CN111193463A - Control method and control assembly for dual-rotor motor - Google Patents
Control method and control assembly for dual-rotor motor Download PDFInfo
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- CN111193463A CN111193463A CN202010283140.XA CN202010283140A CN111193463A CN 111193463 A CN111193463 A CN 111193463A CN 202010283140 A CN202010283140 A CN 202010283140A CN 111193463 A CN111193463 A CN 111193463A
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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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
- H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K16/00—Machines with more than one rotor or stator
- H02K16/02—Machines with one stator and two or more rotors
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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
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
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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
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/07—Speed loop, i.e. comparison of the motor speed with a speed reference
Abstract
The invention discloses a control method and a control component of a double-rotor motor. The control method comprises the following steps: at least two groups of sine and cosine analog Hall sensors in the analog Hall sampling circuit are used for respectively acquiring first analog quantity sensing signals and second analog quantity sensing signals corresponding to a first rotor and a second rotor of the double-rotor motor, and then a core circuit is used for respectively calculating the first analog quantity sensing signals and the second analog quantity sensing signals to obtain the rotating speeds of the first rotor and the second rotor; the analog quantity control circuit respectively transmits a first control signal and a second control signal to the first driver and the second driver according to the rotating speeds of the first rotor and the second rotor calculated by the core circuit. Compared with the prior art, the control method provided by the invention can simply and effectively realize the control of the double-rotor motor, has higher motor control precision, can obviously improve the reliability of a motor control system while ensuring the synchronous operation of the double-rotor motor, and is widely applied to various application occasions in the fields of industry and military industry.
Description
Technical Field
The invention relates to a double-rotor motor, in particular to a control method and a control assembly of the double-rotor motor, and belongs to the field of motor control.
Background
Conventional motors typically have only one stator and one rotor, and either dc, synchronous or asynchronous machines have only one mechanical port. In recent years, some researchers have also developed dual rotor machines having 2 mechanical shafts that can achieve independent transfer of energy to the 2 mechanical shafts. The novel motor greatly reduces the volume and the weight of equipment, improves the working efficiency, can well meet the requirements of energy conservation and speed regulation, and has superior running performance, thereby having good application prospect in many fields.
However, the conventional motor control method is not applicable to the dual rotor motor due to its special structure. It is highly desirable to develop a simple and effective control method for a dual-rotor motor to ensure stable and reliable operation.
Disclosure of Invention
The invention mainly aims to provide a control method and a control assembly for a dual-rotor motor, so as to overcome the defects of the prior art.
In order to achieve the aim of the invention, the invention adopts the following scheme:
the embodiment of the invention provides a control method of a double-rotor motor, which comprises the following steps:
providing an analog Hall sampling circuit, respectively acquiring a first analog quantity sensing signal and a second analog quantity sensing signal corresponding to a first rotor and a second rotor of a double-rotor motor by using at least two groups of sine and cosine analog Hall sensors, and respectively calculating the first analog quantity sensing signal and the second analog quantity sensing signal by using a core circuit to obtain the rotating speeds of the first rotor and the second rotor;
providing an analog quantity control circuit, and enabling the analog quantity control circuit to respectively transmit a first control signal and a second control signal to a first driver and a second driver according to the rotating speeds of the first rotor and the second rotor calculated by the core circuit; and
and the first driver and the second driver simultaneously output a first driving signal and a second driving signal to the double-rotor motor.
In some embodiments, the double-rotor motor control method includes: the core circuit is used for carrying out subdivision calculation on the first analog quantity sensing signal and the second analog quantity sensing signal so as to obtain the rotating speeds of the first rotor and the second rotor, wherein the adopted calculation method comprises the following steps:
subdividing a magnetic field period theta into n subdivision values, wherein each subdivision value corresponds to the range of tan values, and the sampling value of analog-to-digital conversion corresponds to the position of a pair of polar magnetic fields of motor magnetic steel, so that the actual operating position of the motor is obtained, and further the rotating speeds of the first rotor and the second rotor are obtained; wherein
tanθ=
sinθ=
=
cosθ=
=
；
θ=arctan(
)
In the above formula, Yh and Yl areRespectively acquiring the highest value and the lowest value of a magnetic field by analog quantity, wherein Ym is a central voltage value, Ys and Yc are respectively acquired data in real time in a sine direction and data in real time in a cosine direction, and n is greater than 0 and less than or equal to 4095 (namely, 12-bit resolution, (2)12-1））。
The embodiment of the invention also provides a double-rotor motor control assembly, which comprises an analog Hall sampling circuit and an analog quantity control circuit, wherein the analog Hall sampling circuit and the analog quantity control circuit are respectively connected with the core circuit; wherein, analog Hall sampling circuit includes:
at least two groups of sine and cosine analog Hall sensors arranged corresponding to a first rotor of the double-rotor motor are used for collecting a first analog quantity sensing signal corresponding to the first rotor,
at least two other groups of sine and cosine analog Hall sensors which are arranged corresponding to a second rotor of the double-rotor motor are used for acquiring a second analog quantity sensing signal corresponding to the second rotor;
the core circuit is at least used for respectively calculating the first analog sensing signal and the second analog sensing signal so as to obtain the rotating speeds of the first rotor and the second rotor;
the analog quantity control circuit is used for respectively transmitting a first control signal and a second control signal to the first driver and the second driver according to the rotating speeds of the first rotor and the second rotor calculated by the core circuit, and enabling the first driver and the second driver to simultaneously output a first driving signal and a second driving signal to the double-rotor motor.
