CN112572746A - Unmanned double-oar ship propulsion controller suitable for brushless DC motor - Google Patents
Unmanned double-oar ship propulsion controller suitable for brushless DC motor Download PDFInfo
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- CN112572746A CN112572746A CN202011362077.5A CN202011362077A CN112572746A CN 112572746 A CN112572746 A CN 112572746A CN 202011362077 A CN202011362077 A CN 202011362077A CN 112572746 A CN112572746 A CN 112572746A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
- B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
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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
- H02P6/04—Arrangements for controlling or regulating the speed or torque of more than one motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
- B63H2021/216—Control means for engine or transmission, specially adapted for use on marine vessels using electric control means
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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
- H02P6/04—Arrangements for controlling or regulating the speed or torque of more than one motor
- H02P2006/045—Control of current
Abstract
The invention discloses an unmanned double-oar ship propulsion controller suitable for a brushless direct current motor, which comprises a control module taking a DSP as a core, wherein the control module taking the DSP as the core is respectively connected with an optical coupling isolation module, a detection module and a communication module; the detection module is connected with the motor assembly and is used for detecting the position, the rotating speed and the bus current and the motor phase current; the communication module is in information interaction with the unmanned ship controller; the power supply module provides power supply for other modules. The invention improves the reliability and the anti-interference capability of the motor controller and reduces the cost.
Description
Technical Field
The invention relates to an unmanned ship propulsion controller, in particular to an unmanned double-propeller ship propulsion controller suitable for a brushless direct current motor.
Background
The existing ship dual-motor controller technology mostly uses two control chips to respectively drive two drivers so as to control two motors, then uses one control chip to perform master control, and realizes the communication of data such as the rotating speeds of the two motors, control signals and the like between the control chips through a CAN bus. The control chip mostly uses the singlechip as the main control chip, can make motor control chip low-usage like this, and motor efficiency step-down. And a plurality of chips can also cause data transmission delay, so that the unmanned ship has slow steering reaction, high cost and high failure rate.
With the progress of ship propulsion technology, especially the development of control theory, the motor control needs a better control method to meet the requirements of increasingly complex functions and performance improvement, namely high reliability, good real-time performance, high-power propulsion and the like.
At present, a control chip of a marine control motor in the market is mostly controlled by a single chip microcomputer, for example, 8096 series products, but for a brushless direct current motor, vector transformation control needs to process a large amount of data, and the final control effect of the single chip microcomputer is often unsatisfactory in real-time performance and accuracy.
Disclosure of Invention
The purpose of the invention is as follows: the unmanned double-propeller ship propulsion controller is high in reliability and strong in anti-interference capability and is suitable for the brushless direct current motor.
The technical scheme is as follows: the unmanned double-propeller ship propulsion controller suitable for the brushless direct current motor comprises a control module taking a DSP as a core, an optical coupling isolation module, a driving module, a three-phase full-bridge inversion module, a detection module, a communication module and a power supply module; wherein:
the control module taking the DSP as a core is connected with the optical coupling isolation module, the detection module and the communication module and is used for calculating and analyzing data to generate a PWM signal for communication control and processing;
the optical coupling isolation module is used for isolating control signals between the control module taking the DSP as the core and the driving module;
the driving module is connected with the optical coupling isolation module, amplifies the power of the PWM signal, and is connected to the three-phase full-bridge inversion module to control a power tube of the three-phase full-bridge inversion module;
the three-phase full-bridge inversion module is connected with the driving module, receives a driving signal of the driving module and outputs the driving signal to control the brushless direct current motor;
the detection module is connected with the motor assembly, the output of the detection module is connected with the control module taking the DSP as the core, and the detection module is used for detecting the position, the rotating speed and the bus current and the motor phase current;
the communication module is connected with the control module taking the DSP as a core and is used for carrying out information interaction with the unmanned ship controller;
and the power supply module is used for supplying power to other modules.
