CN112003505A - DSP-based electric bicycle digital control system - Google Patents
DSP-based electric bicycle digital control system Download PDFInfo
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- CN112003505A CN112003505A CN202010857527.1A CN202010857527A CN112003505A CN 112003505 A CN112003505 A CN 112003505A CN 202010857527 A CN202010857527 A CN 202010857527A CN 112003505 A CN112003505 A CN 112003505A
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- dsp
- control system
- digital control
- motor
- inverter circuit
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- 230000003993 interaction Effects 0.000 claims abstract description 7
- 238000000034 method Methods 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 4
- 230000001143 conditioned effect Effects 0.000 claims 1
- 238000013461 design Methods 0.000 abstract description 4
- 230000007246 mechanism Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 230000001105 regulatory effect Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000013178 mathematical model Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000010349 pulsation Effects 0.000 description 1
- 230000008844 regulatory mechanism Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
- H02P6/085—Arrangements for controlling the speed or torque of a single motor in a bridge configuration
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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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
- H02P25/024—Synchronous motors controlled by supply frequency
- H02P25/026—Synchronous motors controlled by supply frequency thereby detecting the rotor position
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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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/16—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring
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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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
- H02P27/12—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque 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
- 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
Abstract
The invention discloses an electric bicycle digital control system based on DSP, which comprises a human-computer interaction interface, a DSP chip, a direct current power supply, an inverter circuit and a driving module, wherein the DSP chip is respectively connected with the human-computer interaction interface and the driving module; the system is programmable, insensitive to environment, capable of realizing accurate operation, adopting advanced algorithm and multi-stage auxiliary function, and easy to upgrade; complex control algorithms can be implemented in software without the need for complex analog circuit designs.
Description
Technical Field
The invention relates to the technical field of DSP, in particular to a DSP-based electric bicycle digital control system.
Background
The voltage regulation and speed regulation is the most commonly used speed regulation mode of a brushless direct current motor, which mainly changes the rotating speed of the motor by changing the voltage applied to two ends of an armature winding of the motor, and the speed regulation mode of downwards regulating the voltage of the motor from a rated voltage to control the rotating speed of the motor to downwards change from the rated rotating speed can realize the large-range smooth regulation of the rotating speed of a driving system, and comprises the following two modes:
1. the adjusting mode of the rotary deflector mechanism is as follows:
the rotary converter mechanism mainly comprises a prime motor and a generator which are combined to form a group of generator sets with adjustable output voltage. The pressure-regulating and speed-regulating device can well realize the pressure-regulating and speed-regulating functions, but has the defects of large volume, complex system and inconvenient maintenance, and the application of the pressure-regulating and speed-regulating device is limited.
2. The static deflector mechanism has the following adjusting modes:
the static current transformation mechanism is a current transformation device using a thyristor. The speed regulation mechanism has advantages over a rotary converter mechanism in speed regulation performance, economy and reliability, but still has the defects of low power factor and large voltage pulsation.
Disclosure of Invention
The present invention is directed to a digital control system for an electric bicycle based on a DSP, so as to solve the problems of the background art.
In order to achieve the purpose, the invention provides the following technical scheme:
the utility model provides an electric bicycle digital control system based on DSP, includes human-computer interaction interface, DSP chip, DC power supply, inverter circuit and drive module, connect human-computer interaction interface and drive module on the DSP chip respectively, drive module still connects inverter circuit, inverter circuit still connects DC power supply and motor M respectively, the PWM signal of DSP chip output is sent to inverter circuit after drive module is taked care of, is enlargied, the break-make of control MOSFET pipe, inverter circuit is according to drive signal output power, driving motor M rotates, looks voltage, phase current and busbar voltage are carried for the ADC port of DSP chip through detection circuit, acquire rotor position signal after DSP chip handles, carry out closed-loop control to the motor.
As a further technical scheme of the invention: the DSP chip is powered by 3.3V direct current.
As a further technical scheme of the invention: the DSP chip adopts TMS320F28335 chips in TIC2000 series DSP.
As a further technical scheme of the invention: the drive module adopts a DRV8301 driver.
As a further technical scheme of the invention: the inverter circuit adopts a three-phase inverter circuit.
As a further technical scheme of the invention: the direct current power supply is a 6-60V power supply.
As a further technical scheme of the invention: the motor adopts a three-phase brushless direct current motor.
Compared with the prior art, the invention has the beneficial effects that: the DSP-based electric bicycle digital control system has high precision and high speed, takes the high-performance DSP as a core and takes software control as guidance; the system is programmable, insensitive to environment, capable of realizing accurate operation, adopting advanced algorithm and multi-stage auxiliary function, and easy to upgrade; the complex control algorithm can be realized by software without adopting complex analog circuit design; different control algorithms can be realized through software program modification without changing a hardware circuit; the volume, weight and power consumption can be reduced.