Compared with the prior art, the control method provided by the invention can simply and effectively realize the control of the double-rotor motor, has higher control precision, can obviously improve the reliability of the system while ensuring the synchronous operation of the double-rotor motor, and is widely suitable for various application occasions such as industry, military industry and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a dual rotor motor control assembly in accordance with an exemplary embodiment of the present invention;
FIG. 2 is a schematic diagram of the operation of an analog Hall sampling circuit in an exemplary embodiment of the invention;
FIG. 3 is a schematic diagram illustrating the control of a dual rotor motor in accordance with an exemplary embodiment of the present invention;
fig. 4 is a schematic structural view of a dual-rotor motor according to an exemplary embodiment of the present invention;
FIG. 5 is a schematic diagram of a digital Hall sensor signal in an exemplary embodiment of the invention;
FIG. 6 is a schematic diagram of a digital Hall sensor redundancy design in an exemplary embodiment of the invention;
fig. 7 is a schematic diagram of a control principle of a dual-rotor motor based on a digital hall sampling circuit according to an exemplary embodiment of the present invention;
description of reference numerals: 1-core circuit, 2-first driver, 3-second driver, 4-double rotor motor, 5-given speed N, 6-first Hall feedback signal, 7-second Hall feedback signal, 8-first control signal and first electrical angle signal, 9-second control signal and second electrical angle signal, 10-first drive signal, 11-second drive signal, 12-stator, 13-first rotor, 14-second rotor, 15-first rotating shaft, 16-second rotating shaft, 17-first rotor magnetic steel, 18-second rotor magnetic steel, 19-first group Hall sensor, 20-second group Hall sensor, 21-third group Hall sensor, 22-fourth group Hall sensor, 23-first rotor rotating speed calculator, 24-second rotor speed calculator, 25-first rotor sensor signal velocimeter, 26-second rotor sensor signal velocimeter, 27-first rotor electrical angle calculator, 28-second rotor electrical angle calculator, 29-first rotor PI controller, 30-second rotor PI controller.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application are further described in detail below by way of embodiments and with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The numbering of the components as such, e.g., "first", "second", etc., is used herein only to distinguish the objects as described, and does not have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings). In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
An aspect of an embodiment of the present invention provides a method for controlling a dual-rotor motor, including:
providing an analog Hall sampling circuit, respectively acquiring a first analog quantity sensing signal and a second analog quantity sensing signal corresponding to a first rotor and a second rotor of a double-rotor motor by using at least two groups of sine and cosine analog Hall sensors, and respectively calculating the first analog quantity sensing signal and the second analog quantity sensing signal by using a core circuit to obtain the rotating speeds of the first rotor and the second rotor;
providing an analog quantity control circuit, and enabling the analog quantity control circuit to respectively transmit a first control signal and a second control signal to a first driver and a second driver according to the rotating speeds of the first rotor and the second rotor calculated by the core circuit; and
and the first driver and the second driver simultaneously output a first driving signal and a second driving signal to the double-rotor motor.
In some embodiments, the analog hall sampling circuit includes at least two sets of sensors corresponding to a first rotor setting and at least two other sets of sensors corresponding to a second rotor setting; at least two groups of sensors corresponding to the same rotor comprise a plurality of sine and cosine analog Hall sensors, wherein any one of the sine and cosine analog Hall sensors in one group of sensors is installed at the same electrical angle with a corresponding one of the sine and cosine analog Hall sensors in the other group of sensors, and the electrical angles of the phase difference between any two adjacent sine and cosine analog Hall sensors in the same group of sensors are the same; the first analog quantity sensing signal and the second analog quantity sensing signal are magnetic steel signals of the first rotor and the second rotor respectively.
