CN111327235A - Permanent magnet direct current motor phase-changing control device and method based on sliding-mode observer - Google Patents
Permanent magnet direct current motor phase-changing control device and method based on sliding-mode observer Download PDFInfo
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- CN111327235A CN111327235A CN202010270659.4A CN202010270659A CN111327235A CN 111327235 A CN111327235 A CN 111327235A CN 202010270659 A CN202010270659 A CN 202010270659A CN 111327235 A CN111327235 A CN 111327235A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/0007—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control
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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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Abstract
The invention discloses a sliding-mode observer-based permanent magnet direct current motor phase-changing control device and a method, wherein the device comprises a processor module, a voltage sampling module, a current sampling module, a photoelectric isolation module and the like; the input end of the processor module is connected with a voltage sampling module and a current sampling module, the output end of the processor module is connected with a photoelectric isolation module, and a sliding-mode observer is constructed by data obtained by the voltage sampling module and the current sampling module to realize phase change and closed-loop control of the motor; the input ends of the voltage sampling module and the current sampling module are connected with a permanent magnet direct current motor, and the output ends of the voltage sampling module and the current sampling module are connected with a processor module for outputting; the input end of the photoelectric isolation module is connected with the processor module output, and the output end of the photoelectric isolation module is connected with the driving circuit module; the input end of the drive circuit module is connected with the photoelectric isolation module, and the output end of the drive circuit module is connected with the permanent magnet direct current motor. The invention is applied to a permanent magnet direct current motor position sensorless control system, calculates the back electromotive force in real time and realizes the control of phase commutation.
Description
Technical Field
The invention relates to a permanent magnet direct current motor sensorless commutation control device, in particular to a permanent magnet direct current motor commutation control device and method based on a sliding-mode observer.
Background
The permanent magnet direct current motor body has the advantages of simple physical structure, quick speed regulation response, strong loading capacity, high power factor and the like. Therefore, the motor has important application value in the production activities of various fields of human beings.
In order to detect continuous rotor position information of the permanent magnet direct current motor and realize phase change control of the motor, the permanent magnet direct current motor generally adopts sensors such as an electromagnetic induction type sensor, a hall magnetic-sensing type sensor or a photoelectric type sensor to detect the rotor position. However, the position sensor not only increases the volume and cost of the motor and is difficult to maintain, but also is easily polluted by harmonic waves due to the complex external connection circuit of the sensor, so that the difficulty in the production method is increased, and the application of the permanent magnet direct current motor under the condition of high system requirements (such as satellite instruments) is greatly limited. Therefore, research on the position sensorless control system has become a hot spot of recent motor control disciplines.
Although the position detection device is no longer installed on the rotor, in the running process of the motor, in order to control the phase change of the motor caused by the turn-off and turn-on of the inverter power device, the position information of the rotor still needs to be obtained. The most widely used method at present is as follows: back emf zero crossing detection. However, the back electromotive force cannot be directly detected by the detection device, so that a mathematical model needs to be established by measuring electric signals such as current magnitude, voltage magnitude and the like which can be measured by the permanent magnet direct current motor body, and the back electromotive force zero crossing point is indirectly obtained by calculating the variation of the back electromotive force zero crossing point in real time, so that phase commutation control is realized.
The observer with known state quantity is constructed to obtain the observed value of the back electromotive force, so that the motor commutation control is realized, and the motor commutation control device has the characteristics of simple principle, good stability and the like.
Disclosure of Invention
The invention aims to solve the technical problem of providing a sliding-mode observer-based permanent magnet direct current motor commutation control device and method, which can be applied to a permanent magnet direct current motor sensorless control system to calculate back electromotive force in real time and realize commutation control. The commutation control device can stably run under the conditions of load sudden change and system parameter transformation by applying a sliding-mode observer.
