that the multi-path motor can work simultaneously;
the intelligent power module utilizes input high-voltage direct current to drive a three-phase permanent magnet type synchronous alternating current servo motor through frequency conversion of a three-phase sine PWM voltage inverter, the motor drive board comprises a power board and a control board, the power board belongs to a strong current part, and the intelligent power board comprises an IPM power drive unit for driving the motor and a switching power supply for providing digital and analog power supplies for the whole system; the control panel belongs to a weak current part, is a control core of the motor and an operation carrier of a servo driver technology core control algorithm, and is used for outputting PWM (pulse-width modulation) waves as driving signals of a driving circuit through a corresponding algorithm to change the output power of the inverter so as to achieve the purpose of controlling the three-phase permanent magnet type synchronous alternating current servo motor;
the IGBT module is used for receiving control voltage output by the motor drive board and outputting alternating current with required frequency by switching on and off;
the capacitor comprises a supporting capacitor and an absorption capacitor, the supporting capacitor is used for smoothing filtering of the input voltage of the direct-current bus, and the absorption capacitor is used for absorbing a voltage peak in a main loop, smoothing filtering of the input voltage of the bus and absorbing a voltage peak generated by high-frequency switching of the IGBT;
the current sensor is used for feeding back the actual output current of the motor to the motor control board to carry out closed-loop control on a current loop;
the connector comprises a two-core direct-current high-voltage bus connector and a three-core motor drive output end three-phase alternating-current high-voltage connector, and is used for connecting a direct-current high-voltage bus and a motor drive output end high-voltage wire;
the radiator is used for taking away heat generated by the IGBT module in the working process of the motor controller;
and the case is used for installing all devices of the hardware of the motor controller and shielding external electromagnetic interference.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911076026.3A CN110784128A (en) | 2019-11-06 | 2019-11-06 | Universal multi-path permanent magnet synchronous alternating current servo motor controller |
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| CN201911076026.3A CN110784128A (en) | 2019-11-06 | 2019-11-06 | Universal multi-path permanent magnet synchronous alternating current servo motor controller |
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| CN207098977U (en) * | 2017-06-02 | 2018-03-13 | 泉州装备制造研究所 | A kind of new Digit Control Machine Tool permanent-magnet servo motor driving control system |
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| CN109617459A (en) * | 2018-12-28 | 2019-04-12 | 江苏大学 | A kind of permanent magnet synchronous electric motor driving power plate circuit and its design method |
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2019
- 2019-11-06 CN CN201911076026.3A patent/CN110784128A/en active Pending
Patent Citations (7)
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| CN101127500A (en) * | 2006-08-17 | 2008-02-20 | 上海日立电器有限公司 | DC frequency conversion controller and its method for controlling speed of permanent magnetic synchronous electromotor rotor |
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Application publication date: 20200211 |