In some embodiments, the method for controlling a dual-rotor motor includes: the core circuit is used for carrying out subdivision calculation on the first analog quantity sensing signal and the second analog quantity sensing signal so as to obtain the rotating speeds of the first rotor and the second rotor, wherein the adopted calculation method comprises the following steps:
subdividing a magnetic field period theta into n subdivision values, wherein each subdivision value corresponds to the range of tan values, and the sampling value of analog-to-digital conversion corresponds to the position of a pair of polar magnetic fields of motor magnetic steel, so that the actual operating position of the motor is obtained, and further the rotating speeds of the first rotor and the second rotor are obtained; wherein
tanθ=
sinθ=
=
cosθ=
=
；
θ=arctan(
)
In the above formula, Yh and Yl are respectively the highest value and the lowest value of the analog quantity acquisition magnetic field, Ym is the central voltage value, Ys and Yc are respectively sine direction real-time acquisition data and cosine direction real-time acquisition data, and n is greater than 0 and less than or equal to 4095.
In some embodiments, the method for controlling a dual-rotor motor includes: one group of sensors among at least two groups of sensors corresponding to the same rotor is preferentially selected to feed back the sensing signals of the rotor, when any sine-cosine analog Hall sensor in one group of sensors has a fault, one sine-cosine analog Hall sensor in the other group of sensors corresponding to the any sine-cosine analog Hall sensor is selected to be combined with the rest sine-cosine analog Hall sensors in the group of sensors to form a new group of sensors, and the new group of sensors are used for feeding back the sensing signals of the rotor.
In some embodiments, the sine and cosine analog hall sensors are both fixedly arranged on the stator of the double-rotor motor.
In some embodiments, the control method may further include:
providing a digital Hall sampling circuit, respectively acquiring a first digital sensing signal and a second digital sensing signal corresponding to a first rotor and a second rotor of a double-rotor motor by using at least two groups of digital Hall sensors, and respectively calculating the first digital sensing signal and the second digital sensing signal by using a core circuit to obtain the rotating speeds of the first rotor and the second rotor;
providing a digital quantity control circuit, and enabling the digital quantity control circuit to respectively transmit a third control signal and a fourth control signal to a first driver and a second driver according to the rotating speeds of the first rotor and the second rotor calculated by the core circuit; and
and the first driver and the second driver simultaneously output a first driving signal and a second driving signal to the double-rotor motor.
That is, in some cases (using the analog hall sampling circuit alone), the first and second drive signals correspond to the first and second control signals, respectively. In other cases (where both the analog hall sampling circuit and the digital hall sampling circuit are used), the first driving signal and the second driving signal respectively correspond to a combination of the first control signal and the third control signal and a combination of the second control signal and the fourth control signal, so as to control the motor more accurately and reliably.
Further, at least two sets of digital hall sensors may be provided corresponding to both the first rotor and the second rotor.
Furthermore, the digital hall sensor is also used for detecting magnetic steel signals of corresponding rotors in the dual-rotor motor.
Further, the digital sensor is also fixedly arranged on the stator of the double-rotor motor.
Furthermore, at least two groups of digital Hall sensors corresponding to the same rotor respectively comprise a plurality of digital Hall sensors, wherein any one digital Hall sensor in one group of sensors is installed at the same electrical angle with a corresponding digital Hall sensor in the other group of digital Hall sensors, and the electrical angle of the phase difference between any two adjacent digital Hall sensors in the same group of digital Hall sensors is the same.
Furthermore, one group of digital hall sensors is preferentially selected from at least two groups of digital hall sensors corresponding to the same rotor to feed back the sensing signal of the rotor, when any one digital hall sensor in the group of digital hall sensors has a fault, one digital hall sensor in the other group of digital hall sensors corresponding to the any one digital hall sensor is selected to be combined with the rest digital hall sensors in the group of digital hall sensors to form a new group of digital hall sensors, and the new group of digital hall sensors feeds back the sensing signal of the rotor.
Further, the core circuit may be used to process the first sensing signal and the second sensing signal to obtain a rotation speed N1 of the first rotor and a rotation speed N2 of the second rotor, and perform feedback adjustment on N1 and N2 and the effective rotation speed values M1 and M2, respectively, so as to obtain a first control signal and a second control signal; wherein, M1= N × p1+ a1, M2= N × p2+ a2, N is a given rotation speed, p1 and p2 are actual rotation speed ratios of the first rotor and the second rotor, respectively, a1 and a2 are offset rotation speeds of the first rotor and the second rotor, p1 and p2 are integers or fractions, and a1 and a2 are integers.