In order to solve the technical problems, the invention is realized by adopting the following technical scheme:
the permanent magnet direct current motor commutation control device based on the sliding-mode observer comprises a processor module, a voltage acquisition module, a current acquisition module, a photoelectric isolation module and a driving circuit module; wherein,
the input end of the processor module is connected with a voltage sampling module and a current sampling module, the output end of the processor module is connected with a photoelectric isolation module, and a sliding-mode observer is constructed by data obtained by the voltage sampling module and the current sampling module to realize motor phase change and closed-loop control; the input ends of the voltage sampling module and the current sampling module are connected with a permanent magnet direct current motor, and the output ends of the voltage sampling module and the current sampling module are connected with a processor module for outputting; the input end of the photoelectric isolation module is connected with the processor module output, and the output end of the photoelectric isolation module is connected with the driving circuit module; the input end of the drive circuit module is connected with the photoelectric isolation module, and the output end of the drive circuit module is connected with the permanent magnet direct current motor.
The invention has the further improvement that the processor module adopts an STC15W404 singlechip which is used for analyzing and calculating the analog quantity data acquired by the voltage acquisition module and the current acquisition module to obtain the position information of the rotor and outputting a digital PWM signal for controlling the phase change of the permanent magnet direct current motor and calculating the rotating speed and the torque;
the voltage acquisition module is used for acquiring three-phase voltage analog quantity of the permanent magnet direct current motor and transmitting data to the processor module;
the current acquisition module adopts an LM358 operational amplifier and is used for acquiring three-phase current analog quantity of the permanent magnet direct current motor and transmitting data to the processor module;
the photoelectric isolation module adopts a P521-4 photoelectric isolation chip for realizing photoelectric conversion, isolates the STC15W404 singlechip from a motor drive circuit, avoids mutual interference of signals and avoids damage to the singlechip caused by overlarge feedback current signals;
the driving circuit module adopts a field effect transistor with the model number of IRF9540N and is used for controlling the rotation angle and the running speed of the motor and realizing the control of the duty ratio.
The permanent magnet direct current motor commutation control method based on the sliding-mode observer comprises the following steps: acquiring current and voltage signals of a rotor detection circuit, and carrying out Clark conversion on the current and voltage signals; constructing a sliding-mode observer, and obtaining a back electromotive force observation value through the sliding-mode observer; calculating the position of the motor rotor through the observed value of the back electromotive force so as to obtain the rotating speed of the motor; and carrying out rotating speed PI operation and torque PI operation to realize closed-loop control.
The invention has the further improvement that the current and voltage signals of the rotor detection circuit are obtained, Clark conversion is carried out on the current and voltage signals, and the current calculation process is as follows:
The mathematical model of the motor under the two-phase static coordinate system is as follows:
wherein
In the formula: i.e. iα、iβIs the stator current in a two-phase stationary frame; u. ofα、uβIs the stator voltage in the two-phase stationary coordinate system; e.g. of the typeα、eβIs the back electromotive force in the two-phase stationary coordinate system; r, L are winding phase resistance and equivalent inductance, respectively; psifIs a permanent magnet flux linkage; omega is the angular speed of the rotor; theta is the rotor angle.
The invention has the further improvement that a sliding-mode observer is constructed, and a back electromotive force observation value is obtained through the sliding-mode observer; the sliding-mode observer calculates as follows:
constructing a sliding-mode observer according to a mathematical model of a permanent magnet direct current motor
In the formula: ' is an observed value; k is a radical of1And k2Gain of sliding mode; f (-) is a switching function and adopts a symbolic function;
the error equation of the sliding-mode observer can be expressed as
Defining the section of the sliding mode as:
after the system enters the face of the slip form,
obtaining a back electromotive force observed value according to an error equation of the sliding-mode observer
Wherein:
the further improvement of the invention is that the position of the motor rotor is calculated through the observed value of the back electromotive force so as to obtain the rotating speed of the motor, and the calculation process is as follows:
the position of the motor rotor is as follows:
the rotating speed of the motor is as follows:
compared with the prior art, the invention has at least the following beneficial technical effects:
1. the permanent magnet direct current motor position sensorless control system is adopted, a rotor detection module does not need to be additionally installed, and the volume and the development cost of the permanent magnet direct current motor are further reduced;
2. the sliding-mode observer is adopted to calculate the back electromotive force to obtain the position of the rotor, so that the phase change of the motor is realized, the algorithm of the observer is relatively simple, and the position of the rotor obtained by a mathematical method is accurate;
3. the invention adopts a rotating speed and torque double closed-loop control system, and the whole system has good robustness;
4. the photoelectric isolation module adopts a P521-4 photoelectric isolation chip, the chip enables direct electrical signal connection between the PWM signal input by the processor and the drive bridge to be avoided, meanwhile, the circuit signal transmission is not interfered by external electromagnetic interference, and the anti-interference capability of the circuit is improved.
