CN112398405B - AC motor voltage-regulating and speed-regulating control system and method - Google Patents
AC motor voltage-regulating and speed-regulating control system and method Download PDFInfo
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Abstract
本发明提供了一种交流电机调压调速控制系统及方法,包括:微型控制器,分别与外部控制端和交流电机的旋转编码器连接,用于根据外部控制端输入的给定速度及旋转编码器反馈的交流电机实时转速生成脉冲调制信号;数模转换电路,与微型控制器连接,用于将微型控制器输出的脉冲调制信号转换相应的模拟信号;AVR微控制器,与数模转换电路连接,用于将数模转换电路输出的模拟信号转为可识别的数字信号,并根据生成的数字信号生成调速信号;调压电路,分别与AVR微控制器和交流电机连接,用于根据AVR微控制器生成的调速信号对交流电机的输入电源电压进行调节,进而实现对交流电机的调速。其基于模糊PID控制器实现对晶闸管通断的控制,进而实现对交流电机输入电源电压和转速的有效调节,精度高且抗干扰能力强。
The invention provides a voltage regulation and speed regulation control system and method for an AC motor, comprising: a micro controller, which is respectively connected with an external control terminal and a rotary encoder of the AC motor, and is used for the given speed and rotation according to the input of the external control terminal. The real-time rotation speed of the AC motor fed back by the encoder generates a pulse modulation signal; the digital-to-analog conversion circuit is connected with the microcontroller to convert the pulse-modulated signal output by the microcontroller into the corresponding analog signal; the AVR microcontroller, which is connected with the digital-to-analog conversion The circuit connection is used to convert the analog signal output by the digital-to-analog conversion circuit into an identifiable digital signal, and generate a speed regulation signal according to the generated digital signal; the voltage regulation circuit is respectively connected with the AVR microcontroller and the AC motor, used for The input power supply voltage of the AC motor is adjusted according to the speed regulation signal generated by the AVR microcontroller, thereby realizing the speed regulation of the AC motor. Based on the fuzzy PID controller, it realizes the on-off control of the thyristor, and then realizes the effective adjustment of the input power voltage and speed of the AC motor, with high precision and strong anti-interference ability.
Description
技术领域technical field
本发明涉及控制技术领域,尤其涉及一种交流电机调压调速控制系统及方法。The invention relates to the technical field of control, and in particular, to a voltage regulation and speed regulation control system and method for an AC motor.
背景技术Background technique
近年来,交流电机已广泛应用于各个领域,如电动汽车、机械车床等。在实际应用中,可以通过电机调速(调节电机的转速)满足电机负载对转速的不同需求,要实现交流电机调速精度高、调速范围广的目的,调速控制器的设计与研究显得至关重要。In recent years, AC motors have been widely used in various fields, such as electric vehicles, mechanical lathes, etc. In practical applications, the motor speed regulation (adjusting the speed of the motor) can meet the different needs of the motor load on the speed of the motor. To achieve the purpose of high speed regulation accuracy and wide speed regulation range of the AC motor, the design and research of the speed regulation controller is very important. critical.
初期,由于电力电子元器件的缺乏与不成熟,可供选择用于构成交流传动控制系统的电力电子器件很少,大多选用模拟分离器件。对于电机的调速控制方法需要很多模拟器件,由于模拟器件中普遍存在温漂或零漂电压,直接导致出现了精度低、误差大、可靠性低等问题,严重影响了生产效率。随着电力电子技术的发展,电力电子器件往高集成化和小型化方向发展,且可靠性越来越高、成本越来越低,交流调速系统的性能得到改善,使用范围持续扩大。但是,在使用新型电力电子器件实现电机调速中,器件导断控制的方法通常会制定的较为复杂。In the early days, due to the lack and immaturity of power electronic components, there were very few power electronic devices that could be used to form the AC drive control system, and most of them used analog separation devices. The speed control method of the motor requires many analog devices. Due to the common existence of temperature drift or zero-drift voltage in analog devices, problems such as low precision, large error, and low reliability are directly caused, which seriously affects the production efficiency. With the development of power electronic technology, power electronic devices are developing in the direction of high integration and miniaturization, and the reliability is getting higher and lower, the cost is getting lower and lower, the performance of the AC speed control system has been improved, and the scope of use has continued to expand. However, in the use of new power electronic devices to achieve motor speed regulation, the method of device on-off control is usually more complicated to formulate.
