CN110912471A - Intelligent controller with current protection for miniature direct current motor - Google Patents

Intelligent controller with current protection for miniature direct current motor Download PDF

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Publication number
CN110912471A
CN110912471A CN201911265987.9A CN201911265987A CN110912471A CN 110912471 A CN110912471 A CN 110912471A CN 201911265987 A CN201911265987 A CN 201911265987A CN 110912471 A CN110912471 A CN 110912471A
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motor
current
matrix
microprocessor
direct current
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孟明辉
周传德
高晓飞
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Chongqing University of Science and Technology
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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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
    • H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
    • H02H7/0811—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors for dc motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
    • H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
    • H02H7/085—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load
    • 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
    • H02P7/03—Arrangements for regulating or controlling the speed or torque of electric DC motors for controlling the direction of rotation of DC motors

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Electric Motors In General (AREA)
  • Control Of Direct Current Motors (AREA)

Abstract

The invention provides a micro direct current motor intelligent controller with current protection, which comprises a microprocessor, a current comparison module, a current acquisition module, a motor driving module and a power supply conversion module, wherein the microprocessor is connected with the current comparison module; the microprocessor controls and drives the direct current motor to rotate forwards and backwards by adopting a self-adaptive control algorithm according to the optical coupling isolation input signal; the microprocessor collects and detects the current data of the direct current motor in the working process, analyzes the running condition of the motor and stops the motor running when the current is overloaded. The invention has the advantages that the integrated high-power motor driving module can bear the instant current within 20A; an intelligent self-adaptive control algorithm is integrated in the controller, so that the operation is convenient; the integrated current detection module detects the current in the working process of the direct current motor in real time, and when the current is overloaded, the motor is controlled to stop running, so that the motor is protected from being damaged when locked.

Description

Intelligent controller with current protection for miniature direct current motor
Technical Field
The invention belongs to the field of electrical engineering, and particularly relates to an intelligent controller with a current protection function for a miniature direct current motor.
Background
In the working process of the existing direct current motor, the phenomenon that the motor is damaged due to overlarge current caused by factors such as jamming, locked rotation and the like of the motor often occurs; when the direct current motor is directly started, the instantaneous current is too large, which may cause the burning-out phenomenon of the controller of the direct current motor.
In the existing direct current motor controller, a micro motor controller is separated from a software control algorithm, so that the use is inconvenient for users.
The existing direct current motor controller is not provided with a current detection module, and the motor is damaged when phenomena such as locked rotor and the like easily occur.
The existing direct current motor controller has poor current bearing capacity, and the controller is easy to burn out due to overlarge current at the moment of starting the direct current motor.
Disclosure of Invention
In order to solve the problems, the invention provides an intelligent controller with a current protection function for a miniature direct current motor, which comprises a microprocessor, a current comparison module, a current acquisition module, a motor driving module and a power supply conversion module, wherein the microprocessor is connected with the current comparison module;
the microprocessor controls and drives the direct current motor to rotate forwards and backwards by adopting a self-adaptive control algorithm according to the optical coupling isolation input signal;
the microprocessor collects and detects the current data of the direct current motor in the working process, analyzes the running condition of the motor and stops the motor running when the current is overloaded.
Further, the microprocessor adopts a self-adaptive control algorithm to control and drive the direct current motor to rotate positively and negatively according to the optical coupling isolation input signal,
the microprocessor adopts a Kalman filtering state estimation algorithm and combines an optimal feedback algorithm to realize the control of the motor speed;
the microprocessor adopts a Kalman filtering state estimation value under the disturbance of random interference and noise;
and the microprocessor adopts a compensation disturbance quantity algorithm to compensate the self-adaptive control aiming at the deviation of the output value of the motor.