Drawings
FIG. 1 is a block diagram of a hardware system of the present invention;
FIG. 2 is a schematic diagram of a processor module of the present invention;
FIG. 3 is a schematic diagram of a voltage sampling module of the present invention;
FIG. 4 is a schematic diagram of a current sampling module of the present invention;
FIG. 5 is a schematic diagram of a photovoltaic isolation module according to the present invention;
FIG. 6 is a schematic diagram of a drive module of the present invention;
FIG. 7 is a flowchart of the main software routine of the present invention;
FIG. 8 is a flowchart of the software interrupt routine of the present invention.
Detailed Description
The technical solution of the present invention is further described in detail by the accompanying drawings.
As shown in fig. 1, the sliding-mode observer-based phase-change control device for a permanent magnet dc motor according to the present invention includes: the device comprises a processor module, a voltage sampling module, a current sampling module, a photoelectric isolation module and a driving circuit module. The analog quantity acquisition channel of the processor module is connected with the voltage sampling module and the current adopting module, and the digital PWM output end of the processor module is connected with the photoelectric isolation module. The photoelectric isolation module is connected with the driving circuit module for driving the permanent magnet synchronous motor. The driving circuit module is connected with three phases of a permanent magnet synchronous motor A, B, C.
As shown in fig. 2, the processor module is composed of an STC15W404 single chip microcomputer. The STC15W404 single chip microcomputer has the power supply range of 2.6-5.5V, the maximum normal working current of 0.1uA, a Flash space with the size of 4KB, an SRAM space with the size of 512 bytes and an EEPROM with the size of 9KB, and a reset circuit, a clock circuit and 6 paths of PWM output ports with extremely high reliability are arranged in the single chip microcomputer. The processor module is used for analyzing and calculating analog quantity data acquired by the voltage acquisition module and the current acquisition module to obtain rotor position information, and outputting digital PWM signals for controlling phase change of the permanent magnet direct current motor and calculating rotating speed and torque to the photoelectric isolation module.
As shown in fig. 3, the voltage sampling module is composed of a relevant resistor and a capacitor. The three-phase voltage of the permanent magnet direct current motor U, V, W is subjected to voltage reduction and low-pass filtering, and then signals are sent to the processor module. Wherein: r15 and R26 form a U-phase voltage drop circuit; r22 and R27 form a V-phase voltage drop circuit; r24 and R28 form a W-phase voltage drop circuit; wherein: r15 and C5 form a U-phase low-pass filter circuit; r22 and C6 form a V-phase low-pass filter circuit; r24 and C4 constitute a W-phase low-pass filter circuit. Wherein: r16, R23, R25 act as current limiters.
As shown in fig. 4, the current sampling module is composed of an LM358 operational amplifier, a relevant resistor, and a capacitor. Mainly send the three-phase current signal of permanent magnet direct current motor U, V, W to the processor module.
As shown in fig. 5, the optoelectronic isolation module is composed of P521-4 optoelectronic isolation chips P1 and P2 and related resistors. Four pins of the photoelectric isolation chip P1 are connected with the processor module (1), and two pins of the photoelectric isolation chip P2 are connected with the processor module. It mainly serves as: 1. realizing photoelectric conversion; 2. isolating the driving circuit module of the processor (5) to avoid signal interference; 3. avoid because too big singlechip of feedback current signal leads to damaging.
As shown in fig. 6, the driving circuit module is composed of field effect transistors VT1, VT2, VT3, VT4, VT5, VT6 of model IRF9540N, a relevant resistor, a freewheeling diode, a driving output port, and a power interface. The driving circuit module supplies power to the three-phase stator winding of the permanent magnet synchronous motor to drive the motor to operate. The on-off control state of each transistor of the driving circuit module is shown in table 1.
