CN113965128A - Permanent magnet motor integrated driving and detecting system and method - Google Patents
Permanent magnet motor integrated driving and detecting system and method Download PDFInfo
- Publication number
- CN113965128A CN113965128A CN202110634546.2A CN202110634546A CN113965128A CN 113965128 A CN113965128 A CN 113965128A CN 202110634546 A CN202110634546 A CN 202110634546A CN 113965128 A CN113965128 A CN 113965128A
- Authority
- CN
- China
- Prior art keywords
- motor
- current
- phase
- permanent magnet
- controller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 53
- 230000001360 synchronised effect Effects 0.000 claims abstract description 32
- 238000001514 detection method Methods 0.000 claims abstract description 24
- 230000008569 process Effects 0.000 claims description 28
- 238000004804 winding Methods 0.000 claims description 20
- 230000006870 function Effects 0.000 claims description 17
- 238000006243 chemical reaction Methods 0.000 claims description 15
- 230000009466 transformation Effects 0.000 claims description 15
- 238000005070 sampling Methods 0.000 claims description 13
- 230000005284 excitation Effects 0.000 claims description 12
- 230000001939 inductive effect Effects 0.000 claims description 12
- 230000003068 static effect Effects 0.000 claims description 11
- 238000004364 calculation method Methods 0.000 claims description 8
- 238000005259 measurement Methods 0.000 claims description 8
- 230000002093 peripheral effect Effects 0.000 claims description 6
- 238000012546 transfer Methods 0.000 claims description 4
- 238000002955 isolation Methods 0.000 claims description 3
- 125000001995 cyclobutyl group Chemical group [H]C1([H])C([H])([H])C([H])(*)C1([H])[H] 0.000 claims description 2
- 238000013016 damping Methods 0.000 claims description 2
- 238000013499 data model Methods 0.000 claims description 2
- 230000010355 oscillation Effects 0.000 claims description 2
- 101150070696 CHKA gene Proteins 0.000 claims 1
- 101150068479 chrb gene Proteins 0.000 claims 1
- 238000003745 diagnosis Methods 0.000 abstract description 5
- 238000007689 inspection Methods 0.000 abstract description 4
- 238000012942 design verification Methods 0.000 abstract description 2
- 238000005457 optimization Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 9
- 238000005192 partition Methods 0.000 description 8
- 230000004044 response Effects 0.000 description 7
- 238000004458 analytical method Methods 0.000 description 5
- 238000013461 design Methods 0.000 description 5
- 238000002474 experimental method Methods 0.000 description 4
- 238000002347 injection Methods 0.000 description 4
- 239000007924 injection Substances 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 4
- 238000003860 storage Methods 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000011156 evaluation Methods 0.000 description 3
- 230000001953 sensory effect Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000013500 data storage Methods 0.000 description 2
- 238000005553 drilling Methods 0.000 description 2
- 238000000605 extraction Methods 0.000 description 2
- 230000004907 flux Effects 0.000 description 2
- 238000000227 grinding Methods 0.000 description 2
- 230000001965 increasing effect Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000013178 mathematical model Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 238000001228 spectrum Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 230000017525 heat dissipation Effects 0.000 description 1
- 230000020169 heat generation Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 239000006247 magnetic powder Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000010606 normalization Methods 0.000 description 1
- 238000011017 operating method Methods 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Images
Classifications
-
- 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
- H02P21/22—Current control, e.g. using a current control loop
-
- 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
- H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
-
- 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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
-
- 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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
-
- 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
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
- H02P21/26—Rotor flux based control
-
- 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
-
- 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
-
- 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
-
- 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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses a permanent magnet motor integrated driving and detecting system and method, wherein the system comprises a driver and a data detecting module; the driver is used for driving the permanent magnet motor to rotate; the data detection module is a synchronous data detection module of an IP soft core based on the FPGA; the data that the data detection module gathered are 32 ways, can carry out accurate detection to each item parameter of system, and the primary use: design verification, factory inspection, after-sale service, fault diagnosis and tracing of equipment and parameter optimization of the motor.
Description
Technical Field
The invention relates to a permanent magnet motor integrated driving and detecting system and method.
Background
The direct detection method of motor performance and electric parameters is based on the counter-dragging principle, a tested motor is fixed on a counter-dragging experiment table, a load is dragged by a coupler provided with a torque and rotating speed sensor, the load is controlled and generated by hysteresis, magnetic powder, eddy current or a servo motor and the like, so that the operation of the load driven by the motor is simulated, in the test process, a frequency converter drives the tested motor to drag, a load controller accurately controls the loading size, a data acquisition system synchronously detects the parameters of torque, rotating speed, current, voltage and the like and transmits the parameters to an upper computer, and the upper computer calculates and displays the motor performance parameters and the operation parameters. The double-dragging detection mode has the advantages of simple realization principle and high detection precision, is suitable for research and development of a motor prototype and product authentication, but has the defects of large equipment volume, complex structure, high manufacturing cost, complicated experimental procedures, poor product applicability and the like.
In the links of field inspection and after-sale service after motor industrialization, the performance and the electrical parameters of a motor are usually detected by an indirect method, and the detection scheme is as follows: the three-phase motor is connected with the output end of a third-party variable frequency driver on the site of equipment, a portable motor driving analyzer is connected with the input/output side of the variable frequency driver, and in the process of controlling the operation of the motor by the equipment, the motor driving analyzer detects the voltage and the current of the input/output side of the frequency converter in real time and analyzes the electrical characteristics of the frequency converter according to the electric power principle to indirectly analyze the load motor. The instrument is essentially a variable frequency driver rather than an analysis instrument of a motor, the frequency converter is provided by a third party, and a detection result is closely related to a control mode and parameter setting of the frequency converter, so that the function of analyzing the motor is extremely limited.
In addition, the high-frequency converter and the main shaft are core functional components of equipment such as a medium-high-end numerical control grinding machine, a compressor, a fan, PCB drilling and the like, a motor/main shaft driving system with high rotating speed, high efficiency, high reliability and low vibration is one of key technologies for ensuring performance indexes such as the processing precision, the efficiency, the service life and the like of the equipment, the output frequency of the frequency converter in the current market is generally lower than 600Hz (the high-frequency converter of the invention is a frequency converter with the output frequency higher than 600 Hz), the rotating speed of the corresponding pair of level motor/main shaft is below 3.6 thousands of revolutions per minute, if higher rotating speed is needed, the higher rotating speed can be realized only by adding a speed increasing box in the traditional mechanical transmission link, and the defects of high machine purchasing cost, high operating cost, high maintenance cost, large volume and the like exist.
In order to realize high-performance control of high rotating speed, high efficiency, high reliability, low vibration and the like of a motor/main shaft, a high-performance vector frequency converter is required to be adopted by a matched driving system in the existing scheme, namely a mechanical position sensor is used for collecting rotor position and rotating speed data, a high-performance MCU is used for realizing the implementation of a magnetic Field Orientation Control (FOC) algorithm, but the defects of increased system complexity, reduced reliability, high-speed failure rate, high use cost and the like caused by the installation of the position sensor are overcome, on the basis of the existing inductive control, a non-inductive control algorithm is added for the high-speed running occasion (more than 600 Hz) of the motor, and the basic principle is as follows: the permanent magnet motor is regarded as a sensor, the three-phase input voltage of the motor is regarded as the excitation of the sensor, the three-phase feedback current of the motor is regarded as the response of the sensor, the rotor position is accurately calculated on line through an algorithm to realize the directional control of a magnetic field, the high-precision control of the speed of the permanent magnet motor is realized under the condition of not using a mechanical position sensor, the production, assembly and use costs of the motor are greatly reduced, and the popularization and popularization technical threshold of the permanent magnet motor is reduced.