Further, the controller also comprises a control interface, wherein the control interface is provided with 5 control buttons which are respectively as follows: a forward acceleration button, a backward deceleration button, a left turn button, a right turn button and a stop button; when the forward acceleration button is triggered, the two motors of the unmanned double-oar boat accelerate forward rotation at the same speed; when the forward acceleration button is triggered, the backward deceleration button is triggered again, and the two motors decelerate; when the backward speed reducing button is triggered until the rotating speeds of the two motors are 0, the backward speed reducing button is triggered again, and the two motors are accelerated and reversely rotated synchronously; when the left turn button is triggered, the left motor decelerates; when the right turn button is triggered, the right motor decelerates; when the left-turn button is triggered and the right-turn button is triggered again, the rotating speed of the left motor is restored to the state of the same speed as the right motor, and then the right motor is decelerated; when the right-turn button is triggered to trigger the left-turn button again, the rotating speed of the right motor is restored to the state of the same speed as the left motor, and then the left motor is decelerated; when the stop button is triggered, the rotation speeds of the two motors return to zero.
Further, the controller adopts a current and rotating speed double closed loop control method: when the DSP in the control module (111) taking the DSP as the core obtains the speed difference, a speed instruction of a certain motor is sent, a given value V is compared with a speed feedback value V1 to obtain a speed difference value of a single motor, PI regulation is carried out through a speed regulator, so that the current required by the motor for changing the rotating speed is output, a given current A is obtained for a current regulator, then the given current A is compared with the current feedback value to obtain a current difference value, the current difference value is corrected through the current regulator and then is converted into a corresponding PWM wave after regulation, the required PWM wave is finally determined and output by integrating rotor position information obtained by detection of a Hall position sensor in the DSP and is sent to the drive module (113), and a circuit of the three-phase inverter module (114) controls the duty ratio of a power switch device of the three-phase inverter module, so that the speed of.
Further, the control module (111) with the DSP as the core comprises a TMS320F28335 as a control chip and a peripheral circuit thereof.
Preferably, the driving module (113) adopts a driving chip with an IR2136 core.
Preferably, the optical coupling and isolation module (112) adopts an HCPL-2630 chip.
Preferably, the power supply module (117) adopts a lithium ion power battery.
Has the advantages that: the unmanned double-propeller ship propulsion controller suitable for the brushless direct current motor, provided by the invention, takes the DSP as an inner core, and is matched with the latest integrated circuit and the special integrated circuit for motor control, so that the ship motor controller is greatly reduced in price, reduced in volume, compact in structure, convenient and fast to use, improved in reliability and good in real-time performance.
Drawings
FIG. 1 is a schematic diagram illustrating the connection relationship between modules of a controller according to an embodiment of the present invention;
FIG. 2 is a block diagram of a motor controller circuit according to an embodiment of the present invention;
FIG. 3 is a block diagram of a three-phase motor drive according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a five-button switch according to an embodiment of the invention.
FIG. 5 is a schematic diagram of a control method according to an embodiment of the present invention.
Detailed Description
The technical solution of the present invention is further described below with reference to the accompanying drawings and examples.
Referring to fig. 1, a schematic diagram of connection relationship between modules of the unmanned twin-paddle ship propulsion controller suitable for brushless dc motor according to the present invention is shown. The propulsion controller comprises a control module 111 taking a DSP as a core, an optical coupling isolation module 112, a driving module 113, a three-phase full-bridge inversion module 114, a detection module 115, a communication module 116 and a power supply module 117.