Further, when M1= M2, the first rotor and the second rotor operate at the same speed; when M1 or M2 is negative, the first rotor or the second rotor rotates in reverse direction (for example, M1= -500.5 represents motor reverse rotation 500.5 revolutions/second, and M1=100.2 represents motor forward rotation 100.2 revolutions/second); when p1= p2, the first rotor and the second rotor maintain a fixed rotational speed difference (a1-a 2).
Further, a sensor signal velometer in the core circuit can be used for processing the first sensing signal and the second sensing signal to obtain a rotating speed N1 of the first rotor and a rotating speed N2 of the second rotor, and performing feedback adjustment on N1 and N2 and effective rotating speed values M1 and M2 respectively to obtain a first control signal and a second control signal, wherein the first control signal and the second control signal are current control signals;
processing the first sensing signal and the second sensing signal by an electrical angle calculator in the core circuit to obtain a first electrical angle signal of the first rotor and a second electrical angle signal of the second rotor;
and the first control signal and the first electrical angle signal are transmitted to a first driver, and the second control signal and the second electrical angle signal are transmitted to a second driver.
In some embodiments, two sets of coil windings are fixedly disposed on a stator of the dual-rotor motor, the first rotating shaft and the second rotating shaft are respectively fixed on the first rotor and the second rotor, the second rotating shaft is sleeved on the first rotating shaft and does not directly contact with the first rotating shaft and the second rotating shaft, and output shafts of the first rotating shaft and the second rotating shaft are in the same direction.
Through simulating hall feedback control with analog quantity hall sampling circuit, can reach higher control accuracy, and under some special circumstances, for example motor magnet steel sine and cosine signal is nonstandard, and the deviation is great, and when being difficult to the compensation, can carry out digital hall feedback control with digital hall sampling circuit.
In another aspect of the embodiment of the present invention, a dual-rotor motor control assembly includes an analog hall sampling circuit and an analog quantity control circuit, which are respectively connected to a core circuit; wherein, analog Hall sampling circuit includes:
at least two groups of sine and cosine analog Hall sensors arranged corresponding to a first rotor of the double-rotor motor are used for collecting a first analog quantity sensing signal corresponding to the first rotor,
at least two other groups of sine and cosine analog Hall sensors which are arranged corresponding to a second rotor of the double-rotor motor are used for acquiring a second analog quantity sensing signal corresponding to the second rotor;
the core circuit is at least used for respectively calculating the first analog sensing signal and the second analog sensing signal so as to obtain the rotating speeds of the first rotor and the second rotor;
the analog quantity control circuit is used for respectively transmitting a first control signal and a second control signal to the first driver and the second driver according to the rotating speeds of the first rotor and the second rotor calculated by the core circuit, and enabling the first driver and the second driver to simultaneously output a first driving signal and a second driving signal to the double-rotor motor.
In some embodiments, at least two sets of sensors corresponding to the same rotor each include a plurality of sine and cosine analog hall sensors, wherein any one of the sine and cosine analog hall sensors in one set of sensors is installed at the same electrical angle as a corresponding one of the sine and cosine analog hall sensors in another set of sensors, and the electrical angle of the phase difference between any two adjacent sine and cosine analog hall sensors in the same set of sensors is the same, and the first analog sensing signal and the second analog sensing signal are magnetic steel signals of the first rotor and the second rotor, respectively. The multi-group sine and cosine analog Hall sensors (namely redundancy design) are mounted on the stators of the double-rotor motor, so that the synchronous operation of the double-rotor motor can be ensured, and the reliability of motor control can be further improved.
Furthermore, in at least two groups of sensors corresponding to the same rotor, any sine and cosine analog hall sensor in each group of sensors can be replaced by a corresponding sine and cosine analog hall sensor in another group of sensors, so that the sine and cosine analog hall sensors and the rest sine and cosine analog hall sensors in each group of sensors are combined to form a new group of sensors for collecting the sensing signals of the rotor.
Further, the core circuit performs subdivision calculation on the first analog quantity sensing signal and the second analog quantity sensing signal, so as to obtain the rotating speeds of the first rotor and the second rotor, wherein the adopted calculation method comprises the following steps:
subdividing a magnetic field period theta into n subdivision values, wherein each subdivision value corresponds to the range of tan values, and the sampling value of analog-to-digital conversion corresponds to the position of a pair of polar magnetic fields of motor magnetic steel, so that the actual operating position of the motor is obtained, and further the rotating speeds of the first rotor and the second rotor are obtained; wherein
tanθ=
sinθ=
=
cosθ=
=
；
θ=arctan(
)
In the above formula, Yh and Yl are respectively the highest value and the lowest value of the analog quantity acquisition magnetic field, Ym is the central voltage value, Ys and Yc are respectively the real-time acquisition data in the sine direction and the real-time acquisition data in the cosine direction, and n is greater than 0 and less than or equal to 4095, preferably 4095.
In some embodiments, the dual-rotor motor control assembly may further include a digital hall sampling circuit connected to the core circuit, a digital quantity control circuit; wherein, digital hall sampling circuit includes:
at least two groups of digital Hall sensors arranged corresponding to a first rotor of the double-rotor motor are used for acquiring a first digital sensing signal corresponding to the first rotor,
the two groups of digital Hall sensors are arranged corresponding to a second rotor of the double-rotor motor and are used for acquiring second digital quantity sensing signals corresponding to the second rotor;
the core circuit is further used for calculating the first digital quantity sensing signal and the second digital quantity sensing signal respectively so as to obtain the rotating speeds of the first rotor and the second rotor;
the digital quantity control circuit is used for respectively transmitting a third control signal and a fourth control signal to the first driver and the second driver according to the rotating speeds of the first rotor and the second rotor calculated by the core circuit, and enabling the first driver and the second driver to simultaneously output a first driving signal and a second driving signal to the double-rotor motor.
Furthermore, any one digital hall sensor in one group of digital hall sensors is installed at the same electrical angle with a corresponding one digital hall sensor in the other group of digital hall sensors, and the electrical angle of the phase difference between any two adjacent digital hall sensors in the same group of digital hall sensors is the same.
Furthermore, in at least two groups of digital hall sensors corresponding to the same rotor, any digital hall sensor in each group of digital hall sensors can be replaced by a corresponding digital hall sensor in another group of digital hall sensors, so that the digital hall sensors and the rest digital hall sensors in each group of digital hall sensors are combined to form a new group of digital hall sensors for collecting the sensing signals of the rotor.
Furthermore, Proportional Integral (PI) adjustment can be carried out on the speed fed back by the two rotors and the given speed of the motor through the digital Hall sensor, and control signals of the two rotors are obtained respectively. The controller synchronously adjusts the rotating speeds of the two rotors according to the rotating speed proportion and the offset, sends control signals to two drivers of the double-rotor motor, and the drivers perform current loop control on the motor. The synchronous operation of the double-rotor motor can be further ensured by mounting a plurality of groups of digital Hall sensors on the stator of the double-rotor motor, and the control reliability of the double-rotor motor is further improved.
In some embodiments, the sine and cosine analog hall sensor and the digital hall sensor may be fixedly disposed on the stator of the dual-rotor motor.
In some embodiments, two sets of coil windings are fixedly disposed on a stator of the dual-rotor motor, the first rotating shaft and the second rotating shaft are respectively fixed on the first rotor and the second rotor, the second rotating shaft is sleeved on the first rotating shaft and does not directly contact with the first rotating shaft and the second rotating shaft, and output shafts of the first rotating shaft and the second rotating shaft are in the same direction.
In some embodiments, the dual-rotor motor control assembly further comprises a power supply circuit, a communication circuit, a power-on protection circuit, a display circuit and the like which are respectively connected with the core circuit.
Fig. 1 is a schematic structural diagram of a dual-rotor motor control assembly according to an exemplary embodiment of the present invention, which may include a power circuit, a core circuit, a communication circuit, a power-on protection circuit, a digital hall sampling circuit, an analog hall sampling circuit, an operation panel, a digital control circuit, an analog control circuit, a display circuit, and so on.
The analog quantity Hall sampling circuit is mainly used for sampling two groups of sine and cosine analog Hall sensors, and subdividing and calculating sensor signals through a core circuit to accurately obtain a motor speed value.
The digital Hall sampling circuit is mainly used for sampling two groups of three-phase digital Hall sensors and calculating the speed of the motor through a core circuit.
The digital quantity control circuit and the analog quantity control circuit are mainly used for sending instructions to two drivers of the double-rotor motor.
The communication circuit is used for sending instructions to the controller by the external unit and interacting the running state of the controller.
The power-on protection circuit is used for monitoring the controller in real time and protecting the controller from overcurrent, overvoltage, overtemperature and the like.
The display circuit is used for displaying the current running state of the controller.
The core circuit is connected with a power supply circuit, a communication circuit, a power-on protection circuit, a digital Hall sampling circuit, an analog Hall sampling circuit, an operation panel, a digital quantity control circuit, an analog quantity control circuit, a display circuit and the like, and is used for carrying out data exchange, data processing and the like on the components. The core circuit may employ an MCU, an FPGA or other elements or devices having data processing, storing and the like functions, such as a computer and the like, without being limited thereto.
The structure of the double-rotor motor according to the exemplary embodiment can be seen in fig. 4, in which two sets of coil windings are fixed to the stator 12, the first rotating shaft 15 is fixed to the first rotor 13, and the second rotating shaft 16 is fixed to the second rotor 14. The output shafts of the first rotating shaft 15 and the second rotating shaft 16 are in the same direction, and the second rotating shaft 16 is sleeved outside the first rotating shaft 15 in a hollow mode.
Referring to fig. 2, in the embodiment, the analog hall sampling circuit, the core circuit and the analog control circuit are mainly used in cooperation to control the motor. Wherein the sensor signal H1 on the first rotor 13 is generated by the first and second sets of sine-cosine analog hall sensors 19, 20. The two sets of sine and cosine analog hall sensors 19 and 20 are installed at the same electrical angle, wherein the output signals of the four sine and cosine analog hall sensors are H1S and H1C which have a 90 ° electrical angle difference, and H1S and H1S ', and H1C and H1C'. The sensor signal H2 of the second rotor 14 is generated by the third and fourth sets of sine-cosine analog hall sensors 21 and 22 in the same manner as above. Of course, the sensors for each rotor may also be three or more groups, and each group of sine-cosine analog hall sensors may also include four or more sine-cosine analog hall sensors, where any two adjacent sine-cosine analog hall sensors may all be different by the same electrical angle.
The speed calculation mode of the core circuit is as follows:
(1) the tan value was calculated from the sin/cos value. In a pair of poles, the same tan value corresponds to two positions, and then the range of the sin value is referred to calculate the corresponding specific position in the pair of poles (within 2 pi period).
(2) Editing a ROM table in a program, and subdividing one magnetic field period into 4096; each detail value corresponds to a range of tan values. And the sampling value obtained by analog-to-digital conversion corresponds to the position of a pair of polar magnetic fields, so that the actual running position of the motor is obtained.
(3) The highest value of the analog quantity acquisition magnetic field is Yh, the lowest value is Yl, and the central voltage value is Ym; acquiring data Ys in real time in the sine direction and Yc in the cosine direction;
sinθ=
=
cosθ=
=
tanθ=
θ=arctan(
)
theta is subdivided into (0-4095).
And then, the analog quantity control circuit respectively transmits a first control signal and a second control signal to the first driver and the second driver according to the rotating speeds of the first rotor and the second rotor calculated by the core circuit, and the first driver and the second driver simultaneously output the first driving signal and the second driving signal to the double-rotor motor, so that the control of the double-rotor motor is realized.
Furthermore, as an alternative scheme under special conditions, the double-rotor motor can be better controlled by the combination of a digital Hall sampling circuit, a core circuit and a digital control circuit. Referring to fig. 3, the digital hall sampling circuit 1 obtains sensor signals H1 (i.e., the first sensor signal 6) and H2 (i.e., the second sensor signal 7) of the first rotor 13 and the second rotor 14 through feedback of the digital hall sensors on the dual-rotor motor 4.
The first rotor control signal Iq1 and the electrical angle signal ω 1 (i.e., the first control signal and the first electrical angle signal 8) and the second rotor control signal Iq2 and the electrical angle signal ω 2 (i.e., the second control signal and the second electrical angle signal 9) are obtained with a core circuit by performing internal control processing on a given rotation speed 5 (defined as N) and the sensor signals H1, H2, respectively.
The two control signals and the electrical angle signal are sent to the first driver 2 and the second driver 3 by the digital control circuit, and the two drivers control the dual-rotor motor 4 by the first driving signal 10 and the second driving signal 11. In fig. 1, the direction indicated by a straight arrow is a transmission direction of a signal or current.
Further, a first group of digital hall sensors 19 and a second group of digital hall sensors 20 can be arranged to detect the first magnetic steel 17 signal on the first rotor 13; the third group of digital hall sensors 21 and the fourth group of digital hall sensors 22 detect the signal of the second magnetic steel 18 on the second rotor 14. The four sets of digital hall sensors are fixed to the stator 12.
With continued reference to fig. 5, the sensor signal H1 on the first rotor 13 is generated by the first and second sets of digital hall sensors 19 and 20. The two sets of digital hall sensors 19, 20 are mounted at the same electrical angle, wherein the six digital hall sensor output signals are H1A, H1B, H1C, H1A ', H1B ', H1C '. H1A, H1B, H1C differ by 120 ° in electrical angle, with H1A being consistent with H1A ', H1B being consistent with H1B ', and H1C being consistent with H1C ' signals. The sensor signal H2 of the second rotor 14 is generated by the third and fourth sets of digital hall sensors 21, 22 in the same manner as above. Of course, the sensors for each rotor may also be three or more groups, and each group of digital hall sensors may also include four or more digital hall sensors, where any two adjacent digital hall sensors may all differ by the same electrical angle.