In a motor driving system, the frequency of a PWM carrier frequency of a frequency converter must be more than 30 times higher than the output frequency of the frequency converter, otherwise, the indexes of motor vibration, efficiency, heat generation and the like can rise rapidly due to the rise of the output frequency, the calculation speed of an MCU in FOC control must be kept synchronous with the frequency of the PWM carrier frequency, namely, the MCU must complete an SVC algorithm once in a PWM period, for example, the frequency converter outputs 2500Hz, the frequency of the PWM carrier frequency is 80kHz, the corresponding time interval is 1.25us, the SVC algorithm needs more than 30us when calculating once according to the calculation capability of a general MCU in the existing market, the requirement of a high-frequency driver on the calculation capability of a controller cannot be met, and the frequency converter driving system is also one of the important reasons that the output frequency of the general frequency converter driving device in the existing market is limited to be below 500-600 Hz.
Disclosure of Invention
The invention aims to solve the technical problem of providing an integrated driving and detecting system and method of a permanent magnet motor, which are easy to implement, advanced in technology and mainly used for: design verification, factory inspection, after-sale service, fault diagnosis and tracing of equipment and parameter optimization of the motor.
The technical solution of the invention is as follows:
an integrated driving and detecting system of a permanent magnet motor is characterized by comprising a driver and a data detecting module;
the driver is used for driving the permanent magnet motor to rotate;
the data detection module is a synchronous data detection module of an IP soft core based on the FPGA;
the data collected by the data detection module comprises:
at least one of the 1-32 way parameters:
(1) ch0 speed setpoint wr
(2) Ch1 velocity feedback value wf
(3) CH2 q-axis command current Iq
(4) CH3 q-axis feedback current Iqf
(5) CH4 q-axis voltage command Vq
(6) CH5 d-axis command current id
(7) CH6 d axis feedback current idf
(8) Ch7 d-axis voltage command Vd
(9)CH8 Vα
(10)CH9 Vβ
(11) CHA A phase SVPWM pulse width PWMA
(12) CHB B-phase SVPWM pulse width PWMB
(13) CHC phase SVPWM pulse width PWMC
(14)CHD iaIa is iα
(15)CHE iβ,
(16)CHF ib
(17)CHG ic
(18) CHH phase voltage amplitude Um
(19) CHI phase voltage phase
(20) CHJ phase Current amplitude Im
(21) CHK phase current phase
(22) CHL counter electromotive force amplitude Em
(23) CHM back emf phase
(24) CHN torque angle, i.e.
(25) CHO power angle, i.e
(26) CHP locked rotor coefficient
(27) CHK a counter electromotive force waveform Eα
(28) CHR b counter electromotive force waveform Eβ
(29) CHS a Current estimation iα *
(30) CHT rotor position θ (encoder measurement with sensor, constant 0 without sensor)
(31) Measured speed w of CHU rotor0(encoder measurement with sensor and constant 0 without sensor)
(32) The CHV encoder line number Rev (encoder measurement in the presence of a sensor, and 65535 in the absence of a sensor);
in the channel, PWMA/B/C is a given value, ia/B/C is a measured value, and w and theta are calculated values in a non-inductive vector control algorithm; when the PG control algorithm exists, the PG control algorithm is a measured value, and all other parameters are calculated values; the quantity which must be collected by the non-inductive vector control is ia/b/c; the rotor position θ must be acquired on this basis with PG control.
Calculating motor operation dynamic parameters based on the acquired data; the motor operation dynamic parameters comprise: load torque, winding equivalent resistance/inductance, motor active/reactive power, driver active/reactive power, torque parameters, motor speed, driver temperature, motor temperature, back emf, power angle, load angle.
The data output by the data detection module is stored in a local memory or output to a touch screen for display or an upper computer.
2. The permanent magnet motor integrated driving and detecting system according to claim 1, further comprising a motor static parameter identification module;
the working process of the motor static parameter identification module is as follows: a tester sends a static parameter identification command (through an upper computer or a touch screen or a keyboard), a controller injects three-phase rotating high-frequency voltage under the condition of motor stalling according to the static parameter identification command, after current data are stable, excitation voltage and feedback current data are stored in an SRAM (static random access memory) arranged in the controller, and then stored synchronous data are read into an internal memory of an SOC (system on chip) system, and the SOC system calculates the alternating-axis and direct-axis inductances, the winding resistance, the salient pole coefficient and the initial position of a rotor of the motor in an off-line mode according to a permanent magnet motor data model under an alpha-beta coordinate system of the permanent magnet motor. (this section is the prior art of maturity)
The mathematical model of the permanent magnet motor under an alpha-beta coordinate system is shown as the formula (1)
In the formula L1,L2Are respectively an AC and a DC axis inductor Ld,LqThe sum and difference of (1) are averaged, and the relationship can be expressed as;
measuring method, under the condition of motor locked-rotor state, the injection amplitude is UiAngular velocity of omegaiHigh frequency voltage, the excitation voltage can be expressed as
Angular frequency omega of excitation signal in the above formulaiThe winding inductance is far larger than the winding resistance R, and the first term of the formula (1) can be ignored; in the measurement process, the motor is locked up and rotated, and the last term of the formula (1) is 0; then, high-order harmonic components are ignored; after approximate processing, the response current of the motor is expressed as
Will vector
Dot multiplied vector
Can obtain the product
Will vector
Cross product vector
Can obtain the product
(6) Wherein the first term is constant and the second term has a frequency of 2 ΩiNote that formula (4) only considers fundamental waves and does not consider harmonics, and it can be known from the principle of the current conversion technique that the inverter circuit inevitably has integer harmonics k Ω of the output frequencyiIn order to improve the detection precision, an M-order digital wave trap is designed, and the sampling frequency of the system is set to be fpwmAnd becomeFrequency output excitation frequency of fiThen M can be selected as
M＝l×fpwm/fi (l＝1,2,3,…) (7)
Setting the excitation signal frequency fiCan be removed fpwmEnsuring that formula (7) M is an integer, the digital filter transfer function H (z) is shown as formula (8), the amplitude response of the M-order trap is shown as figure 7, in which the frequency k omega is showni( k 1,2, …, 9) is mapped onto the zero point, i.e. the unit circle of the z-plane, of a digital filter which completely eliminates the frequency k ΩiAnd (k is 1,2, …) fundamental wave and harmonic wave of each order.
The filter is characterized by all-pass characteristic to baseband signals, trap characteristic to fundamental wave and each harmonic signal of the frequency output by the frequency converter,
is a given value and is a given value,
in the process of high-frequency injection, clicking a 'Sample' button in figure 3 to store all variables in figure 3 into an SRAM according to a time sequence shown by 5, reading out SRAM voltage and current data by an Soc soft-core processor, calculating a left data operation result according to a formula (5-6), passing the data through a filter in figure (8), obtaining a right direct current component value of the formula (6), then integrating the values (5-6), and calculating L1、L2Further, the equivalent resistance R and inductance L of the motor winding are obtainedd/qSalient pole coefficient L2/L1. It is characterized in that a non-inductive vector control method is adopted;
soc based on FPGA is designed to be used as the main control of the high-frequency converter, and both FOC algorithm and SVC algorithm of the motor control algorithm are realized by adopting IP soft cores.