Drawings
FIG. 1 is a diagram of the overall system hardware circuitry;
FIG. 2 is a motor drive system diagram;
fig. 3 is a schematic diagram of a three-phase brushless dc motor.
Fig. 4 is a circuit diagram of the speed regulating of the electric bicycle.
Fig. 5 is a general flow chart of system software design.
Fig. 6 is a flowchart of an electronic commutation process.
Fig. 7 is a speed current control flow chart.
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. 1-7, example 1: the utility model provides an electric bicycle digital control system based on DSP, includes human-computer interaction interface, DSP chip, DC power supply, inverter circuit and drive module, connect human-computer interaction interface and drive module on the DSP chip respectively, drive module still connects inverter circuit, inverter circuit still connects DC power supply and motor M respectively, the PWM signal of DSP chip output is sent to inverter circuit after drive module is taked care of, is enlargied, the break-make of control MOSFET pipe, inverter circuit is according to drive signal output power, driving motor M rotates, looks voltage, phase current and busbar voltage are carried for the ADC port of DSP chip through detection circuit, acquire rotor position signal after DSP chip handles, carry out closed-loop control to the motor.
As shown in fig. 2, the system structure includes not only the motor body, but also an electromechanical control system integrating a control unit, a driving unit (power circuit), and position signal detection. The drive module of the motor is in a modular design, hardware is simplified, functions are greatly improved, and the development space of future software servo is expanded. The overall consideration is efficiency, power density, stability, bandwidth. The servo stiffness and the like meet certain price and reliability prerequisites with a balanced design. The hardware cost of the controller can be obviously reduced, the control reliability can be obviously improved, the temperature drift of the digital circuit is small, the bidirectional transmission capability of information is greatly enhanced, the capabilities of information storage, monitoring, diagnosis and hierarchical control are improved, and the system tends to be more intelligent.
The invention adopts DSP model as C2000 series of TI company, TMS320F28335. various advanced digital control functions are integrated with one IC, the strong signal processing capability can greatly improve the application efficiency and reduce the power consumption. The series of DSP chips are processors with the highest performance in the current control field, have the characteristics of high precision, high speed, high integration level and the like, and provide high-performance solutions for different control fields. Various peripheral devices are integrated, and most typical control systems can be realized on a single chip. Meanwhile, the optimized kernel can effectively improve the reliability and flexibility of the system. TMS320F28335 floating point treater has greatly simplified the development cycle, has improved nearly 50% to the average throughput of control application TMS320F28335 is supplied power by single power of 3.3V, possess high 32 central processing unit, and the operation dominant frequency reaches 150 MHz, and the piece is integrated with abundant peripheral hardware resource, including SPI, ePWM, eCAP, ADC etc. has improved digital signal's response and processing procedure, has strengthened the real-time regulation and control ability of controller to the motor. The motor control signal is output by adopting 3 pairs of PWM, and the three-phase alternating-current phase voltage, the direct-current input voltage and the three-phase current of the driving circuit are respectively collected by 7 circuits of ADCs.
The DSP chip is powered by 3.3V direct current. The DSP chip adopts TMS320F28335 chip in TIC2000 series DSP. The drive module adopts a DRV8301 driver. The inverter circuit adopts a three-phase inverter circuit. The direct current power supply is a 6-60V power supply. The motor adopts a three-phase brushless direct current motor.
The speed and current control program design is known from the mathematical model of the brushless DC motor, the rotating speed is basically proportional to the voltage, and the torque is basically proportional to the phase current. In order to optimize the control precision and the dynamic performance, the system selects a rotating speed and current double closed-loop speed regulating system. The current loop uses a regulator and the speed loop uses an integral separation control algorithm. It has good starting and anti-interference performance and can meet the requirements of the system.
The speed and current control program works in the following approximate working process, the DSP detects the voltage output by the speed regulating rotating handle in a cycle of every 1ms-10ms, the detected voltage is sampled and then converted into a duty ratio through a related algorithm of the control program, the larger the duty ratio is, the larger the voltage loaded to the two ends of the motor is, the rotating speed of the motor is increased, and when the duty ratio reaches the state that the rotating speed cannot be changed by adjusting the voltage, the rotating speed of the motor is adjusted by adjusting the phase current in the motor. The speed and current control process flow chart of FIG. 7.
Embodiment 2, on the basis of embodiment 1, during the driving process of the electric bicycle, the speed needs to be adjusted according to the road condition, the speed adjusting circuit is similar to an automobile accelerator system, an accelerator in the electric bicycle can be approximated to a variable resistor, and the voltage output quantity is changed through the change of the resistance value, which is equivalent to changing the voltage of a motor for speed adjustment. The voltage quantity is input to a voltage follower through signal regulation to ensure the continuous stability of the signal, and finally the signal enters an analog-to-digital conversion module of a processing chip (DSP) to be processed and operated. As shown in fig. 4, the voltage regulator ensures that the voltage input to the DSP is within 5V.