With continued reference to fig. 6, when the digital quantity control circuit controls the first driver 2, a first set of digital hall sensors 19 is preferred. When the first group of digital hall sensors 19 fails, the controller determines which hall (e.g., H1A) fails, and switches to the corresponding digital hall sensor (e.g., H1A ') with the same electrical angle of the second group of digital hall sensors 20 in real time, and then the controller obtains a new combination of digital hall sensors (e.g., H1A', H1B, and H1C) for controlling the first rotor 13. When the digital quantity control circuit controls the second driver 3, the third group of digital hall sensors 21 is preferred, in the same manner as above.
Further, referring to fig. 7, the sensor signals H1 and H2 respectively obtain the rotation speeds N1 and N2 of the two rotors through the first rotor sensor signal velocimeter 25 and the second rotor sensor signal velocimeter 26 inside the core circuit. At the same time, the first speed calculator 23 and the second speed calculator 24 respectively obtain effective speed values M1 and M2 of the two rotors from the given speed N. N1 and N2 respectively perform feedback regulation with M1 and M2, and obtain current control signals Iq1 and Iq2 of two drivers through the first rotor PI controller 29 and the second rotor PI controller 30, and the two drivers simultaneously perform current loop control on the dual-rotor motor. The sensor signals H1 and H2 derive the electrical angles ω 1, ω 2 of the two rotors by the first rotor electrical angle calculator 27 and the second rotor electrical angle calculator 28 inside the core circuit, and the electrical angle signals are sent to the two drivers simultaneously for driver current loop control.
The aforementioned effective rotational speed values M1, M2 are obtained by multiplying the given rotational speed N by the actual rotational speed ratios p1, p2 of the two rotors, respectively, plus the offset rotational speeds a1, a2, i.e.: m1= N × p1+ a1, M2= N × p2+ a2, where p1 and p2 may be integers or fractions, and a1 and a2 are integers. When M1= M2, the two rotors run at the same speed; when M1 or M2 is negative, the corresponding rotor is reversed; when p1= p2, the two rotors maintain a fixed difference in rotational speed, which is (a1-a 2).
The aforementioned given speed N (i.e., the revolution speed command) may be given in the form of communication RS485, CAN, or the like.
The aforementioned current control signal and electrical angle signal transmitted to the two drivers may be given by the form of communication RS485, CAN, or the like.
The method provided by the embodiment can realize synchronous control of the double rotors, is particularly suitable for controlling the double-rotor motor of the type, and is widely suitable for various application occasions by synchronously adjusting the rotating speeds of the two rotors through the rotating speed proportion and the offset, and further can further enhance the reliability of a control system by simultaneously adopting the Hall redundancy design.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (10)
1. A method of controlling a dual rotor motor, comprising:
providing an analog Hall sampling circuit, respectively acquiring a first analog quantity sensing signal and a second analog quantity sensing signal corresponding to a first rotor and a second rotor of a double-rotor motor by using at least two groups of sine and cosine analog Hall sensors, and respectively calculating the first analog quantity sensing signal and the second analog quantity sensing signal by using a core circuit to obtain the rotating speeds of the first rotor and the second rotor;
providing an analog quantity control circuit, and enabling the analog quantity control circuit to respectively transmit a first control signal and a second control signal to a first driver and a second driver according to the rotating speeds of the first rotor and the second rotor calculated by the core circuit; and
and the first driver and the second driver simultaneously output a first driving signal and a second driving signal to the double-rotor motor.
2. The double-rotor motor control method according to claim 1, characterized in that: the analog Hall sampling circuit comprises at least two groups of sensors arranged corresponding to the first rotor and at least two other groups of sensors arranged corresponding to the second rotor; at least two groups of sensors corresponding to the same rotor comprise a plurality of sine and cosine analog Hall sensors, wherein any one of the sine and cosine analog Hall sensors in one group of sensors is installed at the same electrical angle with a corresponding one of the sine and cosine analog Hall sensors in the other group of sensors, and the electrical angles of the phase difference between any two adjacent sine and cosine analog Hall sensors in the same group of sensors are the same; the first analog quantity sensing signal and the second analog quantity sensing signal are magnetic steel signals of the first rotor and the second rotor respectively.