The driver is a high-frequency converter, and the high-frequency converter comprises a controller, a signal acquisition circuit and a high-frequency inverter bridge; the signal acquisition circuit is connected with the controller; the controller is connected with the high-frequency inverter bridge through the isolation circuit;
the controller is provided with a core module; the core module comprises an MCU minimum system and a peripheral circuit; the method can be realized by an IP core or a GPU; the controller is also provided with a soft core control module; the soft core control module comprises a finite state machine FSM, an ADC synchronous acquisition unit (ADC interface), a Clarke conversion unit, a Park conversion unit, a back electromotive force observer (ABobsrv), a speed filter (GetVel), a speed ring controller (vPi), a current ring controller (dPi/qPi), a Park inverse conversion unit (invPark), a Clarke inverse conversion unit (invClarke) and a central symmetry vector PWM modulator (SVM); the controller sends out driving pulses through the centrosymmetric vector PWM modulator to drive the inverter to work.
Finite state machine FSM: the method comprises the following steps that an FSM core firstly controls an ADC synchronous acquisition unit to acquire feedback data required by an SVC algorithm in a control period, then controls an SVC algorithm peripheral to execute the SVC algorithm in a chip in a sequence from top to bottom, and finally outputs control pulses to control a high-frequency inverter bridge outside the chip, and the steps are repeatedly executed in the next period; the analog quantity acquired by the ADC synchronous acquisition unit comprises: three-phase current ia/b/cBus voltage VDCMotor temperature TempMOTORTemperature Temp of base of frequency converterVFDInputting 0-10V/4-20mA of analog quantity of a host computer; the analog quantity input of the upper computer is 0-10V/4-20mA for receiving a control signal of the upper computer (an industrial personal computer, a PLC and the like);
the Clarke transformation unit is used for executing amplitude equivalent Clarke transformation to obtain iα、iβ
Clarke transform, the positive transform being current and the negative transform being voltage; wherein:
iA、iBand iCThree-phase currents, currents in three-phase coordinates, i.e. corresponding to ia/b/c；iα、iβIs an alpha-beta coordinate system of the motorPhase current; the Park conversion unit is used for converting the rotor position theta according to the previous control periodrPerforming coordinate axis rotation operation to obtain AC and DC axis current components iq、id；
A back electromotive force observer (ABobsrv) for obtaining a back electromotive force;
the transfer function of the back emf observer is:
wherein
Is the output of the counter electromotive force observer; g (z) is a digital model of the single-phase winding of the motor, the input quantity of the digital model is the difference between the input phase voltage and the back electromotive force of the motor, and the output quantity is the phase current:
l, R are respectively inductance and resistance of motor stator phase winding, and Tp is SVPWM period; d (z) observer controller:
Kp＝2ξω0L-R，KI＝ω0LTsξ、ω0respectively the damping ratio and the undamped oscillation frequency of the counter electromotive force observer; e (z) z transformation for counter electromotive force; kp and KI are a proportional coefficient and an integral coefficient Kp, KI is the prior art, and the numerical value of KI is empirically determined or obtained through setting according to the time velocity of the nth sampling point obtained by a velocity filter (GetVel); degree d θ (n), the calculation formula is:
d θ (n) ═ θ (n) - θ (n-1), θ (n) and θ (n-1) are the rotor positions at the times n and n-1, respectively; a speed loop controller (vPi), in the vPi speed loop, the given value Ref is a speed command, the feedback value Fb is a feedback speed,the output Out is a q-axis command current iq；iqThe amplitude limit of (a) depends on the rated current of the motor; current loop controller (dPi/qPi): dPi the current loop controller has given value Ref of 0 and feedback value Fb of feedback current idThe output is Vd(ii) a qPi Current Loop controller, given value Ref being speed Loop output iqThe feedback value Fb is the feedback current iqThe output is Vq(ii) a The amplitudes of the two current loop controller outputs Vd, Vq must satisfy:
vPi, dPi, qPi are identical IP cores, and the functions to be realized are: a Pi controller resistant to integral saturation;
the Park inverse transformation unit (invPark) is used for Park inverse transformation, namely d-q axis is transformed to alpha-beta axis; the Park inverse transformation is the prior art, and the specific formula is
V to be output by dPi, qPi controllersd、vqTransforming from the rotor coordinate system to the stator coordinate system;
a clarke inverse transformation (invClarke) is used for the clarke inverse transformation, and the alpha-beta axis voltage vector is equivalently transformed into an a-b-c three-phase coordinate system;
vdc is the dc bus voltage and Tp is the SVPWM period.
Central symmetric vector PWM modulators (SVMs) are prior art, see the link:
https://wenku.baidu.com/view/9b51ae394531b90d6c85ec3a87c24028915f85 22.htmlSVPWM is a well established technology.
The calculation logic: the process of generating va, vb, vc according to the output result vd, vq of the controller is
To obtain vα,vβ
The high-frequency converter also comprises a Modbus-RTU protocol IP core for high-speed bus control, and the Modbus-RTU protocol IP core is in butt joint with the touch display screen.
The high-frequency converter further comprises a permanent magnet motor SVC IP core, and the permanent magnet motor non-inductive vector control (SVC) is used for determining the position of the rotor of the permanent magnet motor without a position sensor.
The controller is communicated with the upper computer through a serial port. The UART1 interface, such as a controller, communicates with the PC via the RS232 protocol.
The permanent magnet motor integrated driving and detecting system and method are based on the high-frequency converter; the control method is a non-inductive vector control method;
soc (System on chip) based on FPGA is designed to be used as the main Control of the high-frequency converter, and FOC-Field Oriented Control (FOC-Field Oriented Control, also called Vector Control) and SVC (sensory Vector Control) algorithms of a motor Control algorithm are all realized by adopting an IP soft core.
The processes of starting, running, stopping, adaptive parameter adjustment and the like of the motor running are independently completed by the soft core control modules, a bus is not occupied, and no interruption occurs, so that the technical route can enable an Soc system to process an SVC algorithm at the speed of 120kHz at most in real time.
Has the advantages that:
the invention provides a high-frequency converter, which is applied to high-performance application occasions of permanent magnet motors with high speed, high precision or high reliability, such as a high-speed grinding machine, a fuel cell compressor, PCB drilling, an automobile main drive and the like; the control target is high speed, high precision, low loss and low vibration; experimental results can verify that the high-frequency converter can realize high speed, high precision, low loss and low vibration, the type of the drivable motor is a three-phase direct-current brushless, permanent-magnet synchronous and alternating-current asynchronous motor, a magnetic field directional control algorithm is adopted, and the position, speed or torque control can be realized by using PG (PG); and the speed control can be realized without a position sensor and PG.
The core of the invention is to design a high-speed controller based on IP soft core
The invention provides a product structure design method for isolation, heat dissipation, shielding and integrated molding.
The high-frequency converter can be used for a three-phase permanent magnet synchronous motor, a direct current brushless motor and an alternating current asynchronous motor, and adopts an FOC algorithm.
The high-frequency converter adopts non-inductive vector control, a permanent magnet motor is regarded as a sensor, the input voltage of the motor is regarded as the excitation of the sensor, the feedback current of the motor is regarded as the response of the sensor, the position of a rotor is accurately calculated on line through an algorithm to realize the directional control of a magnetic field, and the high-precision control of the speed of the permanent magnet motor is realized under the condition of not using a mechanical position sensor.
The high-frequency converter adopts Soc (System on chip) based on FPGA as the main control of the high-frequency converter, and the FOC algorithm of the motor control algorithm and the current SVC (sensory Vector control) algorithm are realized by adopting an IP soft core.