发明内容SUMMARY OF THE INVENTION
针对上述问题,本发明提供了一种交流电机调压调速控制系统及方法,有效解决现有交流电机调速控制方法精度低、可靠性差、实现难度大等技术问题。In view of the above problems, the present invention provides a voltage regulation and speed regulation control system and method for an AC motor, which effectively solves the technical problems of the existing AC motor speed regulation control methods such as low precision, poor reliability, and difficulty in implementation.
本发明提供的技术方案如下:The technical scheme provided by the present invention is as follows:
一种交流电机调压调速控制系统,包括:An AC motor voltage regulation and speed regulation control system, comprising:
微型控制器,分别与外部控制端和交流电机的旋转编码器连接,用于根据外部控制端输入的给定速度及旋转编码器反馈的交流电机实时转速生成脉冲调制信号;The microcontroller is connected to the external control terminal and the rotary encoder of the AC motor respectively, and is used to generate a pulse modulation signal according to the given speed input from the external control terminal and the real-time speed of the AC motor fed back by the rotary encoder;
数模转换电路,与所述微型控制器连接,用于将所述微型控制器输出的脉冲调制信号转换相应的模拟信号;a digital-to-analog conversion circuit, connected to the microcontroller, for converting the pulse modulation signal output by the microcontroller into a corresponding analog signal;
AVR微控制器,与所述数模转换电路连接,用于将所述数模转换电路输出的模拟信号转为可识别的数字信号,并根据生成的数字信号生成调速信号;AVR microcontroller, connected with the digital-to-analog conversion circuit, is used to convert the analog signal output by the digital-to-analog conversion circuit into a recognizable digital signal, and generate a speed control signal according to the generated digital signal;
调压电路,分别与所述AVR微控制器和交流电机连接,用于根据所述AVR微控制器生成的调速信号对交流电机的输入电源电压进行调节,进而实现对交流电机的调速。The voltage regulation circuit is respectively connected with the AVR microcontroller and the AC motor, and is used for adjusting the input power supply voltage of the AC motor according to the speed regulation signal generated by the AVR microcontroller, so as to realize the speed regulation of the AC motor.
本发明还提供了一种交流电机调压调速控制方法,包括:The present invention also provides a voltage regulation and speed regulation control method for an AC motor, comprising:
微型控制器根据外部控制端输入的给定速度及旋转编码器反馈的交流电机实时转速生成脉冲调制信号;The microcontroller generates a pulse modulation signal according to the given speed input from the external control terminal and the real-time speed of the AC motor fed back by the rotary encoder;
数模转换电路将所述微型控制器输出的脉冲调制信号转换相应的模拟信号;The digital-to-analog conversion circuit converts the pulse modulation signal output by the microcontroller into a corresponding analog signal;
AVR微控制器将所述数模转换电路输出的模拟信号转为可识别的数字信号,并根据生成的数字信号生成调速信号;The AVR microcontroller converts the analog signal output by the digital-to-analog conversion circuit into an identifiable digital signal, and generates a speed control signal according to the generated digital signal;
调压电路根据所述调速信号对交流电机的输入电源电压进行调节,进而实现对交流电机的调速。The voltage regulation circuit adjusts the input power voltage of the AC motor according to the speed regulation signal, thereby realizing the speed regulation of the AC motor.
在本发明还提供了一种交流电机调压调速控制系统及方法中,以晶闸管作为开关器件,设计单相交流的调压电路,并基于模糊PID控制器实现对晶闸管通断的控制,进而实现对交流电机输入电源电压和转速的有效调节,精度高且抗干扰能力强。另外,采用微型控制器和AVR微控制器结合进一步提高了系统运行的稳定性,避免在实时脉冲控制和信号转换过程中出现干扰和混联。The present invention also provides a voltage regulation and speed regulation control system and method for an AC motor, a single-phase AC voltage regulation circuit is designed with a thyristor as a switching device, and the on-off control of the thyristor is realized based on a fuzzy PID controller, and then It can effectively adjust the input power voltage and speed of the AC motor, with high precision and strong anti-interference ability. In addition, the combination of microcontroller and AVR microcontroller further improves the stability of system operation and avoids interference and mixed connection during real-time pulse control and signal conversion.
附图说明Description of drawings
下面将以明确易懂的方式,结合附图说明优选实施方式,对上述特性、技术特征、优点及其实现方式予以进一步说明。The preferred embodiments will be described below in a clear and easy-to-understand manner with reference to the accompanying drawings, and the above-mentioned characteristics, technical features, advantages and implementations thereof will be further described.
