CN111262487B - Intelligent high-power alternating-current servo drive system and servo drive control method - Google Patents
Intelligent high-power alternating-current servo drive system and servo drive control method Download PDFInfo
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- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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Abstract
An intelligent high-power AC servo drive system and a servo drive control method, comprising a controller, wherein the controller is communicated with a superior central controller through an Ethernet interface module, the controller is connected with a resolver shaft angle signal resolving device of a rotary transformer arranged on a shaft of an AC servo motor through a BISS bus module, the controller drives the high-power AC servo motor through a power amplifier drive circuit module, the controller samples and converts the input current of the AC servo motor through an LEM Hall sensor, a microprocessor arranged in the AC servo driver is adopted to complete the primary processing of real-time operation data, the processed output data is transmitted to the central controller, the central controller makes timely judgment on the load condition and the overall health condition of the engineering machinery driven by the servo system and the servo system according to the real-time parameters in operation, so as to ensure the safety and reliability of the engineering machinery and the smooth operation of the engineering operation.
Description
Technical Field
The invention belongs to the technical field of servo motor driving, and particularly relates to an intelligent high-power alternating-current servo driving system and a servo driving control method.
Background
The ac servo motor (generally referred to as a rare earth permanent magnet synchronous motor) has the characteristics of small volume, light weight, high efficiency, high power density and the like, and the working voltage of the ac servo motor can be relatively lower compared with an induction type ac motor. Based on these characteristics, ac servomotors are finding wider and wider applications, and ac servomotors are working together with ac servodrives, and generally the ac servomotors and ac servodrives are collectively referred to as an ac servo system. In recent years, people are exploring to use an alternating current servo system on some large-scale engineering machinery to improve the performance of the engineering machinery and meet special engineering requirements. These construction machines include large excavators, shield machines, dredge vessels, and the like. One of the characteristics of the application environments of these large-sized construction machines is that the space is narrow, and a power supply from a distribution station is generally used, which requires a large power density and a relatively small volume of a motor and a driver. The other characteristic of the application environment of the large-scale engineering machinery is that the load condition is complex and changes greatly, which causes the motor to work frequently under the overload condition and easily causes demagnetization, and due to the characteristic of the common alternating current servo motor, the severe change of the load can also cause chaotic oscillation. All of these requirements put forward some special requirements for the ac servo system applied to large-scale engineering machinery, and it is required to be able to make timely judgments on the load condition and the overall health condition of the engineering machinery driven by the servo system and the servo system according to the real-time parameters in operation, so as to ensure the safety and reliability of the engineering machinery itself and the smooth proceeding of the engineering operation. In the best scheme, the microprocessor built in the AC servo driver completes the preliminary processing of real-time running data, then transmits the processed output data to the central controller, and the central controller completes further processing and analysis and judgment. The current common AC servo system can not meet the requirements.
Disclosure of Invention
Technical problem to be solved
The invention relates to an intelligent high-power alternating current servo driving system and a servo driving control method, in particular to a high-power alternating current servo driving system and a servo driving control method which are suitable for engineering machinery and can adapt to a complex load environment.
(II) technical scheme
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides an intelligent high-power AC servo drive system, includes the controller, the controller passes through ethernet interface module and the central controller communication of superior, the controller is connected with the resolver shaft angle signal resolving device who is equipped with on the AC servo motor shaft through BISS bus module, the controller drives high-power AC servo motor through power amplifier drive circuit module, just the controller is through LEM hall sensor to AC servo motor input current sampling and conversion.
Further, the model of the controller is an STM32H750 chip.
Furthermore, the power amplifier driving circuit module comprises a three-phase inverter and adopts three IR2110 chips as a power amplifier driving circuit, and 6 paths of SVPWM signals output by the microprocessor STM32H750 are amplified and then are used for driving 6 IGBT switching tubes in the three-phase inverter.
Further, the BISS bus module comprises a CPLD chip, the CPLD chip is connected with the controller through a SPI communication mode, and the CPLD chip is connected with an RS422 bus driving chip MAX488 through an I/O mode, and is connected with a resolver shaft angle signal resolving device on an AC servo motor shaft through the MAX488 chip.