The invention provides a high-frequency direct-drive scheme, the highest output frequencies of a frequency converter driving a permanent magnet motor and an asynchronous motor can reach 2500Hz and 8000kHz respectively, and the rotating speeds of corresponding pair-level motors are 15 ten thousand and 48 ten thousand revolutions per minute respectively.
The invention develops a complete SVC (sensory Vector control) algorithm based on HDL (hardware description language), a hardware platform is based on a super large scale integrated circuit, a modular design method is adopted to exemplify each functional unit of a control flow into an independent chip, an IP soft core is used for realizing SVC algorithm control, and the bottleneck problem of MCU operation capability is solved.
The invention provides a permanent magnet motor driving, detecting and evaluating integrated system, which mainly has the following functions: the SVC mode drives the motor, identifies load torque, equivalent resistance/inductance of a winding, active/reactive power of the motor, active/reactive power of a driver, torque parameters, motor speed, driver temperature, motor temperature, counter electromotive force, power angle, load angle … and other parameters on line, and has functions of on-line monitoring, fault diagnosis and cyclic recording of process data.
Aiming at a permanent magnet motor manufacturer and a user, parameter verification in a design stage, consistency inspection in a product delivery stage, fault diagnosis in an after-sale stage and frequency converter control parameter setting are carried out.
The system is a permanent magnet motor detection instrument and comprises a motor driving module, a multi-channel data synchronous high-speed acquisition module and a motor evaluation module, wherein a touch screen is used as a man-machine interface, and a motor driver is integrated in a controller, so that high-speed synchronous acquisition and storage of FOC control process data can be realized.
The FPGA-based IP soft core realizes SRAM high-speed data acquisition, the acquisition frequency is selectable, and multi-channel signals are synchronously acquired.
The process data is monitored on line, and the data processing method comprises the following steps: the method comprises the steps of synchronously acquiring signals with PWM carrier frequency, enabling the signals to pass through a digital filter, enabling the filter to have an all-pass characteristic for baseband signals, enabling fundamental wave and each subharmonic signal of frequency output by a frequency converter to have a trap characteristic, performing integral multiple extraction on an output sequence of the filter to match the communication speed of an upper computer, and enabling an extraction factor to be the order of the filter.
And the data recording function is used for recording FOC control process data at a speed synchronous with the frequency of a speed loop or a current loop, and the data can be circularly displayed on the touch screen and also can be transmitted to a PC (personal computer) for visual analysis.
And the fault diagnosis function is used for circularly recording FOC control process data, when an alarm occurs, the recording is stopped after a short section of delay, and the data in the fault occurrence process is stored in the SRAM and transmitted to the PC to realize fault tracing.
An operating method, settable by a human-machine interface: PWM carrier frequency, dead time, current sensor sensitivity, control parameters and motor electrical parameters; and the high-speed synchronous recorded data are displayed on the human-computer interface one by one in a circulating manner.
The system can detect equivalent inductance and resistance of the phase winding on line.
Drawings
FIG. 1 shows an integrated system for driving, detecting and evaluating a permanent magnet motor;
FIG. 2 shows an integrated controller for driving, detecting and evaluating a permanent magnet motor;
FIG. 3 is a SVC control flow diagram and data transmission setup touch screen page;
FIG. 4 is a schematic diagram of a high-speed data storage data frame allocation IP soft core;
FIG. 5 is a timing diagram of a multi-channel high-speed data storage IP soft core;
FIG. 6 is a three-phase current waveform of the permanent magnet motor at 6 rpm on the touch screen;
figure 7 order M trap amplitude response;
FIG. 8 is a vector diagram of the operating space of a permanent magnet motor;
FIG. 9 a counter electromotive force state reconstruction viewer;
FIG. 10 three-phase current waveforms;
FIG. 11 a three-phase voltage waveform;
FIG. 12 q-axis current controller input/output;
fig. 13 a-axis back emf viewer input/output waveforms;
FIG. 14
And
a phase waveform;
graph 158000 points current vector trajectory circle;
figure 168000 point voltage vector trajectory circles;
FIG. 17 ia normalize the spectrum;
FIG. 18 Motor/load operating parameter display touch screen interface;
FIG. 19 frequency converter three-phase current operation fault point tracing;
FIG. 20 is a block diagram showing the overall structure of a high frequency converter;
FIG. 21 is a torque waveform display during the acceleration and deceleration phase of the high frequency inverter;
FIG. 22 is a diagram of a 32-channel data high-speed, synchronous acquisition system SRAM read-write soft core.
Variables in the figures and in the text of the description:
u (t): motor phase voltage; u(s), U (z): laplace transform and z transform of phase voltages; i (t): motor phase current; s and z are Laplace operator and z transformation operator; i(s), I (z): laplace transform and z transform of phase current; e (t): the motor counter electromotive force; e(s), E (z): laplace transform and z transform of the opposite electromotive force; l, R equivalent inductance and resistance of motor stator; g (z): phase voltage and opposite electromotive force are input, phase current is output, and the ideal digital model of the single-phase winding is obtained;
a G (z) approximation to an idealized model; t ispPWM carrier period; t isu/v/wU, v, w phase PWM command pulse width; t isDBPWM dead time; u shapeT、VT、WTU, v, w phase inversion bridge upper arm switch signal, controller chip pin; u shapeB、VB、WBU, v, w phase inversion bridge lower arm switch signal, controller chip pin; FOC: field Oriented Control; SVC, Sensorless Vector control (Sensorless Vector control); z is a digital system delay algorithm; kp is a controller proportional parameter; ki is controller integral parameter; kc is the controller anti-saturation coefficient; ref is a controller instruction reference value; fb: the controller inputs a feedback value; out is the controller output; v. ofα、 vβTwo-phase voltage of alpha-beta coordinate system; v. ofa、vb、vcA, b and c three-phase voltages; i.e. iα、iβTwo-phase current of alpha-beta coordinate system; i.e. ia、ib、icA, b and c three-phase currents; i.e. id、iqD-q coordinate system two-phase current; v. ofd、vqTwo-phase voltage of d-q coordinate system; e.g. of the typeα、eβTwo-phase back electromotive force of alpha-beta coordinate system; thetar: a rotor position. L isd、LqThe AC and DC shaft inductances of the permanent magnet motor; l: a motor winding phase inductance; r is the phase resistance of the motor winding; ΨmA rotor permanent magnet flux linkage; δ: a torque angle;
a power angle; omegae::Rotor electrical angular velocity, dimension: rad/s; t iseTorque of the permanent magnet motor;
a back electromotive force vector;
a current vector;
a voltage vector.
Detailed Description
The invention will be described in further detail below with reference to the following figures and specific examples:
as shown in figure 1, the high-speed motor is mostly a non-standard product, the high-frequency converter adopts direct-current power supply input, the input voltage range is set to be 24-400 Vdc, and the bus voltage in a wide range is used for widening the frequency converter to motors with various specifications.
The permanent magnet motor driving, detecting and evaluating integrated system is shown in figure 1, and comprises an operation touch screen, a controller, a personal computer and a tested direct current brushless or permanent magnet motor, wherein dotted lines in the figure are selectable, the controller shown in figure 2 is the core of the system, a controller main body is a main controller which is an Soc system based on an FPGA, a non-inductive vector control algorithm IP core and a 32-channel high-speed storage soft core are independently developed, an independent 8-channel 16-bit-width synchronous ADC is selected as a data acquisition chip, and an isolated three-phase high-frequency inverter bridge outputs the data to the motor. The controller is communicated with an upper computer such as a touch screen, a PC (personal computer) or a PLC (programmable logic controller), receives commands of the upper computer such as parameter setting, motor starting/stopping, data transmission and the like, and feeds back data of motor operation process parameters, states, alarms and the like to the phase machine; the equipment operation parameters are visual, measurable, evaluable and traceable.