Further, the kalman filtering state estimation algorithm includes:
feedback regulating the output parameters of the DC motor according to the state vector x (k) of the system;
the state space equation of the DC motor with random interference and noise is constructed by adopting the following formula:
Figure BDA0002312854670000021
wherein ξ (k) is dynamic interference, e (k) is noise, x (k) is a system state at the moment k, x (k +1) is a system state at the moment (k +1), u (k) is an input voltage at the moment k, n (k) is a motor rotating speed at the moment k, G is a known state matrix, H is a known input matrix, and C is a known output constant matrix;
the following formula is used as the state estimation equation for the kalman filter:
Figure BDA0002312854670000022
wherein:
Figure BDA0002312854670000023
is a state estimation value;
Figure BDA0002312854670000024
a status prediction value; k (k) is a correction matrix; g is a known state matrix; h is a known input matrix; c is a known output constant matrix;
the optimal feedback control algorithm comprises:
u*(N-k)＝-Λ(N-k＝1)Gx(N-k)，
Figure BDA0002312854670000031
Λ(N-k+1)＝[HTV0(N-k+1)H+W(N-k)]-1HTV0(N-k+1)，
Figure BDA0002312854670000032
wherein N is N time; k is k time and belongs to the middle of 1-N time; - Λ (N-k +1) G is the optimal feedback gain matrix;
Figure BDA0002312854670000033
is a loss matrix; v0(N-k +1) is a matrix; g is a constant matrix; h is a constant matrix; v is a weight matrix; w is a weight matrix; u. of*The optimal control effect is achieved;
the compensation disturbance quantity algorithm comprises the following steps:
for input u (k), deviation of input value delta u (k) is generated at time k, and the rotating speed output quantity is expressed as
n(k)＝-Fn(k-1)-Dn(k-2)+A[u(k-1)+Δu(k)]+B[u(k-2_+Δu(k)]
The output deviation value is: Δ n (k) ═ a Δ u (k) + B Δ u (k)
Wherein: the rotating speed at the moment k is the input voltage at the moment k; F. d, A, B see the formula (1-4) for defining parameters.
Further, the microprocessor constructs a state equation of the direct current motor by adopting the following formula:
Figure BDA0002312854670000034
wherein: n(s) is the motor speed; u(s) is the motor input voltage; keIs the electromotive force coefficient; j is the rotational inertia of the motor; m is mutual inductance between every two phase windings of the motor; l is the self-inductance of each phase winding; r is the self-inductance of the stator phase winding; s is time.
Further, the microprocessor performs the steps of:
to convert the above equation into a simpler algebraic equation, take
Figure BDA0002312854670000035
Namely:
Figure BDA0002312854670000036
let d1、d2Is s is2The + bs + c is 0, Z-transformed to the above formula:
Figure BDA0002312854670000041
in the formula:
Figure BDA0002312854670000042
Figure BDA0002312854670000043
t is the sampling period. (4)
Taking state x1(k)＝n(k)、x2(k)＝x1(k+1)-Au(k)；
Figure BDA0002312854670000044
Wherein G is a constant matrix, H is a constant matrix, C is a constant matrix,
Figure BDA0002312854670000045
C＝[1 0](6)
the invention has the advantages that the integrated high-power motor driving module can bear the instant current within 20A; an intelligent self-adaptive control algorithm is integrated in the controller, so that the operation is convenient; the integrated current detection module is used for detecting the current of the direct current motor in the working process in real time, controlling the motor to stop running when the current is overloaded, and protecting the motor from being damaged when the motor is locked; the electric hardware protection is adopted, and when the current exceeds a limit value, even if a control program does not act, the motor can be protected from being damaged during locked rotor.
Drawings
FIG. 1 is a block diagram of a controller system.
Fig. 2 is a schematic diagram of a controller system.
Fig. 3 electrical schematic of the current comparison module.
Fig. 4 electrical schematic of the current collection module.
Fig. 5 electrical schematic of the motor drive module.