TABLE 1 ON-OFF CONTROL STATE OF TRANSISTOR
As shown in fig. 7, the software main program flow chart includes: 1. the system initialization, namely the configuration of the internal resources of the main processor module, mainly comprises: 1) setting an external interrupt triggering mode, 2) PWM output port configuration, 3) system clock resource configuration, and 4) control parameter configuration. 4) Configuring a communication means with the processor module. 2. The invention adopts a three-section starting method to finish the starting of the motor, which comprises the following steps: 1) rotor pre-positioning, 2) external synchronous acceleration, and 3) self-synchronous switching.
As shown in fig. 8, the software interrupt routine flow chart includes: 1) and acquiring current and voltage signals of the rotor detection circuit, and carrying out Clark conversion on the current and voltage signals. 2) And constructing a sliding-mode observer, and obtaining a back electromotive force observation value through the sliding-mode observer. 3) And calculating the position of the motor rotor through the observed value of the back electromotive force so as to obtain the rotating speed of the motor. 4) And the rotating speed and the torque are controlled in a closed loop mode.
The method comprises the following steps of 1) obtaining current and voltage signals of a rotor detection circuit, and carrying out Clark conversion on the current and voltage signals, wherein the current calculation process is as follows:
The mathematical model of the motor under the two-phase static coordinate system is as follows:
wherein
In the formula: i.e. iα、iβIs the stator current in a two-phase stationary frame; u. ofα、uβIs the stator voltage in the two-phase stationary coordinate system; e.g. of the typeα、eβIs the back electromotive force in the two-phase stationary coordinate system; r, L are winding phase resistance and equivalent inductance, respectively; psifIs a permanent magnet flux linkage; omega is the angular speed of the rotor; theta is the rotor angle.
And 2) constructing a sliding-mode observer, and obtaining a back electromotive force observation value through the sliding-mode observer. The sliding-mode observer calculates as follows:
constructing a sliding-mode observer according to a mathematical model of a permanent magnet direct current motor
In the formula: ' is an observed value; k is a radical of1And k2Gain of sliding mode; f (-) is a switching function and adopts a sign function.
The error equation of the sliding-mode observer can be expressed as
Defining the section of the sliding mode as:
after the system enters the face of the slip form,
according to the error equation of the sliding-mode observer, the observed value of the back electromotive force can be obtained as
Wherein:
and 3) calculating the position of the motor rotor through the observed value of the back electromotive force to further obtain the rotating speed of the motor, wherein the calculation process is as follows:
the position of the motor rotor is as follows:
the rotating speed of the motor is as follows:
and 4) rotating speed and torque closed-loop control, namely rotating speed PI operation and torque PI operation are carried out, and closed-loop control is realized.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and all simple modifications, changes and equivalent structural changes made to the above embodiment according to the technical spirit of the present invention still fall within the protection scope of the technical solution of the present invention.
Claims (6)
1. The sliding-mode observer-based permanent magnet direct current motor phase-changing control device is characterized by comprising a processor module, a voltage acquisition module, a current acquisition module, a photoelectric isolation module and a driving circuit module; wherein,
the input end of the processor module is connected with a voltage sampling module and a current sampling module, the output end of the processor module is connected with a photoelectric isolation module, and a sliding-mode observer is constructed by data obtained by the voltage sampling module and the current sampling module to realize motor phase change and closed-loop control; the input ends of the voltage sampling module and the current sampling module are connected with a permanent magnet direct current motor, and the output ends of the voltage sampling module and the current sampling module are connected with a processor module for outputting; the input end of the photoelectric isolation module is connected with the processor module output, and the output end of the photoelectric isolation module is connected with the driving circuit module; the input end of the drive circuit module is connected with the photoelectric isolation module, and the output end of the drive circuit module is connected with the permanent magnet direct current motor.
2. The sliding-mode observer-based permanent magnet direct current motor phase-changing control device is characterized in that an STC15W404 single chip microcomputer is adopted in a processor module and is used for analyzing and calculating analog quantity data acquired by a voltage acquisition module and a current acquisition module to obtain rotor position information and outputting digital PWM signals for controlling phase changing, rotating speed and torque calculation of a permanent magnet direct current motor;
the voltage acquisition module is used for acquiring three-phase voltage analog quantity of the permanent magnet direct current motor and transmitting data to the processor module;
the current acquisition module adopts an LM358 operational amplifier and is used for acquiring three-phase current analog quantity of the permanent magnet direct current motor and transmitting data to the processor module;
the photoelectric isolation module adopts a P521-4 photoelectric isolation chip for realizing photoelectric conversion, isolates the STC15W404 singlechip from a motor drive circuit, avoids mutual interference of signals and avoids damage to the singlechip caused by overlarge feedback current signals;
the driving circuit module adopts a field effect transistor with the model number of IRF9540N and is used for controlling the rotation angle and the running speed of the motor and realizing the control of the duty ratio.