Design and implementation of multi-channel synchronous data high-speed acquisition, storage and uploading function
FIG. 3 is a control page for operating data acquisition of a touch screen, wherein data are distributed according to an SVC control flow, a control algorithm flow is realized in an FPGA chip by a state machine, a 'Sample' control key at the lower right corner is clicked, and all process data such as a motor, a load and the like of the operation of a tested motor shown in FIG. 3 are synchronously and continuously stored in an SRAM with a frequency set by the page, and the realization process is as follows:
(1) dividing SRAM address into high-order partition address Frame and low-order Page address Page, where SRAM word width is equal to data word width, and the word widths of Frame and Page are K and N respectively, and SRAM can store 2K+NData, divided into 2KA partition, each partition capable of storing 2NA piece of data; one for each variable in FIG. 3, e.g. i in FIG. 4a、iq、va、ea…, the corresponding partition Frame is 0,1,2, 3, …;
(2) operating a touch screen sampling setting: switching a synchronous current loop or a synchronous speed loop to select sampling frequency and switching an automatic or manual recording mode; after the SRAM is fully written, the manual mode is switched to the read-only mode, and the Enable in FIG. 5 is reset; in the automatic mode, Page is set to 0 to write SRAM circularly;
(3) the operation implementation method comprises the following steps: clicking a 'Sample' key at the lower right of a screen to send an adoption command, setting an SRAM write Enable signal Enable in a Soc system high-speed acquisition control time sequence as shown in figure 5, controlling DO to select corresponding variables by using frames in figure 4 after ADC conversion is completed, and storing DO data in a Frame
The falling edge is written to SRAM with Frame partition first Page address,
add 1 to the rising edge Frame value and perform 2KAnd after the next time, all variables are written into the corresponding partitions, the Page address Page is added with 1, and the time sequence is repeated after the next sampling is finished.
(4) Data uploading setting: in fig. 3, the variable name is to operate the touch screen position switch, click "Read" in the figure, and the variable corresponding to the enable position is transmitted to the PC; synchronous data such as a speed controller and a current controller in the SRAM are circularly transmitted to an operation touch screen to be displayed in a background program.
The operation process is as follows: after the motor is started, clicking a 'Sample' button, after the Soc receives an instruction, synchronously storing all 32 variables in the graph 3 into an SRAM according to a time sequence shown in the graph 5, clicking a 'channel switching' button to select display channels as 'Ia, Ib and Ic', circularly displaying three-phase current data in the SRAM on a touch screen, and displaying a three-phase current code word waveform when the permanent magnet motor 6 runs at ten thousand revolutions per minute shown in the graph 6.
Two-motor electrical parameter static identification
The mathematical model of the permanent magnet motor under an alpha-beta coordinate system is shown as the formula (1)
In the formula L1,L2And the AC and DC axes inductance Ld,LqCan be expressed as
Measuring method, under the condition of motor locked-rotor state, the injection amplitude is UiAngular velocity of omegaiHigh frequency voltage, the excitation voltage can be expressed as
Excitation signal omega in the above equationiHigh, the inductive reactance is much greater than R, (1) the first term of formula is negligible; motor block in measuring processTurning, (1) the last term of the formula is 0; then, high-order harmonic components are ignored; after approximation, the response current of the motor can be expressed as
Will vector
Dot multiplied vector
Can obtain the product
Will vector
Cross product vector
Can obtain the product
(6) Wherein the first term is constant and the second term has a frequency of 2 ΩiNote that formula (4) only considers fundamental waves and does not consider harmonics, and it can be known from the principle of the current conversion technique that the inverter circuit inevitably has integer harmonics k Ω of the output frequencyiIn order to improve the detection precision, an M-order digital wave trap is designed, and the sampling frequency of the system is set to be fpwmAnd a variable frequency output excitation frequency of fiThen M can be selected as
M＝l×fpwm/fi (l＝1,2,3,…) (7)
Setting the excitation signal frequency fiCan be removed fpwmEnsuring that formula (7) M is an integer, the transfer function H (z) of the digital filter is as shown in formula (8)The amplitude response of the Mth order trap is shown in FIG. 7, which shows the frequency k Ωi( k 1,2, …, 9) is mapped onto the zero point, i.e. the unit circle of the z-plane, of a digital filter which completely eliminates the frequency k ΩiAnd (k is 1,2, …) fundamental wave and harmonic wave of each order.
The filter is characterized by all-pass characteristic to baseband signals, trap characteristic to fundamental wave and each harmonic signal of the frequency output by the frequency converter,
is a given value and is a given value,
in the process of high-frequency injection, clicking a 'Sample' button in figure 3 to store all variables in figure 3 into an SRAM according to a time sequence shown by 5, reading out SRAM voltage and current data by an Soc soft-core processor, calculating a left data operation result according to a formula (5-6), passing the data through a filter in figure (8), obtaining a right direct current component value of the formula (6), then integrating the values (5-6), and calculating L1、L2Further, the equivalent resistance R and inductance L of the motor winding are obtainedd/qSalient pole coefficient L2/L1The off-line calculation method based on the large-batch synchronous data can be realized by adopting a high-level algorithm, so that the motor identification difficulty is reduced, and the detection precision is improved.
High-speed recording of running process parameters of three permanent magnet motors
The detection and evaluation system of the invention has the use steps of high-speed acquisition: (1) measuring equivalent resistance, inductance and salient pole coefficients of a motor winding; (2) the system automatically establishes a motor digital back electromotive force model observer, and a back electromotive force state reconstruction observer is shown in fig. 9; (3) setting parameters of a PWM carrier frequency, critical frequency of an open-close loop, a current loop and a speed loop controller by integrating factors such as bus voltage, electrical parameters and load size; (4) and starting the motor, and switching to non-inductive vector control when the motor is accelerated to a state that the counter electromotive force model observer can correctly identify the position of the rotor. (5) The adoption frequency is set on the touch screen shown in fig. 3, a 'Sample' control key at the lower right corner is clicked, the Soc system synchronously stores multi-channel numbers in the Sram, and the data are displayed on the touch screen and can be transmitted to a PC for analysis.
When a permanent magnet synchronous motor drags a fan impeller to run at a high load of 60000rpm, data are synchronously stored at a speed of 60kHz and then transmitted to a PC, MATLAB software is used for drawing waveforms, the uploaded data amount is a 16-bit integer of 32 channels multiplied by 8192 (each channel), the total data is 4Mb, only the front 300 points are selected when the graphs are drawn, partial data waveforms are shown in figures 9-13, all data are synchronously recorded, and a corresponding relation in time sequence exists. Fig. 10 and 11 show three-phase currents and three-phase voltages of the motor, respectively, the currents being actual measurement results and the voltages being converted from Clarke inverse transformation results.
The q-axis current, i.e. the input/output waveform of the controller of the torque loop, is shown in FIG. 12, where iqrFor the q-axis command current, the output from the speed controller, whose magnitude varies with the fluctuation of the speed control error, iqFor actual q-axis feedback current, controller uqIs a q-axis command voltage.