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 (7)
1. The digital control system is characterized in that the DSP chip is connected with the human-computer interaction interface and the driving module respectively, the driving module is further connected with the inverter circuit, the inverter circuit is further connected with the direct current power supply and the motor M respectively, the DSP chip outputs PWM signals, the PWM signals are conditioned and amplified by the driving module and then sent to the inverter circuit to control the on-off of the MOSFET, the inverter circuit outputs the power according to the driving signals to drive the motor M to rotate, phase voltages, phase currents and bus voltages are transmitted to an ADC port of the DSP chip through the detection circuit, rotor position signals are obtained after the DSP chip processes the phase voltages, the phase currents and the bus voltages, and the motor is subjected to closed-loop control.
2. The digital control system for electric bicycles based on DSP of claim 1, wherein the DSP chip is TMS320F28335 chip in TIC2000 series DSP.
3. The DSP-based digital control system for electric bicycles of claim 1, wherein the driver module employs a DRV8301 driver.
4. The DSP-based digital control system for electric bicycles of claim 1, wherein the inverter circuit is a three-phase inverter circuit.
5. The DSP-based digital control system for electric bicycles of claim 1, wherein the DC power supply is a 6-60V power supply.
6. The DSP-based digital control system for electric bicycles of claim 1, wherein the motor is a three-phase brushless DC motor.
7. The digital control system for electric bicycles based on DSP as claimed in claim 2, wherein the DSP chip is powered by 3.3V DC.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010857527.1A CN112003505A (en) | 2020-08-24 | 2020-08-24 | DSP-based electric bicycle digital control system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010857527.1A CN112003505A (en) | 2020-08-24 | 2020-08-24 | DSP-based electric bicycle digital control system |
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| CN112003505A true CN112003505A (en) | 2020-11-27 |
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| CN202010857527.1A Pending CN112003505A (en) | 2020-08-24 | 2020-08-24 | DSP-based electric bicycle digital control system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112532123A (en) * | 2020-12-07 | 2021-03-19 | 西京学院 | Brushless DC motor drive control system without position sensor based on DSP |
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| CN101783637A (en) * | 2010-03-19 | 2010-07-21 | 哈尔滨工业大学 | Magnetic linkage self-control direct torque control method of brushless DC motor |
| CN102468794A (en) * | 2010-11-19 | 2012-05-23 | 许伟跃 | Position current double-closed loop controller of electric bicycle |
| CN204103796U (en) * | 2014-07-17 | 2015-01-14 | 珠海格力电器股份有限公司 | Photovoltaic DC-to-AC converter and PV air-conditioner system |
| CN106953326A (en) * | 2017-05-04 | 2017-07-14 | 哈尔滨工业大学 | A kind of mixing harmonic suppression technique for being applied to class impact load |
| CN109062056A (en) * | 2018-09-17 | 2018-12-21 | 长安大学 | A kind of electric bicycle intelligence control system and its control method |
| CN110011576A (en) * | 2019-03-07 | 2019-07-12 | 常州猛犸电动科技有限公司 | BLDC motor FOC control method, device and controller, storage medium |
-
2020
- 2020-08-24 CN CN202010857527.1A patent/CN112003505A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2785252Y (en) * | 2005-04-27 | 2006-05-31 | 中国人民解放军海军工程大学 | Vehicle-used AC induction motor traction inverter |
| CN101159422A (en) * | 2007-10-16 | 2008-04-09 | 李平 | Permanent-magnet DC motor drive control system with approximate constant power pulling motor characteristics |
| CN101783637A (en) * | 2010-03-19 | 2010-07-21 | 哈尔滨工业大学 | Magnetic linkage self-control direct torque control method of brushless DC motor |
| CN102468794A (en) * | 2010-11-19 | 2012-05-23 | 许伟跃 | Position current double-closed loop controller of electric bicycle |
| CN204103796U (en) * | 2014-07-17 | 2015-01-14 | 珠海格力电器股份有限公司 | Photovoltaic DC-to-AC converter and PV air-conditioner system |
| CN106953326A (en) * | 2017-05-04 | 2017-07-14 | 哈尔滨工业大学 | A kind of mixing harmonic suppression technique for being applied to class impact load |
| CN109062056A (en) * | 2018-09-17 | 2018-12-21 | 长安大学 | A kind of electric bicycle intelligence control system and its control method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112532123A (en) * | 2020-12-07 | 2021-03-19 | 西京学院 | Brushless DC motor drive control system without position sensor based on DSP |
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Application publication date: 20201127 |