The control module 111 taking the DSP as a core is connected with the optical coupling isolation module 112, the detection module 115 and the communication module 116, and is used for calculating and analyzing data, generating a PWM signal, and performing communication control and processing on an external unmanned ship controller;
the optical coupling isolation module 112 is configured to isolate a control signal between the control module 111 and the driving module 113, where the control module uses a DSP as a core;
the driving module 113 is connected to the optical coupler isolation module 112, amplifies the power of the PWM signal, and is connected to the three-phase full-bridge inverter module 114 to control the power transistor of the three-phase full-bridge inverter module 114;
the three-phase full-bridge inverter module 114 is connected to the driving module 113, receives the driving signal of the driving module 113, and outputs the driving signal to control the brushless dc motor;
the detection module 115 is connected with the motor assembly, and the output of the detection module is connected with the control module 111 taking the DSP as the core, and is used for detecting the position, the rotating speed and the bus current and the motor phase current;
the communication module 116 is connected with the control module 111 taking the DSP as a core, and is used for performing information interaction with the unmanned ship controller;
the power module 117 is configured to provide power supply for other modules.
As shown in fig. 2, the ship controller sends out a control signal, and the DSP receives the control signal and controls the corresponding pins to output 26 paths of 3.3V PWM waves.
This 6 way 3.3VPWM ripples passes through opto-isolator circuit, because DSP is the low-voltage, and drive circuit is the high voltage, so opto-isolator circuit not only has the function of keeping apart the signal of telecommunication, because IR2136 receives 5V's PWM signal again, so opto-isolator circuit should still improve the PWM signal to 5V.
The IR2136 chip is used for amplifying the power of the PWM signal, and the chip can drive 6 power tubes in the three-phase full-bridge inverter circuit by only one direct-current power supply, so that the design of the driving circuit is simplified. The TR2136 chip is externally connected with a 15V direct-current power supply, receives 6 paths of 5V PWM signals transmitted by the optical coupling isolation circuit, and converts the signals into 15V PWM signals to drive 6 MOSFET tubes of the inverter circuit.
Because the problems of motor power, cost and the like are considered, the invention selects the MOSFET power tube as the power tube of the inverter circuit. The MOSFET power tube needs small driving voltage and high grid input impedance, so the overload capability and the anti-interference capability are high.
Pins HO1, HO2, HO3, LO1, LO2 and LO3 of the TR2136 are connected with non-inductive resistors and then connected with six MOSFET gates of an upper bridge arm and a lower bridge arm of the three-phase full-bridge circuit.
V1 to V6 represent 6 MOSFET power transistors, respectively, each having a freewheeling diode connected in parallel to allow continuous motor current.
The inverter circuit is externally connected with a 24V direct current power supply, and the on-off (including the conduction sequence and the conduction time) of the MOSFET power tube is controlled through 6 paths of 15V PWM signals, so that the rotation of the motor is controlled. The brushless dc motor is preferably driven to operate in a two-by-two conduction manner, as shown in fig. 3, and the three outgoing lines are respectively connected to three-phase windings of the brushless dc motor.
The motor selects two brushless direct current motors with Hall sensors, and when the motor rotates, the Hall sensors output three-phase Hall pulse signals, the three-phase Hall pulse signals are processed and shaped by the position detection circuit and converted into electric signals capable of being received by the DSP, and the electric signals are input to the DSP.
The time interval T of two Hall signal changes is obtained by a timer every time the Hall signal enters capture interruption, and the angular speed V of the motor can pass through a formula
Calculating to obtain the period of rotor rotation
The difference value of the two times of the counter in the program is X, the period of the timer is K, so
The unit is seconds. The electrical angle is the mechanical angular velocity of the motor multiplied by the pole pair number p. The motor rotating speed calculation formula is as follows:
is brought into availability
The two hall current sensors select CSM060 NPT. The device is used for detecting phase current and bus current of the brushless direct current motor, a current lead penetrates through a sensor hole core, a corresponding voltage value can be measured at an output end, and the voltage is connected to an AD port of the DSP through a divider resistor and an RC filter circuit. The input current to output voltage relationship is 2.5+5/48 × I, where I is denoted.
The Hall voltage sensor selects VSM025A to detect phase voltage, and the voltage signal is processed and sent to the AD pin of the DSP through the voltage detection circuit.
The rotation speeds of the two motors are calculated in the DSP by using an algorithm to obtain a speed difference, the speed difference is compared with the rotation speed difference input by the control signal to obtain a difference value, then the corresponding PWM signal is adjusted, and the duty ratio is changed to control the corresponding rotation speed of the motor.
As the control method of current and rotating speed double closed loops is adopted, as shown in figure 5, when a DSP obtains a rotating speed difference, a speed instruction of a certain motor is sent out, a given value V is compared with a speed feedback value V1 to obtain a single motor speed difference, PI regulation is carried out through a speed regulator, so that the current required by the motor for changing the rotating speed is output, a given current A is obtained for a current regulator, then the given current A is compared with the current feedback value to obtain a current difference, the current difference is corrected through a current regulator, the current difference is converted into a corresponding PWM wave after regulation, the required PWM wave is finally determined and output by synthesizing rotor position information detected by a Hall position sensor in the DSP, and the PWM wave is sent to a drive circuit, and an inverter circuit controls the duty ratio of a power switch device of the inverter circuit, so. The motor can adjust the control system under the conditions of voltage, load change and external interference, so that the rotating speed can repeatedly track the speed instruction. Therefore, the unmanned ship can be quickly restored to the state before interference when the unmanned ship is subjected to external interference, and the speed and steering stability of the unmanned ship can be well maintained.
The steering of the unmanned ship can be realized according to the rotating speed difference of the two motors. As shown in FIG. 4, the external controller has 5 buttons, and when the forward acceleration button is triggered, the two motors accelerate forward at the same speed. When the forward acceleration button is triggered, the backward deceleration button is triggered again, the two motors decelerate, and when the backward deceleration button is triggered again until the rotating speeds of the two motors are 0, the two motors synchronously accelerate and reverse. Conversely, when the left turn button is triggered, the left motor decelerates. When the right turn button is activated, the right motor decelerates. When the left-turn button is triggered and the right-turn button is triggered again, the rotating speed of the left motor is restored to the state of the same speed as the right motor, and then the right motor is decelerated. When the right-turn button is triggered to trigger the left-turn button again, the rotating speed of the right motor is firstly restored to the state of the same speed as the left motor, and the left motor is decelerated. When the stop button is triggered, the rotation speeds of the two motors return to zero.
The difference between the speed of the motor 1 (left) and the speed of the motor 2 (right) is defined as the rotational speed. The rotational speed difference is used as an input in the DSP, and when the rotational speed difference is 0, the unmanned ship moves straight or stops or backs up, which depends on the rotational speeds set for the two motors. When the unmanned ship moves straight, the speed difference is input to be a positive number, the speed of the motor 1 is unchanged, the speed difference is fed back to the motor 2 through the controller, the rotating speed of the motor 2 is reduced to a specified rotating speed, the thrust generated by different rotating speeds is different, so that the unmanned ship can turn to the right, when the speed difference is a negative number, the speed of the motor 2 is unchanged, the speed of the motor 1 is reduced to the specified rotating speed, so that the unmanned ship can turn to the left, when the angle is rotated to a required angle, the speed difference is 0 again, and the rotating speed of the motor with low rotating speed is recovered to the rotating speed before changing. The same process is reversed.
Claims (7)
1. An unmanned double-oar ship propulsion controller suitable for a brushless direct current motor is characterized by comprising a control module (111) taking a DSP as a core, an optical coupling isolation module (112), a driving module (113), a three-phase full-bridge inversion module (114), a detection module (115), a communication module (116) and a power supply module (117); wherein:
the control module (111) taking the DSP as a core is connected with the optical coupling isolation module (112), the detection module (115) and the communication module (116) and is used for calculating and analyzing data, generating PWM signals and carrying out communication control and processing;
the optical coupling isolation module (112) is used for isolating control signals between the control module (111) taking the DSP as a core and the driving module (113);
the driving module (113) is connected with the optical coupling isolation module (112), amplifies the power of the PWM signal, and is connected to the three-phase full-bridge inversion module (114) to control a power tube of the three-phase full-bridge inversion module (114);
the three-phase full-bridge inversion module (114) is connected with the driving module (113), receives a driving signal of the driving module (113), and outputs the driving signal to control the brushless direct current motor;
the detection module (115) is connected with the motor assembly, the output of the detection module is connected with the control module (111) taking the DSP as the core, and the detection module is used for detecting the position, the rotating speed and the bus current and the motor phase current;
the communication module (116) is connected with the control module (111) taking the DSP as a core and is used for carrying out information interaction with the unmanned ship controller;
and the power supply module (117) is used for providing power supply for other modules.