Fig. 6 electrical schematic of the power conversion module.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention
As shown in figure 1, the intelligent controller of the invention is composed of a microprocessor, a current comparison module, a current acquisition module, a forward and reverse rotation driving module, a power conversion module, a voltage stabilizing circuit, an isolation CAN module, an optical coupling isolation signal input module and an optical coupling isolation signal output module. The intelligent controller allows instantaneous current within 20A to be passed through, and integrates a self-adaptive control algorithm based on Kalman filtering state estimation and optimal feedback to realize accurate control of the motor speed.
As shown in fig. 2, after power-on starting, the intelligent controller performs analysis processing through a microprocessor, and intelligently controls and drives the direct current motor to perform forward and reverse rotation under the control of an adaptive control algorithm according to an optical coupling isolation input signal; continuously collecting and detecting the current data of the direct current motor in the working process, analyzing the running condition of the motor, and stopping the motor when the current is overloaded; in the working process, the running condition of the direct current motor is detected in real time, and the isolated state is output and displayed; the whole working process has good safety performance and high intelligent degree. The problem that a traditional direct current motor is inconvenient to use due to the separation of a micro motor controller and a software control algorithm is solved; the phenomenon that the direct current motor is damaged due to overlarge current caused by the locked rotor of the direct current motor is solved; the problem that the controller is easily burnt out due to overlarge current at the starting moment of the direct current motor is solved.
The following describes the hardware of the intelligent controller of the present invention
The current comparison module is shown in fig. 3, the current monitoring is realized by adopting an electrical hardware comparison mode, and even if a control program has a problem, the motor and the controller can be prevented from being damaged by overlarge current.
The current acquisition module is shown in fig. 4, and the invention realizes the real-time acquisition of current by designing a current data acquisition circuit.
As shown in FIG. 5, the invention designs a motor driving module circuit to complete the control of the motor, and adopts a three-stage filter circuit design in consideration of overlarge current.
As shown in FIG. 6, the power conversion module of the invention considers that the current is too large to cause interference to the power supply, the voltage influencing the microprocessor is small, and the microprocessor is easy to be interfered, so that multistage filtering is needed, 7 stages of filtering are designed for the circuit, and the voltage stabilization of the power supply is realized.
The adaptive control algorithm of the intelligent controller adopted by the invention is explained below.
In the implementation process of the invention, the intelligent controller adopts a self-adaptive control algorithm based on Kalman filtering state estimation and combined with optimal feedback to realize the accurate control of the motor speed, and adopts the Kalman filtering state estimation to estimate the state estimation value of the direct current motor under the disturbance of various random interferences and noises; secondly, optimal feedback control is adopted to realize the minimum value of a target function; and finally, aiming at the deviation of the output value of the motor, the compensation disturbance quantity is adopted to carry out certain compensation on the self-adaptive control, so that the influence of the disturbance on the system performance is effectively reduced.
In the implementation process of the invention, the state space equation of the direct current motor is as follows: taking state x1(k)＝n(k)、x2(k)＝x1(k+1)-Au(k)
Figure BDA0002312854670000061
Wherein G, H, C are all constant matrixes,
Figure BDA0002312854670000062
C＝[1 0]。
in the implementation process of the invention, in order to realize the self-adaptive intelligent control of the DC motor, the output parameters of the DC motor are fed back and adjusted according to the state vector x (k) of the system, thereby realizing the accurate control of the motor speed. Since the dc motor is disturbed by various random disturbances and noises, the state estimation value x (k) of the dc motor is obtained by performing state estimation using a kalman filter.
The state space equation of the DC motor with random interference and noise is
Figure BDA0002312854670000071
Wherein ξ (x) is a dynamic noise vector, e (x) is a measurement noise, e (x) and ξ (x) are white noise sequences with no correlation and zero mean, and the state estimation equation of the Kalman filter is as follows:
Figure BDA0002312854670000072
wherein:
Figure BDA0002312854670000073
is a state estimation value;
Figure BDA0002312854670000074
a status prediction value; k (k) is a correction matrix; G. h, C are known states, input and output constant matrices.