图1为本发明中交流电机调压调速控制系统结构图;Fig. 1 is the structure diagram of AC motor voltage regulation and speed regulation control system in the present invention;
图2为本发明中调压电路图;Fig. 2 is the voltage regulation circuit diagram in the present invention;
图3为本发明中模糊控制装置结构图;Fig. 3 is the structure diagram of fuzzy control device in the present invention;
图4为本发明中交流电机调压调速控制方法流程图。FIG. 4 is a flow chart of the control method for voltage regulation and speed regulation of an AC motor according to the present invention.
附图标记:Reference number:
1-控制端,2-微型控制器,3-数模转换电路,4-AVR微控制器,5-调压电路,61-交流电机,62-旋转编码器,7-比较器,8-模糊PID控制器1-control terminal, 2-microcontroller, 3-digital-analog conversion circuit, 4-AVR microcontroller, 5-voltage regulator circuit, 61-AC motor, 62-rotary encoder, 7-comparator, 8-fuzzy PID controller
具体实施方式Detailed ways
为了更清楚地说明本发明实施例或现有技术中的技术方案,下面将对照附图说明本发明的具体实施方式。显而易见地,下面描述中的附图仅仅是本发明的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他的附图,并获得其他的实施方式。In order to more clearly describe the embodiments of the present invention or the technical solutions in the prior art, the specific embodiments of the present invention will be described below with reference to the accompanying drawings. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative efforts, and obtain other implementations.
如图1所示为本发明提供的交流电机调压调速控制系统,包括:微型控制器2,分别与外部控制端1和交流电机61的旋转编码器连接,用于根据外部控制端1输入的给定速度及旋转编码器62反馈的交流电机实时转速生成脉冲调制信号;数模转换电路3,与微型控制器2连接,用于将微型控制器2输出的脉冲调制信号转换相应的模拟信号;AVR微控制器4,与数模转换电路3连接,用于将数模转换电路3输出的模拟信号转为可识别的数字信号,并根据生成的数字信号生成调速信号;调压电路5,分别与AVR微控制器4和交流电机61连接,用于根据AVR微控制器4生成的调速信号对交流电机的输入电源电压进行调节,进而实现对交流电机的调速。As shown in FIG. 1, the AC motor voltage regulation and speed regulation control system provided by the present invention includes: a
在该控制系统中,微型控制器2和AVR微控制器4具体型号均可以根据实际情况进行选定,理论上来说,只要能够实现本发明目的的芯片均包括在其范围内。在一实例中,微型控制器2为8051单片机,AVR微控制器4即为AVR单片机。在该实例中,外部控制端1(PC端等)与8051单片机中的通讯接口连接,便于控制端1通过该通讯接口将给定速度传入8051单片机。8051单片机接收到给定速度和旋转编码器反馈的交流电机实时转速之后,对其进行脉冲调制生成脉冲调制信号,并进一步将该脉冲调制信号传送至数模转换电路3,将数字信号转换为模拟信号。数模转换电路3与AVR单片机中的模数转换电路连接,以将模拟信号转换为AVR单片机可识别的数字信号,之后AVR单片机根据模数转换电路生成的数字信号进一步得到调速信号(适用于工业实时控制的脉宽信号),并通过端口1输出至调压电路5,通过该调压电路5实现对交流电机61输入电源电压的调节,进而实现对电机转速的调节。In the control system, the specific models of the
如图2所示,调压电路5中包括第一晶闸管VT1、第二晶闸管VT2和负载电阻R,第一晶闸管VT1和第二晶闸管VT2反向并联连接(第一晶闸管VT1的阳极第二晶闸管VT2的阴极连接,第一晶闸管VT1的阴极第二晶闸管VT2的阴极阳极),其中,并联的一端与负载电阻R的一端连接、并联的另一端和负载电阻R的另一端作为电路的输入端,且输入为标准单相交流电u1;第一晶闸管VT1和第二晶闸管VT2的控制端与AVR微控制器4连接,负载电阻两端的电压作为调压电路的输出uo。工作过程中,在标准单相交流电u1输入的正半周和负半周,通过AVR微控制器4生成的调速信号分别对第一晶闸管VT1和第二晶闸管VT2的导通角α进行控制,即能实现调节交流电输出电压的目的,简单方便且精确度高。As shown in FIG. 2 , the voltage regulating
为实现闭环控制,微型控制器2中还包括一模糊控制装置,如图3所示,比较器7,分别与交流电机的旋转编码器62和外部控制端1连接,用于获取交流电机61的实时转速,并将其与给定速度进行比较;模糊PID控制器8,分别与比较器7、调压电路5中的第一晶闸管VT1和第二晶闸管VT2连接,用于根据交流电机61的实时转速与给定速度之间的误差信号生成脉冲调制信号。In order to realize closed-loop control, the
在这一过程中,首先,将给定速度V*(t)与交流电机61反馈的实际速度V(t)在比较器中进行比较并产生误差信号E(t)。之后,将误差信号E(t)经过模糊PID控制器8得到脉冲调制信号G(t),并通过数模转换电路3和AVR微控制器4将通断控制G(t)送入调压电路5中,控制第一晶闸管和第二晶闸管的通断,以控制调压电路5的输出,实现对交流输出电压的调节。最后,将调节后的输出交流电压信号C(t)作为交流电机61的输入电源电压,以此通过改变交流电机61的输入交流电源电压实现对交流电机61转速的调节。In this process, firstly, the given speed V * (t) is compared with the actual speed V(t) fed back by the
如图4所示,本发明还提供了一种交流电机调压调速控制方法,包括:As shown in FIG. 4 , the present invention also provides a voltage regulation and speed regulation control method for an AC motor, including:
S10微型控制器根据外部控制端输入的给定速度及旋转编码器反馈的交流电机实时转速生成脉冲调制信号;The S10 microcontroller generates a pulse modulation signal according to the given speed input from the external control terminal and the real-time speed of the AC motor fed back by the rotary encoder;
S20数模转换电路将微型控制器输出的脉冲调制信号转换相应的模拟信号;The S20 digital-to-analog conversion circuit converts the pulse modulation signal output by the microcontroller into the corresponding analog signal;
S30 AVR微控制器将数模转换电路输出的模拟信号转为可识别的数字信号,并根据生成的数字信号生成调速信号;The S30 AVR microcontroller converts the analog signal output by the digital-to-analog conversion circuit into a recognizable digital signal, and generates a speed control signal according to the generated digital signal;
S40调压电路根据调速信号对交流电机的输入电源电压进行调节,进而实现对交流电机的调速。The S40 voltage regulation circuit adjusts the input power supply voltage of the AC motor according to the speed regulation signal, thereby realizing the speed regulation of the AC motor.
在该控制方法中,在该控制系统中,微型控制器和AVR微控制器具体型号均可以根据实际情况进行选定,理论上来说,只要能够实现本发明目的的芯片均包括在其范围内。在一实例中,微型控制器为8051单片机,AVR微控制器即为AVR单片机。在该实例中,外部控制端(PC端等)与8051单片机中的通讯接口连接,便于控制端通过该通讯接口将给定速度传入8051单片机。8051单片机接收到给定速度和旋转编码器反馈的交流电机实时转速之后,对其进行脉冲调制生成脉冲调制信号,并进一步将该脉冲调制信号传送至数模转换电路,将数字信号转换为模拟信号。数模转换电路与AVR单片机中的模数转换电路连接,以将模拟信号转换为AVR单片机可识别的数字信号,之后AVR单片机根据模数转换电路生成的数字信号进一步得到调速信号(适用于工业实时控制的脉宽信号),并通过端口输出至调压电路,通过该调压电路实现对交流电机输入电源电压的调节,进而实现对电机转速的调节。In the control method, in the control system, the specific models of the microcontroller and the AVR microcontroller can be selected according to actual conditions. In theory, as long as the chips that can achieve the purpose of the present invention are included in the scope. In an example, the microcontroller is an 8051 microcontroller, and the AVR microcontroller is an AVR microcontroller. In this example, the external control terminal (PC terminal, etc.) is connected with the communication interface in the 8051 single-chip microcomputer, so that the control terminal can transmit the given speed to the 8051 single-chip microcomputer through the communication interface. After the 8051 single-chip microcomputer receives the given speed and the real-time speed of the AC motor fed back by the rotary encoder, it pulse-modulates it to generate a pulse-modulated signal, and further transmits the pulse-modulated signal to the digital-to-analog conversion circuit to convert the digital signal into an analog signal. . The digital-to-analog conversion circuit is connected with the analog-to-digital conversion circuit in the AVR microcontroller to convert the analog signal into a digital signal that can be recognized by the AVR microcontroller, and then the AVR microcontroller further obtains the speed control signal (suitable for industrial Real-time control pulse width signal), and output to the voltage regulation circuit through the port, through the voltage regulation circuit to realize the adjustment of the input power supply voltage of the AC motor, and then realize the adjustment of the motor speed.
如图2所示,调压电路中包括第一晶闸管VT1、第二晶闸管VT2和负载电阻R,第一晶闸管VT1和第二晶闸管VT2反向并联连接(第一晶闸管VT1的阳极第二晶闸管VT2的阴极连接,第一晶闸管VT1的阴极第二晶闸管VT2的阴极阳极),其中,并联的一端与负载电阻R的一端连接、并联的另一端和负载电阻R的另一端作为电路的输入端,且输入为标准单相交流电u1;第一晶闸管VT1和第二晶闸管VT2的控制端与AVR微控制器4连接,负载电阻两端的电压作为调压电路的输出uo。工作过程中,在标准单相交流电u1输入的正半周和负半周,通过AVR微控制器生成的调速信号分别对第一晶闸管VT1和第二晶闸管VT2的导通角α进行控制,即能实现调节交流电输出电压的目的,简单方便且精确度高。As shown in FIG. 2 , the voltage regulating circuit includes a first thyristor VT 1 , a second thyristor VT 2 and a load resistor R, and the first thyristor VT 1 and the second thyristor VT 2 are connected in anti-parallel (the anode of the first thyristor VT 1 ) The cathode of the second thyristor VT2 is connected to the cathode of the first thyristor VT1, the cathode of the second thyristor VT2 is connected to the anode of the second thyristor), wherein one end of the parallel connection is connected to one end of the load resistor R, and the other end of the parallel connection is connected to the other end of the load resistor R. As the input end of the circuit, and the input is standard single-phase alternating current u 1 ; the control ends of the first thyristor VT 1 and the second thyristor VT 2 are connected to the
在微型控制器根据外部控制端输入的给定速度及旋转编码器反馈的交流电机实时转速生成脉冲调制信号中包括:比较器获取交流电机的实时转速,并将其与给定速度进行比较;模糊PID控制器根据交流电机的实时转速与给定速度之间的误差信号生成通脉冲调制信号。The pulse modulation signal generated by the microcontroller according to the given speed input from the external control terminal and the real-time speed of the AC motor fed back by the rotary encoder includes: the comparator obtains the real-time speed of the AC motor and compares it with the given speed; fuzzy The PID controller generates a pulsed modulation signal based on the error signal between the real-time speed of the AC motor and the given speed.
在这一过程中,首先,将给定速度V*(t)与交流电机反馈的实际速度V(t)在比较器中进行比较并产生误差信号E(t)。之后,将误差信号E(t)经过模糊PID控制器得到通脉冲调制信号G(t),并通过数模转换电路和AVR微控制器将通断控制G(t)送入调压电路中,控制第一晶闸管和第二晶闸管的通断,以控制调压电路的输出,实现对交流输出电压的调节。最后,将调节后的输出交流电压信号C(t)作为交流电机的输入电源电压,以此通过改变交流电机的输入交流电源电压实现对交流电机转速的调节。In this process, first, the given speed V * (t) is compared with the actual speed V(t) fed back by the AC motor in a comparator and an error signal E(t) is generated. After that, the error signal E(t) is passed through the fuzzy PID controller to obtain the on-pulse modulation signal G(t), and the on-off control G(t) is sent to the voltage regulation circuit through the digital-to-analog conversion circuit and the AVR microcontroller. The on-off of the first thyristor and the second thyristor is controlled to control the output of the voltage regulating circuit and realize the regulation of the AC output voltage. Finally, the adjusted output AC voltage signal C(t) is used as the input power supply voltage of the AC motor, so that the speed of the AC motor can be adjusted by changing the input AC power supply voltage of the AC motor.
应当说明的是,上述实施例均可根据需要自由组合。以上仅是本发明的优选实施方式,应当指出,对于本技术领域的普通相关人员来说,在不脱离本发明原理的前提下,还可以做出若干改进和润饰,这些改进和润饰也应视为本发明的保护范围。It should be noted that the above embodiments can be freely combined as required. The above are only the preferred embodiments of the present invention. It should be pointed out that, for those of ordinary skill in the art, several improvements and modifications can be made without departing from the principles of the present invention, and these improvements and modifications should also be regarded as It is the protection scope of the present invention.
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