2. The unmanned, twin-paddle, ship propulsion controller for use with brushless dc motors as claimed in claim 1, further comprising a control interface, said control interface having 5 control buttons, respectively: a forward acceleration button, a backward deceleration button, a left turn button, a right turn button and a stop button; when the forward acceleration button is triggered, the two motors of the unmanned double-oar boat accelerate forward rotation at the same speed; when the forward acceleration button is triggered, the backward deceleration button is triggered again, and the two motors decelerate; when the backward speed reducing button is triggered until the rotating speeds of the two motors are 0, the backward speed reducing button is triggered again, and the two motors are accelerated and reversely rotated synchronously; when the left turn button is triggered, the left motor decelerates; when the right turn button is triggered, the right motor decelerates; when the left-turn button is triggered and the right-turn button is triggered again, the rotating speed of the left motor is restored to the state of the same speed as the right motor, and then the right motor is decelerated; when the right-turn button is triggered to trigger the left-turn button again, the rotating speed of the right motor is restored to the state of the same speed as the left motor, and then the left motor is decelerated; when the stop button is triggered, the rotation speeds of the two motors return to zero.
3. The unmanned, twin-paddle, boat propulsion controller for brushless dc motors of claim 1, wherein the controller employs current, speed, double closed loop control method: when the DSP in the control module (111) taking the DSP as the core obtains the speed difference, a speed instruction of a certain motor is sent, a given value V is compared with a speed feedback value V1 to obtain a speed difference value of a single motor, PI regulation is carried out through a speed regulator, so that the current required by the motor for changing the rotating speed is output, a given current A is obtained for a current regulator, then the given current A is compared with the current feedback value to obtain a current difference value, the current difference value is corrected through the current regulator and then is converted into a corresponding PWM wave after regulation, the required PWM wave is finally determined and output by integrating rotor position information obtained by detection of a Hall position sensor in the DSP and is sent to the drive module (113), and a circuit of the three-phase inverter module (114) controls the duty ratio of a power switch device of the three-phase inverter module, so that the speed of.
4. The unmanned, twin-paddle, ship propulsion controller for use with brushless dc motors of claim 1, wherein: the control module (111) taking the DSP as the core comprises a TMS320F28335 as a control chip and a peripheral circuit thereof.
5. The unmanned, twin-paddle, ship propulsion controller for use with brushless dc motors of claim 1, wherein: the driving module (113) adopts an IR2136 as a core driving chip.
6. The unmanned, twin-paddle, ship propulsion controller for use with brushless dc motors of claim 1, wherein: the optical coupling isolation module (112) adopts an HCPL-2630 chip.
7. The unmanned, twin-paddle, ship propulsion controller for use with brushless dc motors of claim 1, wherein: the power module (117) adopts a lithium ion power battery.
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| CN113655784A (en) * | 2021-06-22 | 2021-11-16 | 中国船舶重工集团公司第七0七研究所 | Double-diesel outboard engine control device and method for measuring unmanned ship |
| CN113655784B (en) * | 2021-06-22 | 2023-06-23 | 中国船舶重工集团公司第七0七研究所 | Double-diesel outboard-mounted control device and method for measuring unmanned ship |
| CN113772062A (en) * | 2021-10-29 | 2021-12-10 | 中国船舶重工集团公司第七一三研究所 | Force feedback type closed-loop control underwater propeller |
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