In the implementation process of the invention, the optimal feedback control has the function of enabling the target function to reach the minimum value. By adopting dynamic optimal planning, the objective function can be minimized, and the optimal control action u is derived*。
u*(N-k)＝-Λ(N-k＝1)Gx(N-k)
Figure BDA0002312854670000075
Λ(N-k+1)＝[HTV0(N-k+1)H+W(N-k)]-1HTV0(N-k+1)
Figure BDA0002312854670000076
Wherein k is 1, …, N; - Λ (N-k +1) G is the optimal feedback gain matrix;
Figure BDA0002312854670000077
is a loss matrix; v0(N-k +1) is a matrix, G, H is a constant matrix, V, W is a weight matrix.
In the implementation process of the invention, the speed regulating system of the direct current motor is often influenced by various random interferences and noises, when the input value of the system deviates due to the interferences or the change of the external environment, the deviation of the output value can be caused, and the deviation can not be effectively overcome by state feedback, and errors can be generated. In this case, adaptive control can be used to compensate for some extent, so as to effectively reduce the influence of interference on the system performance.
If any input u (k) is disturbed, the input value is deviated by delta u (k) at time k, and the output rotation speed is expressed as
n(k)＝-Fn(k-1)-Dn(k-2)+A[u(k-1)+Δu(k)]+B[u(k-2_+Δu(k)]
The output deviation value is: Δ n (k) ═ a Δ u (k) + B Δ u (k).
Wherein: the rotating speed at the moment k is the input voltage at the moment k; F. d, A, B see the formula (1-4) for defining parameters.
In the implementation process of the invention, the microprocessor adopts the following formula to construct the state equation of the direct current motor:
Figure BDA0002312854670000081
wherein: n(s) is the motor speed; u(s) is the motor input voltage; keIs the electromotive force coefficient; j is the rotational inertia of the motor; m is mutual inductance between every two phase windings of the motor; l is the self-inductance of each phase winding; r is the self-inductance of the stator phase winding; s is time.
In the implementation process of the invention, the microprocessor executes the following steps:
to convert the above equation into a simpler algebraic equation, take
Figure BDA0002312854670000082
Namely:
Figure BDA0002312854670000083
let d1、d2Is s is2The + bs + c is 0, Z-transformed to the above formula:
Figure BDA0002312854670000084
in the formula:
Figure BDA0002312854670000085
Figure BDA0002312854670000086
t is the sampling period. (4)
Taking state x1(k)＝n(k)、x2(k)＝x1(k+1)-Au(k)；
Figure BDA0002312854670000091
Wherein G is a constant matrix, H is a constant matrix, C is a constant matrix,
Figure BDA0002312854670000092
Figure BDA0002312854670000093
C＝[1 0](6)
finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that the following embodiments are merely illustrative of the present invention, and not restrictive, and the scope of the present invention is not limited thereto: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (5)

1. The intelligent controller of the miniature direct current motor with the current protection is characterized by comprising a microprocessor, a current comparison module, a current acquisition module, a motor driving module and a power supply conversion module;
the microprocessor controls and drives the direct current motor to rotate forwards and backwards by adopting a self-adaptive control algorithm according to the optical coupling isolation input signal;
the microprocessor collects and detects the current data of the direct current motor in the working process, analyzes the running condition of the motor and stops the motor running when the current is overloaded.
2. The intelligent controller with current protection for a micro direct current motor according to claim 1, wherein the microprocessor controls the driving direct current motor to rotate forward and backward by using an adaptive control algorithm according to the optical coupling isolation input signal,
the microprocessor adopts a Kalman filtering state estimation algorithm and combines an optimal feedback algorithm to realize the control of the motor speed;
the microprocessor adopts a Kalman filtering state estimation value under the disturbance of random interference and noise;
and the microprocessor adopts a compensation disturbance quantity algorithm to compensate the self-adaptive control aiming at the deviation of the output value of the motor.
3. The intelligent controller with current protection for miniature DC motor as claimed in claim 2,
the Kalman filtering state estimation algorithm comprises:
feedback-adjusting output parameters of the direct current motor according to the state vector x (k) at the kth moment of the system;
the following formula is adopted to construct a state equation of the direct current motor with dynamic interference and noise:
Figure FDA0002312854660000011
wherein ξ (k) is dynamic interference, e (k) is noise, x (k) is a system state at the moment k, x (k +1) is a system state at the moment (k +1), u (k) is an input voltage at the moment k, n (k) is a motor rotating speed at the moment k, G is a known state matrix, H is a known input matrix, and C is a known output constant matrix;
the following formula is used as the state estimation equation for the kalman filter:
Figure FDA0002312854660000021
wherein:
Figure FDA0002312854660000022
is a state estimation value;
Figure FDA0002312854660000023
a status prediction value; k (k) is a correction matrix; g is a known state matrix; h is a known input matrix; c is a known output constant matrix;
the optimal feedback control algorithm comprises:
u*(N-k)＝-Λ(N-k＝1)Gx(N-k)，
Figure FDA0002312854660000024
Λ(N-k+1)＝[HTV0(N-k+1)H+W(N-k)]-1HTV0(N-k+1)，
Figure FDA0002312854660000025
wherein N is N time; k is k time and belongs to the middle of 1-N time; - Λ (N-k +1) G is the optimal feedback gain matrix;
Figure FDA0002312854660000026
is a loss matrix; v0(N-k +1) is a matrix; g is a constant matrix; h is a constant matrix; v is a weight matrix; w is a weight matrix; u. of*The optimal control effect is achieved;
the compensation disturbance quantity algorithm comprises the following steps:
for input u (k), deviation of input value delta u (k) is generated at time k, and the rotating speed output quantity is expressed as
n(k)＝-Fn(k-1)-Dn(k-2)+A[u(k-1)+Δu(k)]+B[u(k-2_+Δu(k)]
The output deviation value is: Δ n (k) ═ a Δ u (k) + B Δ u (k).
Wherein: n (k) is the rotational speed at time k, and u (k) is the input voltage at time k.
4. The intelligent controller with current protection for the miniature DC motor according to claim 2, wherein the microprocessor constructs the state equation of the DC motor by using the following formula:
Figure FDA0002312854660000031
wherein: n(s) is the motor speed, U(s) is the motor input voltage, KeThe electromotive force coefficient is J, the rotational inertia of the motor is J, the mutual inductance between every two phase windings of the motor is M, the self-inductance of each phase winding is L, the self-inductance of the stator phase winding is r, and the time is s.
5. The intelligent controller with current protection for miniature DC motor according to claim 4, wherein said microprocessor performs the following steps:
get
Figure FDA0002312854660000032
Figure FDA0002312854660000033
Let d1、d2Is s is2The + bs + c is 0, Z-transformed to the above formula:
Figure FDA0002312854660000034
in the formula:
Figure FDA0002312854660000035
Figure FDA0002312854660000036
t is the sampling period of the sample,
taking state x1(k)＝n(k)、x2(k)＝x1(k+1)-Au(k)；
Figure FDA0002312854660000037
Wherein G is a constant matrix, H is a constant matrix, C is a constant matrix,
Figure FDA0002312854660000038
C＝[10]。
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CN206727911U (en) * 2017-05-11 2017-12-08 杭州为诺智能科技有限公司 Brush direct current motor driver
CN108585654A (en) * 2018-04-25 2018-09-28 黄冈职业技术学院 A kind of high-strength building engineering concrete and preparation method thereof
CN109223093A (en) * 2018-10-12 2019-01-18 黄鲁豫 A kind of bone surgery subtle bone drill of pen type hand pressure
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