FIG. 13 shows a back EMF estimation process, where the permanent magnet machine operates in the space vector diagram mode of FIG. 8, with the voltage phase leading the back EMF phase and the current phase ideally being the same as the back EMF phase, and u is estimatedα、iαAs input to the counter-electromotive-force observer, counter-electromotive force eαCurrent estimation value iαOutput i of mathematical motor model is output by observer and forced by controller in operation processαApproximation of actual motor current iαTo obtain a counter electromotive force eαIn the same way, e can also be obtainedβ。
FIG. 10 shows the conversion of the three-phase measured current to i by Clarkeα、iβConverting the current vector from a Cartesian coordinate system to a polar coordinate system to obtain current phase data; similarly, calculate to obtain eα、eβPhase, back emf phase and current phase waveforms are shown in figure 14,
and
the phase difference determines the output efficiency of the motor, and the control requires that the two are kept synchronous.
The results of fig. 15 to 17 are the results of analyzing the data uploaded by the integrated system by the PC using Matlab software.
Fig. 15 to 16 are graphs of voltage and current vector traces, respectively, in which the recording time is 8000 × 1/60000 seconds/point 0.1333 seconds, and a current vector leading the rotor magnetic field is generated in the rotating current to drag the load operation, and fig. 14 reflects the disturbance of the load. The fig. 15 trace bus voltage approximates the ideal circular rotating field trace of the motor air gap.
Phase a current i given in FIG. 17aThe FFT normalization frequency spectrum can analyze harmonic current in the operation process of the motor, a frequency converter outputs 1000Hz signals in the graph, and the harmonic waves of the motor are mainly 3, 5 and 7 harmonic waves.
Four-permanent magnet motor operation process parameter online monitoring
The drive system can identify load torque, equivalent resistance/inductance of a winding, active/reactive power of a motor, active/reactive power of a driver, torque parameters, motor speed, driver temperature, motor temperature, back electromotive force, power angle and load angle … on line by an online monitoring function;
the space vector diagram of the permanent magnet motor in steady-state operation is shown in fig. 8, and the permanent magnet motor normally works in not more than the first mode and the sixth mode. In the first mode, a voltage vector and a current vector have the same phase, the power factor of the frequency converter is 1, and the motor works in a weak magnetic mode; in the mode, the back electromotive force vector and the current vector are in the same phase, the current vector leads the rotor position by 90 degrees, and the motor works in the maximum torque control; in the mode, the voltage vector leads the rotor position by 90 degrees, and the mode is a 6-step method of a 3-hall direct current brushless motor; and sixthly, under the mode, the motor locked-rotor counter electromotive force is 0, and the electrical parameters of the motor are detected under the mode.
As can be seen from the vector diagrams of figure 7, the back electromotive force depends on the rotation speed of the motor, the running process of the permanent magnet motor runs in a mode of three,
permanent magnet linkage ΨmCan be expressed as
Method for detecting back emf: calculating e by means of the state observer shown in FIG. 8α、eβPerforming coordinate rotation operation (multiplying by e) on (9)-j(θr+π/2)) Available Em。
Torque T of permanent magnet motoreExpression see formula (11), steady state operation TeEqual to the load torque
Te＝p(Ψm+L2id)iq (11)
The instantaneous active power of the motor is vector
And
dot product
The instantaneous reactive power of the motor is vector
And
ride across
The instantaneous active power of the high-frequency converter is vector
And
dot product
The instantaneous reactive power of the high-frequency converter is vector
And
ride across
Setting the effective value of the phase current to ImOn-line identification of inductance and resistance according to formula (16)
The parameters monitored online include: load torque TeEquivalent resistor R/equivalent inductor L of winding and active/reactive power P of motorM/SMActive/reactive power P of driverDRV/SDRVPermanent magnetic linkage psimMotor speed n, driver temperature TDRVMotor temperature TMEffective value of counter electromotive force ErmsEffective value of phase voltage UmEffective value of phase current IrmsAngle of power
The load angle delta.
In steady state operation, the variables are low frequency signals, and k omega is eliminated by using a (8) type digital trape(k is 1,2, …, M) harmonics.
The Soc system synchronously acquires signals under the PWM carrier frequency, the data to be monitored pass through the (8) type digital wave trap, the filter has the all-pass characteristic to the signals, the fundamental wave and each subharmonic signal of the output frequency of the frequency converter have the wave trap characteristic, M times of the output sequence of the filter are extracted to match the communication speed of the touch screen, and the extracted signals are transmitted to the touch screen for display.
The touch screen online monitoring page is operated as shown in the left-side list of fig. 18. Shown from top to bottom as: the motor rotating speed, the frequency converter output frequency, the phase current effective value, the phase voltage effective value, the counter electromotive force effective value, the load torque, the frequency converter input active power, the motor output power, the stator phase winding equivalent resistance, the inductance, the permanent magnet flux linkage, the torque parameter, the driver temperature (a sensor is not connected in the experiment), the motor temperature and the bus voltage.
Five-permanent magnet motor operation fault tracing function
A32-channel data high-frequency acquisition and storage unit is integrally designed in a permanent magnet motor driving, detecting and evaluating integrated system, 32-channel process data in an FOC algorithm are synchronously sampled by the unit through PWM carrier frequency, 4Mb data can be continuously sampled at one time, and the fault tracing function is operated as follows:
as shown in fig. 3, the touch screen sample settings are manipulated: switching a 'synchronous current loop' or a 'synchronous speed loop' to select sampling frequency and switching the recording mode to 'automatic'; circularly writing the SRAM after the SRAM is fully written; when the phase current, the bus voltage, the motor temperature or the temperature of the driver power chip exceeds an alarm value, the Enable in fig. 5 is reset, the recording is stopped, 4Mb data near the fault point is stored in the SRAM, the Enable variable is set in fig. 3, the Sample in fig. 3 is clicked, and the data near the fault point is transmitted to the upper computer. The technical scheme is that a black box similar to an airplane is arranged for mechanical equipment, and the functions of motor/load operation analysis and evaluation and fault tracing are realized.
In the process of developing a motor drive plate prototype, a sample plate has the phenomena of large torque angle fluctuation amplitude and frequent protective halt, the fault tracing function of the invention is started, the PWM carrier frequency (same as the sampling frequency) is 20kHz, the data acquisition system circularly acquires the variables listed in the figure 3 in real time, when the fault halt occurs, the recording is stopped, the PC machine reads the data in the SRAM, MATLAB is used for drawing three-phase current waveforms, the figure 19 shows the current waveform near the fault point, the current of the fault point exceeds 40A, and the theoretical analysis shows that the current increment of the drive sample plate in one period in the experiment is not higher than 2A, and the detection result of 40A is obviously caused by interference but not actual current.
The function is used for mechanical equipment, and fault tracking and tracing of a mechanical system can be realized.
The high-speed synchronous data acquisition IP core is shown in FIG. 22, the unit is a soft core functional module generated by instantiating a hardware description language, the right side is IP core input, clock and reset _ n are clock and reset input of an acquisition system, w _ r high/low level represents read/write SRAM, rdAddr is a write address pointer counter, synClk is a write synchronous signal, and the signal is set by a human-computer interface and can be selected to be synchronous with a position ring, a speed ring or an acceleration ring; and sequentially acquiring data of all 32 channels in each position loop, speed loop or acceleration loop period. The left side is IP core output, smpFlag is SRAM data full flag bit, address is connected with peripheral SRAM input address, SRAM _ data is connected with peripheral SRAM data port, the port is bidirectional IO, dataout is SRAM output corresponding to address input rdAddr, CE _ n, OE _ n, UB _ n, LB _ n, WE _ n are memory read-write control signals
When the Soc system receives a sampling instruction from the upper computer, the SRAM write Enable signal Enable is set, and after the ADC conversion is completed, the high-speed acquisition unit controls and generates CE _ n, OE _ n, UB _ n, LB _ n, WE _ n command waveforms according to the timing sequence shown in fig. 5, where CHx (x is 0,1,2, …) in fig. 4 is a channel address, and data selected by the channel address is in the channel address
The falling edge is written to SRAM at CHx partition first Page address,
rising edge, CHx value plus 1, execute 2KSecondly, all variables are written into corresponding partitions, Page addresses Page are added with 1, the time sequence is repeated after the next sampling is finished, until the SRAM is full, smpFlag flag bits are set, a sampling command is given once, and the data volume of continuous sampling is 32 channels multiplied by 2KWord/channel x 16 bit/word 2K+9And (6) bit. In the figure, K is 13, i.e. one acquisition command, the ip data acquisition process will acquire 4Mbit of data.