3. The double-rotor motor control method according to claim 2, characterized by comprising: the core circuit is used for carrying out subdivision calculation on the first analog quantity sensing signal and the second analog quantity sensing signal so as to obtain the rotating speeds of the first rotor and the second rotor, wherein the adopted calculation method comprises the following steps:
subdividing a magnetic field period theta into n subdivision values, wherein each subdivision value corresponds to the range of tan values, and the sampling value of analog-to-digital conversion corresponds to the position of a pair of polar magnetic fields of motor magnetic steel, so that the actual operating position of the motor is obtained, and further the rotating speeds of the first rotor and the second rotor are obtained; wherein
tanθ=
sinθ=
=
cosθ=
=
；
θ=arctan(
)
In the above formula, Yh and Yl are respectively the highest value and the lowest value of the analog quantity acquisition magnetic field, Ym is the central voltage value, Ys and Yc are respectively sine direction real-time acquisition data and cosine direction real-time acquisition data, and n is greater than 0 and less than or equal to 4095.
4. The double-rotor motor control method according to claim 2, characterized by comprising: one group of sensors among at least two groups of sensors corresponding to the same rotor is preferentially selected to feed back the sensing signals of the rotor, when any sine-cosine analog Hall sensor in one group of sensors has a fault, one sine-cosine analog Hall sensor in the other group of sensors corresponding to the any sine-cosine analog Hall sensor is selected to be combined with the rest sine-cosine analog Hall sensors in the group of sensors to form a new group of sensors, and the new group of sensors are used for feeding back the sensing signals of the rotor.
5. The double-rotor motor control method according to claim 1, characterized in that: and the sine and cosine analog Hall sensors are fixedly arranged on the stator of the dual-rotor motor.
6. The double-rotor motor control method according to claim 1, characterized in that: the double-rotor motor is characterized in that two sets of coil windings are fixedly arranged on a stator of the double-rotor motor, a first rotating shaft and a second rotating shaft are respectively fixed on the first rotor and the second rotor, the second rotating shaft is sleeved on the first rotating shaft and does not directly contact with the first rotating shaft and the second rotating shaft, and output shafts of the first rotating shaft and the second rotating shaft are in the same direction.
7. A double-rotor motor control assembly is characterized by comprising an analog Hall sampling circuit and an analog quantity control circuit which are respectively connected with a core circuit; wherein, analog Hall sampling circuit includes:
at least two groups of sine and cosine analog Hall sensors arranged corresponding to a first rotor of the double-rotor motor are used for collecting a first analog quantity sensing signal corresponding to the first rotor,
at least two other groups of sine and cosine analog Hall sensors which are arranged corresponding to a second rotor of the double-rotor motor are used for acquiring a second analog quantity sensing signal corresponding to the second rotor;
the core circuit is at least used for respectively calculating the first analog sensing signal and the second analog sensing signal so as to obtain the rotating speeds of the first rotor and the second rotor;
the analog quantity control circuit is used for respectively transmitting a first control signal and a second control signal to the first driver and the second driver according to the rotating speeds of the first rotor and the second rotor calculated by the core circuit, and enabling the first driver and the second driver to simultaneously output a first driving signal and a second driving signal to the double-rotor motor.
8. The dual rotor motor control assembly of claim 7, wherein: the at least two groups of sensors corresponding to the same rotor respectively comprise a plurality of sine and cosine analog Hall sensors, any one of the sine and cosine analog Hall sensors in one group of sensors is installed at the same electrical angle with a corresponding one of the sine and cosine analog Hall sensors in the other group of sensors, the electrical angle of the difference between any two adjacent sine and cosine analog Hall sensors in the same group of sensors is the same, and the first analog quantity sensing signal and the second analog quantity sensing signal are respectively magnetic steel signals of the first rotor and the second rotor.
9. The dual rotor motor control assembly of claim 7, wherein: the core circuit carries out subdivision calculation on the first analog quantity sensing signal and the second analog quantity sensing signal so as to obtain the rotating speeds of the first rotor and the second rotor, wherein the adopted calculation method comprises the following steps:
subdividing a magnetic field period theta into n subdivision values, wherein each subdivision value corresponds to the range of tan values, and the sampling value of analog-to-digital conversion corresponds to the position of a pair of polar magnetic fields of motor magnetic steel, so that the actual operating position of the motor is obtained, and further the rotating speeds of the first rotor and the second rotor are obtained; wherein
tanθ=
sinθ=
=
cosθ=
=
；
θ=arctan(
)
In the above formula, Yh and Yl are respectively the highest value and the lowest value of the analog quantity acquisition magnetic field, Ym is the central voltage value, Ys and Yc are respectively sine direction real-time acquisition data and cosine direction real-time acquisition data, and n is greater than 0 and less than or equal to 4095.
10. The dual-rotor motor control assembly of claim 7, further comprising a power circuit, a communication circuit, a power-on protection circuit, and a display circuit, each of which is connected to the core circuit.
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