An intelligent high-power alternating current servo drive control method specifically comprises the following steps:
the method comprises the following steps: output current i to AC servo systema、ibDetecting, and obtaining quadrature axis current i through rotation transformationqAnd a direct axis current id(ii) a The method for obtaining the motor corner feedback value and the motor speed feedback value by taking the corner feedback value of the alternating current servo motor as a rotation conversion angle comprises the following steps: a reluctance type rotary transformer and an axial angle signal resolving device integrated with the reluctance type rotary transformer are installed on a shaft of an alternating current servo motor, the axial angle signal resolving device resolves motor angular position and speed signals output by the rotary transformer in an amplitude discrimination mode, converts the motor angular position and speed signals into BISS bus data and transmits the BISS bus data to a servo driver, and the servo driver obtains an angular feedback value of the motor through a BISS bus interface
And velocity feedback value
Step two: giving the angular position to the signal theta*Subtracting the angle of rotation feedback value
Obtaining a position following error, and obtaining a speed given signal omega through the compound control operation of proportion and feedforward*；
Step three: given the signal omega in speed*Subtracting the velocity feedback value
Obtaining a speed error, and obtaining a quadrature axis current given signal by the speed error through proportional-integral regulation operation of integral saturation resistance
This proportional-integral operation against integral saturation is called a speed controller operation;
step four: the quadrature axis current is given as a signal
With the quadrature axis current iqComparing to obtain quadrature axis current error, performing proportional integral operation of anti-integral saturation, and subtracting back electromotive force signal of direct axis from the result to obtain quadrature axis voltage uq；
Step five: setting the direct axis current given signal to 0, and then setting the direct axis current given signal and the direct axis current idComparing to obtain direct-axis current error, performing proportional-integral operation to obtain direct-axis voltage u, and adding back electromotive force signal of quadrature axis to obtain direct-axis voltage ud；
Step six: by motor angle feedback value
For the rotation angle, the quadrature axis voltage u is measuredqAnd the direct axis voltage udPerforming inverse rotation transformation to obtain orthogonal two-phase AC voltage reference signal uα、uβThen, for the AC voltage reference signal uα、uβAnd carrying out space vector pulse width modulation, wherein the obtained pulse width modulation signal is used for controlling an inverter and driving an alternating current servo motor.
Further, in the step one, a quadrature axis current feedback signal i is further providedqAnd a velocity feedback signal
Stored in a rolling overlay manner, each time covering every 0.5 second, i is formed on a time period of 0.5 secondqA data queue and
the data queue is respectively as follows: i.e. iq＝{iq(0),iq(1),iq(2)…iq(L-1) } and
using a two-dimensional array { a [ k, p ] calculated off-line and stored in the microprocessor of the servo driver]＝cos(2πpk/L)，k＝0,1,2…L-1，p＝0,1,2…L/2-1} and { b [ k, p]＝sin(2πpk/L)，k＝0,1,2…L-1p＝0,1,2…L/2-1}, performing DFT transformation as follows:
calculated frequency domain data { Fiq(p)p＝0,1,2…L/2-1} and
and the data is transmitted to the central controller once every 0.5 second through the Ethernet bus, so that the central controller can judge the running condition and the health condition of the high-power alternating current servo system and the driven engineering machinery.
(III) advantageous effects
The invention provides an intelligent high-power alternating current servo driving system and a servo driving control method, which adopt a microprocessor arranged in an alternating current servo driver to complete the primary processing of real-time operation data, then transmit the processed output data to a central controller, and the central controller makes timely judgment on the load condition and the overall health condition of the engineering machinery driven by the servo system and the servo system according to the real-time parameters in operation so as to ensure the safety and reliability of the engineering machinery and the smooth operation of the engineering machinery.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a block diagram of the control scheme of the AC servo drive system of the present invention;
FIG. 2 is a block diagram of the circuit structure of the AC servo driving system of the present invention;
FIG. 3 is a functional block diagram of an on-line DFT conversion of operating parameters of the AC servo drive system of the present invention;
FIG. 4 is a block diagram of the real-time control flow of the AC servo drive system of the present invention;
FIG. 5 is a circuit diagram of an AC servo driving system according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.
Referring to fig. 1-5, the present invention provides a technical solution: an intelligent high-power AC servo driver adopts an STM32H750 chip as a built-in controller to realize the control of the position, the speed, the quadrature axis current and the direct axis current of an AC servo motor, two LEM Hall sensors are used for detecting the current, and the sampling and the conversion of motor circuit signals are completed by utilizing a high-speed A/D channel of the STM32H 750. A reluctance type rotary transformer and a shaft angle signal resolving device are arranged on a shaft of an alternating current servo motor, position and speed signals of the motor are output through a BISS bus interface, a BISS bus interface is also arranged on an alternating current servo driver and used for receiving position and speed feedback signals of the motor, the BISS bus interface on the alternating current servo motor is realized by a programmable logic Chip (CPLD), the model of the CPLD chip is XC95288XL, a protocol stack of the BISS bus is realized through VHDL programming and is solidified into the CPLD chip, the chip is connected with an STM32H750 microprocessor through an SPI communication mode, a physical layer of the BISS bus is compatible with an RS422 bus protocol, so that the CPLD chip is connected with an RS422 bus driving chip MAX488 through an I/O mode, and the rotary transformer shaft angle signal resolving device on the shaft of the alternating current servo motor is driven by a MAX488 chip. The alternating current servo driver is communicated with a superior central controller through an Ethernet, the alternating current servo driver adopts a W5500 chip as an Ethernet interface, and the W5500 chip is connected with the STM32H750 microprocessor through an SPI communication mode. The alternating current servo driver adopts a three-phase inverter to drive a high-power alternating current servo motor, adopts three IR2110 chips as a power amplifier driving circuit, and amplifies 6 paths of SVPWM signals output by the microprocessor STM32H750 to drive 6 IGBT switching tubes in the three-phase inverter.
An intelligent high-power alternating current servo drive control method specifically comprises the following steps:
the method comprises the following steps: output current i to AC servo systema、ibDetecting, and obtaining quadrature axis current i through rotation transformationqAnd a direct axis current id(ii) a The method for obtaining the motor corner feedback value and the motor speed feedback value by taking the corner feedback value of the alternating current servo motor as a rotation conversion angle comprises the following steps: a reluctance type rotary transformer and an axial angle signal resolving device integrated with the reluctance type rotary transformer are installed on a shaft of an alternating current servo motor, the axial angle signal resolving device resolves motor angular position and speed signals output by the rotary transformer in an amplitude discrimination mode, converts the motor angular position and speed signals into BISS bus data and transmits the BISS bus dataThe rotation angle feedback value of the motor is obtained by the servo driver through a BISS bus interface
And velocity feedback value
Step two: giving the angular position to the signal theta*Subtracting the angle of rotation feedback value
Obtaining a position following error, and obtaining a speed given signal omega through the compound control operation of proportion and feedforward*；
Step three: given the signal omega in speed*Subtracting the velocity feedback value
Obtaining a speed error, and obtaining a quadrature axis current given signal by the speed error through proportional-integral regulation operation of integral saturation resistance
This proportional-integral operation against integral saturation is called a speed controller operation;
step four: the quadrature axis current is given as a signal
With the quadrature axis current iqComparing to obtain quadrature axis current error, performing proportional integral operation of anti-integral saturation, and subtracting back electromotive force signal of direct axis from the result to obtain quadrature axis voltage uq；
Step five: setting the direct axis current given signal to 0, and then setting the direct axis current given signal and the direct axis current idComparing to obtain direct-axis current error, performing proportional-integral operation to prevent integral saturation, and adding the result to counter-potential of quadrature axisSignal to finally obtain the direct axis voltage ud；
Step six: by motor angle feedback value
For the rotation angle, the quadrature axis voltage u is measuredqAnd the direct axis voltage udPerforming inverse rotation transformation to obtain orthogonal two-phase AC voltage reference signal uα、uβThen, for the AC voltage reference signal uα、uβAnd carrying out space vector pulse width modulation, wherein the obtained pulse width modulation signal is used for controlling an inverter and driving an alternating current servo motor.
In the first step, quadrature axis current feedback signal i is further providedqAnd a speed feedback limit signal
Stored in a rolling overlay manner, each time covering every 0.5 second, i is formed on a time period of 0.5 secondqA data queue and
the data queue is respectively as follows: i.e. iq＝{iq(0),iq(1),iq(2)…iq(L-1) } and
using a two-dimensional array { a [ k, p ] calculated off-line and stored in the microprocessor of the servo driver]＝cos(2πpk/L)，k＝0,1,2…L-1，p＝0,1,2…L/2-1} and { b [ k, p]＝sin(2πpk/L)，k＝0,1,2…L-1p＝0,1,2…L/2-1}, performing DFT transformation as follows:
calculated frequency domain data { Fiq(p)p＝0,1,2…L/2-1} and
and the data is transmitted to the central controller once every 0.5 second through the Ethernet bus, so that the central controller can judge the running condition and the health condition of the high-power alternating current servo system and the driven engineering machinery.
In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (1)
1. The utility model provides an intelligent high-power exchanges servo drive system which characterized in that: the controller comprises a controller, the model of controller is STM32H750 chip, realizes the control to exchanging servo motor's position, speed, quadrature axis electric current, direct axis electric current to two LEM hall sensor detection current, LEM hall sensor's output is connected with STM32H 750's AD passageway, the controller expertThe controller is communicated with a superior central controller through an Ethernet interface module, the controller is connected with a resolver shaft angle signal resolving device arranged on a shaft of an alternating current servo motor through a BISS bus module, position and speed signals of the motor are output through a BISS bus interface, a BISS bus interface is arranged on an alternating current servo driver and used for receiving position and speed feedback signals of the motor, the BISS bus module comprises a CPLD chip, the model of the CPLD chip is XC95288XL, the output interface chip of the shaft angle signal resolving device is MAX488, the alternating current servo driver receives signals output by a shaft angle encoder through another MAX488, the MAX interface chip is used for receiving signals output by the shaft angle encoder and is connected with an XC95288XL programmable logic device, the CPLD chip is connected with the controller through an SPI 488 communication mode, and the CPLD chip is connected with an RS422 bus driving chip MAX488 through an I/O mode, the shaft angle signal resolving device is connected with a rotary transformer shaft angle signal resolving device on a shaft of an AC servo motor through an MAX488 chip, a BISS bus protocol is executed by output signals of a shaft angle encoder, a BISS bus protocol stack is solidified in an XC95288XL programmable logic device, the XC95288XL programmable logic device is connected with an STM32H750 controller through an SPI interface, shaft angle position signals of the motor are fed back to the STM32H750 controller, the STM32H750 controller is also connected with an Ethernet protocol chip W5500 through another SPI interface to realize communication with a central controller at the upper level, the controller drives a high-power AC servo motor through a power amplifier driving circuit module, the controller samples and converts input current of the AC servo motor through an LEM Hall sensor, the power amplifier driving circuit module comprises a three-phase inverter and adopts three IR2110 chips to serve as a power amplifier driving circuit, 6 SVPWM signals output by the microprocessor STM32H750 are amplified to drive 6 IGBT switching tubes in the three-phase inverter, the STM32H750 controller controls the operation of the AC servo motor in a position, speed and current closed loop mode, and in the process of controlling the operation of the AC servo motor, a quadrature axis current feedback signal i is usedqAnd a speed feedback limit signal
Stored in a rolling overlay manner, each time covering every 0.5 second, i is formed on a time period of 0.5 secondqA data queue and
the data queue is used for carrying out frequency domain transformation compression on the stored time domain signals and transmitting frequency domain data to the central controller through the Ethernet bus, so that the central controller can judge the running conditions and the health conditions of the high-power alternating current servo system and the driven engineering machinery; i is describedqA data queue and
the data queues are respectively: i.e. iq＝{iq(0),iq(1),iq(2)…iq(L-1) } and
using a two-dimensional array { a [ k, p ] calculated off-line and stored in the microprocessor of the servo driver]Cos (2 pi pk/L), k 0,1,2 … L-1, p 0,1,2 … L/2-1, and { b [ k, p ]]Sin (2 pi pk/L), k 0,1,2 … L-1p 0,1,2 … L/2-1}, and DFT transform is performed as follows:
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