The above embodiments are only used for illustrating the computing ideas and features of the present invention, and the purpose of the present invention is to enable those skilled in the art to understand the contents of the present invention and implement the present invention accordingly, and the protection scope of the present invention is not limited to the above embodiments. Therefore, all equivalent changes and modifications made in accordance with the principles and concepts disclosed herein are intended to be included within the scope of the present invention.
Claims (5)
1. An integrated driving and detecting system of a permanent magnet motor is characterized by comprising a driver and a data detecting module;
the driver is used for driving the permanent magnet motor to rotate;
the data detection module is a synchronous data detection module of an IP soft core based on the FPGA;
the data collected by the data detection module comprises:
at least one of the 1-32 way parameters:
(1) ch0 speed setpoint wr
(2) Ch1 velocity feedback value wf
(3) CH2 q-axis command current Iq
(4) CH3 q-axis feedback current Iqf
(5) CH4 q-axis voltage command Vq
(6) CH5 d-axis command current id
(7) CH6 d axis inverseCurrent feed idf
(8) Ch7 d-axis voltage command Vd
(9)CH8 Vα
(10)CH9 Vβ
(11) CHA A phase SVPWM pulse width PWMA
(12) CHB B-phase SVPWM pulse width PWMB
(13) CHC phase SVPWM pulse width PWMC
(14)CHD ia
(15)CHE iβ
(16)CHF ib
(17)CHG ic
(18) CHH phase voltage amplitude Um
(19) CHI phase voltage phase
(20) CHJ phase Current amplitude Im
(21) CHK phase current phase
(22) CHL counter electromotive force amplitude Em
(23) CHM back emf phase
(24) CHN torque angle, i.e.
(25) CHO power angle, i.e
(26) CHP locked rotor coefficient
(27) CHKa counter electromotive force waveform Eα
(28) CHRb counter electromotive force waveform Eβ
(29) CHSa current estimation value iα *
(30) CHT rotor position θ (encoder measurement with sensor, constant 0 without sensor)
(31) Measured speed w of CHU rotor0(encoder measurement with sensor and constant 0 without sensor)
(32) The CHV encoder line number Rev (encoder measurement in the presence of a sensor, and 65535 in the absence of a sensor);
in the channel, PWMA/B/C is a given value, ia/B/C is a measured value, and w and theta are calculated values in a non-inductive vector control algorithm; when the PG control algorithm exists, the PG control algorithm is a measured value, and all other parameters are calculated values;
the data output by the data detection module is stored in a local memory or output to a touch screen for display or an upper computer.
2. The permanent magnet motor integrated driving and detecting system according to claim 1, further comprising a motor static parameter identification module;
the working process of the motor static parameter identification module is as follows: a tester sends a static parameter identification command (through an upper computer or a touch screen or a keyboard), a controller injects three-phase rotating high-frequency voltage under the condition of motor stalling according to the static parameter identification command, after current data are stable, excitation voltage and feedback current data are stored in an SRAM (static random access memory) arranged in the controller, and then stored synchronous data are read into an internal memory of an SOC (system on chip) system, and the SOC system calculates the alternating current and direct axis inductances, the winding resistance, the salient pole coefficient and the initial position of a rotor of the motor in an off-line mode according to a permanent magnet motor data model under an alpha-beta coordinate system of the permanent magnet motor;
soc based on FPGA is designed to be used as the main control of the high-frequency converter, and both FOC algorithm and SVC algorithm of the motor control algorithm are realized by adopting IP soft cores.
3. The permanent magnet motor integrated driving and detecting system according to claim 1, wherein the driver is a high frequency converter, and the high frequency converter comprises a controller, a signal acquisition circuit and a high frequency inverter bridge; the signal acquisition circuit is connected with the controller; the controller is connected with the high-frequency inverter bridge through the isolation circuit;
the controller is provided with a core module; the core module comprises an MCU minimum system and a peripheral circuit;
the controller is also provided with an IP soft core control module; the soft core control module comprises a finite state machine FSM, an ADC synchronous acquisition unit (ADCinterface), a Clarke conversion unit, a Park conversion unit, a back electromotive force observer (ABobsrv), a speed filter (GetVel), a speed ring controller (vPi), a current ring controller (dPi/qPi), a Park inverse conversion unit (invPark), a Clarke inverse conversion unit (invClarke) and a central symmetry vector PWM modulator (SVM);
the controller sends out driving pulses through the centrosymmetric vector PWM modulator to drive the inverter to work.
4. The integrated permanent magnet motor driving and detecting system according to claim 3,
finite state machine FSM: the method comprises the following steps that an FSM core firstly controls an ADC synchronous acquisition unit to acquire feedback data required by an SVC algorithm in a control period, then controls an SVC algorithm peripheral to execute the SVC algorithm in a chip in a sequence from top to bottom, and finally outputs control pulses to control a high-frequency inverter bridge outside the chip, and the steps are repeatedly executed in the next period;
the analog quantity acquired by the ADC synchronous acquisition unit comprises: three-phase current ia/b/cBus voltage VDCMotor temperature TempMOTORTemperature Temp of base of frequency converterVFDInputting 0-10V/4-20mA of analog quantity of a host computer;
the Clarke transformation unit is used for executing amplitude equivalent Clarke transformation to obtain iα、iβ
Wherein:
iA、iBand iCThree-phase currents are respectively;
iα、iβis two-phase current of an alpha-beta coordinate system of the motor;
the Park conversion unit is used for converting the rotor position theta according to the previous control periodrPerforming coordinate axis rotation operation to obtain AC and DC axis current components iq、id；
A back electromotive force observer (ABobsrv) for obtaining a back electromotive force;
the transfer function of the back emf observer is:
wherein
Is the output of the counter electromotive force observer; g (z) is a digital model of the single-phase winding of the motor, the input quantity of the digital model is the difference between the input phase voltage and the back electromotive force of the motor, and the output quantity is the phase current:
l, R are respectively the inductance and resistance of the stator phase winding of the motor, Tp is the SVPWM period,
d (z) observer controller:
Kp＝2ξω0L-R
KI＝ω0LTs
ξ、ω0respectively the damping ratio and the undamped oscillation frequency of the counter electromotive force observer;
e (z) z transformation for counter electromotive force; kp and KI are proportional coefficients and integral coefficients;
the velocity filter (GetVel) is used to obtain the velocity d θ (n) of the nth sampling point, and the calculation formula is:
d θ (n) ═ θ (n) - θ (n-1), θ (n) and θ (n-1) are the rotor positions at the times n and n-1, respectively;
a speed loop controller (vPi), in the vPi speed loop, the given value Ref is a speed command, the feedback value Fb is a feedback speed, and the output Out is a q-axis command current iq；iqThe amplitude limit of (a) depends on the rated current of the motor;
current ring controller (dPi/qPi)
dPi the current loop controller has given value Ref of 0 and feedback value Fb of feedback current idThe output is Vd；
qPi Current Loop controller, given value Ref being speed Loop output iqThe feedback value Fb is the feedback current iqThe output is Vq；
The amplitudes of the two current loop controller outputs Vd, Vq must satisfy:
a clarke inverse transformation (invClarke) is used for the clarke inverse transformation, and the alpha-beta axis voltage vector is equivalently transformed into an a-b-c three-phase coordinate system;
vdc is direct current bus voltage, and Tp is an SVPWM period;
the IP soft core also comprises a Modbus-RTU protocol IP core used for high-speed bus control;
the IP soft core also comprises a permanent magnet motor SVC IP core which is used for determining the position of the rotor of the permanent magnet motor without a position sensor;
the controller is communicated with the upper computer through a serial port.