3. The sliding-mode observer-based permanent magnet direct current motor phase-change control method is characterized in that the method is based on the sliding-mode observer-based permanent magnet direct current motor phase-change control device of claim 1 or 2, and comprises the following steps: acquiring current and voltage signals of a rotor detection circuit, and carrying out Clark conversion on the current and voltage signals; constructing a sliding-mode observer, and obtaining a back electromotive force observation value through the sliding-mode observer; calculating the position of the motor rotor through the observed value of the back electromotive force so as to obtain the rotating speed of the motor; and carrying out rotating speed PI operation and torque PI operation to realize closed-loop control.
4. The sliding-mode observer-based permanent magnet direct current motor phase change control method according to claim 3, wherein current and voltage signals of a rotor detection circuit are obtained, Clark transformation is performed on the current and voltage signals, and the current calculation process is as follows:
The mathematical model of the motor under the two-phase static coordinate system is as follows:
wherein
In the formula: i.e. iα、iβIs the stator current in a two-phase stationary frame; u. ofα、uβIs the stator voltage in the two-phase stationary coordinate system; e.g. of the typeα、eβIs the back electromotive force in the two-phase stationary coordinate system; r, L are winding phase resistance and equivalent inductance, respectively; psifIs a permanent magnet flux linkage; omega is the angular speed of the rotor; theta is the rotor angle.
5. The sliding-mode observer-based permanent magnet direct current motor phase-change control device is characterized in that a sliding-mode observer is constructed, and a back electromotive force observation value is obtained through the sliding-mode observer; the sliding-mode observer calculates as follows:
constructing a sliding-mode observer according to a mathematical model of a permanent magnet direct current motor
In the formula: ' is an observed value; k is a radical of1And k2Gain of sliding mode; f (-) is a switching function and adopts a symbolic function;
the error equation of the sliding-mode observer can be expressed as
Defining the section of the sliding mode as:
after the system enters the face of the slip form,
obtaining a back electromotive force observed value according to an error equation of the sliding-mode observer
Wherein:
6. the sliding-mode observer-based permanent magnet direct current motor phase-change control device is characterized in that the position of a motor rotor is calculated through a back electromotive force observation value so as to obtain the rotating speed of the motor, and the calculation process is as follows:
the position of the motor rotor is as follows:
the rotating speed of the motor is as follows:
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| CN202010270659.4A CN111327235A (en) | 2020-04-08 | 2020-04-08 | Permanent magnet direct current motor phase-changing control device and method based on sliding-mode observer |
| PCT/CN2020/105602 WO2021203589A1 (en) | 2020-04-08 | 2020-07-29 | Permanent magnet direct-current electric motor commutation control apparatus and method based on sliding mode observer |
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2020
- 2020-04-08 CN CN202010270659.4A patent/CN111327235A/en active Pending
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2021203589A1 (en) * | 2020-04-08 | 2021-10-14 | 西安热工研究院有限公司 | Permanent magnet direct-current electric motor commutation control apparatus and method based on sliding mode observer |
| CN114732300A (en) * | 2022-04-29 | 2022-07-12 | 深圳朗特智能控制股份有限公司 | Food processing equipment and food processing method thereof |
| CN114977974A (en) * | 2022-05-13 | 2022-08-30 | 北京航空航天大学 | Vibrating mirror motor system with digital-analog hybrid architecture and drive control method |
| CN114977974B (en) * | 2022-05-13 | 2024-07-02 | 北京航空航天大学 | Digital-analog hybrid architecture galvanometer motor system and driving control method |
| CN114928288A (en) * | 2022-06-09 | 2022-08-19 | 江苏科技大学 | Parameter identification-based underwater propeller sensorless control method and system |
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| WO2021203589A1 (en) | 2021-10-14 |
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Application publication date: 20200623 |