5. An integrated driving and detecting method for a permanent magnet motor is characterized in that the integrated driving and detecting system for the permanent magnet motor is adopted according to any one of claims 1 to 4;
driving a permanent magnet motor through a driver;
and the data detection module is adopted to realize the data acquisition and calculation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110634546.2A CN113965128A (en) | 2021-06-07 | 2021-06-07 | Permanent magnet motor integrated driving and detecting system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110634546.2A CN113965128A (en) | 2021-06-07 | 2021-06-07 | Permanent magnet motor integrated driving and detecting system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113965128A true CN113965128A (en) | 2022-01-21 |
Family
ID=79460327
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110634546.2A Pending CN113965128A (en) | 2021-06-07 | 2021-06-07 | Permanent magnet motor integrated driving and detecting system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113965128A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101729013A (en) * | 2009-11-27 | 2010-06-09 | 哈尔滨工业大学 | IP core of position sensor-free and brushless direct-current motor |
| CN103701375A (en) * | 2013-12-31 | 2014-04-02 | 深圳市汇川技术股份有限公司 | Permanent magnet synchronous motor startup system and method, and permanent magnet synchronous motor |
| CN106130427A (en) * | 2016-07-08 | 2016-11-16 | 山东交通职业学院 | A kind of servosystem driver based on permagnetic synchronous motor and control algolithm thereof |
| CN106208873A (en) * | 2016-08-05 | 2016-12-07 | 苏州爱科博瑞电源技术有限责任公司 | Electric automobile Asynchronous Motor Double vector controlled drive system |
| CN107124125A (en) * | 2017-06-08 | 2017-09-01 | 西南交通大学 | A kind of multiaxis controllor for step-by-step motor system based on fpga chip |
| CN107425765A (en) * | 2017-07-28 | 2017-12-01 | 无锡双能达科技有限公司 | A kind of DC brushless motor controller and its control method based on position-sensor-free |
| CN108521242A (en) * | 2018-04-11 | 2018-09-11 | 西安交通大学 | A kind of permanent magnet synchronous motor general-purpose control system and its control method |
| US20200280276A1 (en) * | 2019-03-01 | 2020-09-03 | Deere & Company | Method and system for controlling a permanent magnet machine without a mechanical position sensor |
-
2021
- 2021-06-07 CN CN202110634546.2A patent/CN113965128A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101729013A (en) * | 2009-11-27 | 2010-06-09 | 哈尔滨工业大学 | IP core of position sensor-free and brushless direct-current motor |
| CN103701375A (en) * | 2013-12-31 | 2014-04-02 | 深圳市汇川技术股份有限公司 | Permanent magnet synchronous motor startup system and method, and permanent magnet synchronous motor |
| CN106130427A (en) * | 2016-07-08 | 2016-11-16 | 山东交通职业学院 | A kind of servosystem driver based on permagnetic synchronous motor and control algolithm thereof |
| CN106208873A (en) * | 2016-08-05 | 2016-12-07 | 苏州爱科博瑞电源技术有限责任公司 | Electric automobile Asynchronous Motor Double vector controlled drive system |
| CN107124125A (en) * | 2017-06-08 | 2017-09-01 | 西南交通大学 | A kind of multiaxis controllor for step-by-step motor system based on fpga chip |
| CN107425765A (en) * | 2017-07-28 | 2017-12-01 | 无锡双能达科技有限公司 | A kind of DC brushless motor controller and its control method based on position-sensor-free |
| CN108521242A (en) * | 2018-04-11 | 2018-09-11 | 西安交通大学 | A kind of permanent magnet synchronous motor general-purpose control system and its control method |
| US20200280276A1 (en) * | 2019-03-01 | 2020-09-03 | Deere & Company | Method and system for controlling a permanent magnet machine without a mechanical position sensor |
Non-Patent Citations (4)
| Title |
|---|
| 来新泉主编: "混合信号专用集成电路设计", 31 January 2014, 西安电子科技大学出版社, pages: 66 - 68 * |
| 王仁祥编著: "常用低压电器原理及其控制技术", 31 August 2001, 机械工业出版社, pages: 149 * |
| 胡鹤宇;: "一种适用于永磁同步电机全速度运行的无位置传感器控制方法", 湖南工程学院学报(自然科学版), no. 04, 19 December 2018 (2018-12-19) * |
| 马骏杰等编著: "现代交流电机的控制原理及DSP实现", 31 July 2020, 北京航空航天大学出版社, pages: 172 - 178 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103414427B (en) | Brushless direct current motor control method | |
| CN102931906B (en) | Method for asynchronous motor rotor flux linkage observation and rotation speed identification | |
| CN201622327U (en) | Tester of permanent magnet synchronous motor | |
| CN107943121B (en) | Permanent magnet synchronous motor simulator considering nonlinear characteristics and control method thereof | |
| Li et al. | Induction motor control system based on FOC algorithm | |
| CN101729013B (en) | Motor control system based on IP core of position sensor-free brushless direct-current motor | |
| EP4007158A1 (en) | Control method and controller | |
| CN101729005A (en) | Method for controlling brushless DC motor based on FPGA | |
| CN104485868B (en) | Durface mounted permanent magnet synchronous motor current predictive control method | |
| CN103888041A (en) | Permanent magnet motor permanent magnet temperature online estimation method | |
| CN101931361A (en) | Vector control device for induction motor | |
| CN103427751A (en) | Device and method for online identification of static parameters of permanent-magnet synchronous motor | |
| CN113644856B (en) | Driving control method of high-frequency converter | |
| CN103516279A (en) | Permanent magnet synchronous motor control chip based on FPGA | |
| CN105991071B (en) | A kind of constant moment of force control method of ECM motor | |
| CN109782173A (en) | Asynchronous machine excitation mutual inductance curve measurement system and its measurement method | |
| CN106533312A (en) | Rotating speed tracking and restarting method of asynchronous motor | |
| CN102611382B (en) | Online rotor resistance identification method of asynchronous motor | |
| CN110112974A (en) | Motor control method, controller, storage medium and motor driven systems | |
| CN104393812B (en) | Method for identifying linkage coefficient of permanent magnet synchronous motor | |
| CN110034711A (en) | A kind of control system of bisalient-pole permanent-magnet synchronous machine | |
| CN202094838U (en) | Vector control apparatus with servo system of permanent magnet synchronous motor capable of on-line identification of parameter | |
| CN111800055B (en) | Method and device for determining average torque of doubly salient motor | |
| CN102638217B (en) | Method for calibrating parameters of motor controller without position sensor | |
| CN105262402B (en) | Brshless DC motor torque ripple detecting system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |