CN114024483B - Linear motor transportation system controller based on FPGA - Google Patents
Linear motor transportation system controller based on FPGA Download PDFInfo
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- CN114024483B CN114024483B CN202111327366.6A CN202111327366A CN114024483B CN 114024483 B CN114024483 B CN 114024483B CN 202111327366 A CN202111327366 A CN 202111327366A CN 114024483 B CN114024483 B CN 114024483B
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- 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
- H02P25/06—Linear motors
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- 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
- H02P25/06—Linear motors
- H02P25/064—Linear motors of the synchronous type
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Abstract
The present disclosure relates to a controller for a linear motor transport system based on an FPGA. The controller comprises an FPGA module, a position detection module, a current detection module and a driving module, wherein the FPGA module is respectively connected with the position detection module, the current detection module and the driving module; the position detection module is used for detecting the position of the rotor to obtain a pulse signal containing rotor position information; the current detection module is used for feeding back a first driving current of the linear motor to the FPGA module; the FPGA module is used for generating driving pulses according to the expected position, the expected speed, the pulse signals and the first driving current; the driving module is used for generating a second driving current of the linear motor according to the driving pulse. According to the embodiment of the disclosure, the controller of the linear motor transportation system is designed based on the FPGA, so that the low power consumption and high precision control of the linear motor are realized.
Description
Technical Field
The disclosure relates to the transportation field, in particular to a controller of a linear motor transportation system based on an FPGA.
Background
Along with the continuous change of human production demands and the daily and monthly variation of social development, the requirements on the precision, the energy consumption, the production efficiency and the like of machine parts are higher and higher. The traditional rotary motor and ball screw or gear generate linear transmission inevitably has the problems of large mechanical friction, complex structure, low transmission efficiency, poor dynamic performance, limited control precision and the like, and the linear motor is characterized in that the linear motor can directly generate linear motion, does not need any intermediate transmission device, can directly convert electric energy into mechanical energy, greatly simplifies the system structure and reduces transmission loss. The linear motor transmission system can provide a wider range of acceleration and a wider range of running speed, and has the characteristics of stable running, high precision, high repetition precision and the like. The novel transmission device can well solve the problems of transmission efficiency, reliability and the like, and is low in cost and easy to maintain. The linear motor has higher efficiency and power factor, and in recent years, with the rapid development of permanent magnet materials, the permanent magnet linear synchronous motor has become one of hot spots in the field of motor research, and particularly after the appearance of high-performance permanent magnet material neodymium iron boron (NdFeB), the permanent magnet linear synchronous motor has great superiority compared with other high-speed precise systems due to the characteristics of small loss, high force energy index, high response speed and the like.
The main flow controllers adopted in the current linear motor control field are a Microcontroller (MCU) and a high-performance Digital Signal Processor (DSP), and the MCU has the advantages of high integration level, small volume, good reliability and the like; the DSP has the advantages of high processing speed, powerful computing power, large storage, abundant peripheral resources, efficient compiling environment, etc., but with the development of various industries, the motor control system centering on the MCU or DSP has not been able to meet the actual application demands. For MCU, the motor control based on MCU is limited by the conditions of internal system structure, calculation function and the like, and advanced control theory cannot be applied to complete high-efficiency control algorithm; while high performance DSP has advantages in algorithm implementation, peripheral circuits are complex and subject to external interference.
Disclosure of Invention
To solve the above technical problems or at least partially solve the above technical problems, the present disclosure provides a controller of a linear motor transportation system based on an FPGA.
The invention provides a controller of a linear motor transportation system based on an FPGA, which comprises an FPGA module, a position detection module, a current detection module and a driving module, wherein the FPGA module is respectively connected with the position detection module, the current detection module and the driving module;
the position detection module is used for detecting the position of the rotor to obtain a pulse signal containing rotor position information;
the current detection module is used for feeding back a first driving current of the linear motor to the FPGA module;
the FPGA module is used for generating driving pulses according to the expected position, the expected speed, the pulse signals and the first driving current;
the driving module is used for generating a second driving current of the linear motor according to the driving pulse.
Optionally, the FPGA module includes a position and speed resolving algorithm unit, a communication unit, a position and speed closed-loop control algorithm unit, a current closed-loop control algorithm unit, and a pulse generation algorithm unit;
the position and speed calculation algorithm unit is used for calculating the actual position and the actual speed of the rotor according to the pulse signals and transmitting the actual position and the actual speed to the position and speed closed-loop control algorithm unit;
the communication unit is used for receiving the expected position and the expected speed sent by the upper computer and transmitting the expected position and the expected speed to the position and speed closed-loop control algorithm unit;
the position and speed closed-loop control algorithm unit is used for determining a reference current according to the expected position, the expected speed, the actual position and the actual speed, and transmitting the reference current to the current closed-loop control algorithm unit;
the current closed-loop control algorithm unit is used for determining a driving adjustment current according to the reference current and the first driving current and transmitting the driving adjustment current to the pulse generation algorithm unit;
the pulse generation algorithm unit is used for generating the driving pulse according to the driving regulating current.
Optionally, the position and velocity resolving algorithm unit includes a displacement accumulator, a counter, and the position and velocity resolving algorithm subunit;
the displacement accumulator is used for correcting displacement once when the pulse signal is received;
the counter is used for counting the pulse signals to obtain pulse signal count values;
the position and speed calculating algorithm subunit is used for calculating the actual position and the actual speed of the rotor according to the pulse signal count value.
Optionally, the position and speed closed-loop control algorithm unit and/or the current closed-loop control algorithm unit adopts an incremental PID control algorithm.
Optionally, the position and velocity closed-loop control algorithm unit and/or the current closed-loop control algorithm unit comprises a subtracter, a multiplier and an adder.
Optionally, the pulse generation algorithm unit comprises a frequency divider, a counter and a comparator;
the frequency divider is used for changing the fundamental frequency signal of the system;
the counter is used for calculating the number of the fundamental frequency signals;
the comparator is used for comparing the driving adjustment current with the fundamental frequency signal to generate the driving pulse.
Optionally, the position detection module includes a magnetic grid pulse detection unit, configured to detect a magnetic grid pulse signal containing the position information of the mover, where the magnetic grid pulse signal is the pulse signal.
Optionally, the position detection module further includes a grating pulse detection unit, configured to detect a grating pulse signal including position information of the mover relative to the stator.
Optionally, the current detection module includes a current sensor, an overcurrent protection signal generation circuit, and a current sensor interface circuit.
Optionally, the driving module comprises a driving circuit and a three-phase inverter bridge circuit.
Compared with the prior art, the technical scheme provided by the embodiment of the disclosure has the following advantages:
compared with the traditional motor control system based on MCU or DSP, the controller of the linear motor transportation system based on FPGA adopted in the embodiment of the disclosure has the advantages that firstly, the FPGA has more powerful time sequence control capability and the control precision is very high; secondly, due to the high integration level of the FPGA, a plurality of peripheral devices and equipment are omitted, such as a traditional method for generating a PWM signal, the FPGA utilizes the characteristic of abundant resources, a complex external circuit is not needed, the implementation can be easily realized only by utilizing the internal resources, the interference of external factors is reduced, and the cost is saved; finally, the FPGA internal hardware circuit constructed by the hardware programming language can save a large number of analog devices, integrate the original circuit board-level product into a chip-level product, thereby reducing the power consumption, having higher reliability than the DSP software operation mode and shortening the research and development period of the system.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.
In order to more clearly illustrate the embodiments of the present disclosure or the solutions in the prior art, the drawings that are required for the description of the embodiments or the prior art will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.
Fig. 1 is a block diagram of a controller of a linear motor transportation system based on an FPGA according to an embodiment of the present disclosure;
fig. 2 is a schematic diagram of a specific structure of a controller of a linear motor transportation system based on an FPGA according to an embodiment of the present disclosure;
fig. 3 is a schematic diagram of main hardware functional modules of an FPGA module provided in an embodiment of the present disclosure;
fig. 4 is a schematic diagram of a specific structure of a controller of another linear motor transportation system based on FPGA according to an embodiment of the present disclosure.
Detailed Description
In order that the above objects, features and advantages of the present disclosure may be more clearly understood, a further description of aspects of the present disclosure will be provided below. It should be noted that, without conflict, the embodiments of the present disclosure and features in the embodiments may be combined with each other.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced otherwise than as described herein; it will be apparent that the embodiments in the specification are only some, but not all, embodiments of the disclosure.
Fig. 1 is a block diagram of a controller of a linear motor transportation system based on an FPGA according to an embodiment of the present disclosure. The controller can be used for driving the linear motors with multiple stators and multiple movers, and is suitable for an automatic control transportation system with low power consumption, high grade and high reliability. As shown in fig. 1, the controller includes an FPGA module 11, a position detection module 12, a current detection module 13, and a driving module 14, and the FPGA module 11 is connected to the position detection module 12, the current detection module 13, and the driving module 14, respectively.
The position detection module 12 is used for detecting the position of the mover to obtain a pulse signal containing the position information of the mover; the current detection module 13 is used for feeding back a first driving current of the linear motor to the FPGA module 11; the FPGA module 11 is configured to generate a driving pulse according to a desired position, a desired speed, a pulse signal, and a first driving current; the driving module 14 is configured to generate a second driving current of the linear motor according to the driving pulse.
With the continuous development and progress of Electronic Design Automation (EDA) technology, a complex control algorithm can be completely realized by using a monolithic FPGA, the FPGA can be a digital circuit carrier, a designer can freely design a digital circuit according to actual requirements, an FPGA internal hardware circuit constructed by a hardware programming language can save a large number of analog devices, and the original circuit board level product is integrated with a chip level product. Compared with the traditional MCU or DSP, the FPGA has much higher flexibility, application efficiency, control capability, development period, reliability and maintainability than the MCU or the DSP. Accordingly, FPGA-based motor controllers are used as an alternative to MCUs and DSPs.
In some embodiments, the FPGA module 11 includes a hardware circuit part and a control algorithm part implemented based on hardware programming, where the hardware circuit part is composed of an FPGA main control chip, a corresponding power supply configuration circuit, a serial communication circuit, and an AD conversion module, and the control algorithm implemented based on hardware programming in the FPGA main control chip includes: position and velocity calculation algorithms, position and velocity closed-loop control algorithms, current closed-loop control algorithms, and pulse generation algorithms. In this way, the FPGA module 11 calculates the actual position and the actual speed of the mover using a position and speed calculation algorithm based on the pulse signal containing the position information of the mover; a serial communication circuit is adopted to receive the expected position and the expected speed of the rotor sent by the upper computer; calculating a reference current by adopting a position and speed closed-loop control algorithm based on the expected position, the expected speed, the actual position and the actual speed of the rotor; calculating a driving adjustment current by adopting a current closed-loop control algorithm based on the reference current and the first driving current fed back by the current detection module 13; based on the drive regulating current, a pulse generation algorithm is employed to generate a drive pulse. Thereafter, the driving module 14 generates a driving current required for the linear motor driving control based on the driving pulse, thereby completing the control of the linear motor. In some embodiments, the FPGA master control chip uses ALTRA company Cyclone ii series chips, the model is EP2C5T144C8, the AD conversion module uses AD0809, and the driver module uses TI company DRV8305.
Compared with the traditional motor control system based on MCU or DSP, the controller of the linear motor transportation system based on FPGA adopted in the embodiment of the disclosure has the advantages that firstly, the FPGA has more powerful time sequence control capability and the control precision is very high; secondly, due to the high integration level of the FPGA, a plurality of peripheral devices and equipment are omitted, such as a traditional method for generating a PWM signal, the FPGA utilizes the characteristic of abundant resources, a complex external circuit is not needed, the implementation can be easily realized only by utilizing the internal resources, the interference of external factors is reduced, and the cost is saved; finally, the FPGA internal hardware circuit constructed by the hardware programming language can save a large number of analog devices, integrate the original circuit board-level product into a chip-level product, thereby reducing the power consumption, having higher reliability than the DSP software operation mode and shortening the research and development period of the system.
Based on the above embodiments, accordingly, in some embodiments, the FPGA module includes a position and velocity resolving algorithm unit, a communication unit, a position and velocity closed-loop control algorithm unit, a current closed-loop control algorithm unit, and a pulse generation algorithm unit; the position and speed resolving algorithm unit executes a position and speed resolving algorithm, the position and speed closed-loop control algorithm unit executes a position and speed closed-loop control algorithm, the current closed-loop control algorithm unit executes a current closed-loop control algorithm, the pulse generating algorithm unit executes a pulse generating algorithm, and the communication unit can comprise a serial communication circuit.
Fig. 2 is a schematic diagram of a specific structure of a controller of a linear motor transportation system based on FPGA according to an embodiment of the disclosure. As shown in fig. 2, the FPGA module 11 includes a position and velocity resolving algorithm unit 111, a communication unit 112, a position and velocity closed-loop control algorithm unit 113, a current closed-loop control algorithm unit 114, and a pulse generation algorithm unit 115. The position and speed calculating algorithm unit 111 is configured to calculate an actual position and an actual speed of the mover according to the pulse signal, and transmit the actual position and the actual speed to the position and speed closed-loop control algorithm unit 113; the communication unit 112 is configured to receive the desired position and the desired speed sent by the upper computer, and transmit the desired position and the desired speed to the position and speed closed-loop control algorithm unit 113; the position and speed closed-loop control algorithm unit 113 is configured to determine a reference current according to the desired position, the desired speed, the actual position, and the actual speed, and transmit the reference current to the current closed-loop control algorithm unit 114; the current closed-loop control algorithm unit 114 is configured to determine a driving adjustment current according to the reference current and the first driving current, and transmit the driving adjustment current to the pulse generation algorithm unit 115; the pulse generation algorithm unit 115 is used for generating a driving pulse according to the driving adjustment current.
Specifically, the position detection module 12 detects a pulse signal containing position information of the rotor and transmits the pulse signal to the position and speed resolving algorithm unit 111 in the FPGA module 11, so as to obtain an actual position and an actual speed of the rotor, the actual position and the actual speed are used as feedback values of the position and speed closed-loop control algorithm unit 113, the FPGA module 11 obtains an expected speed and an expected position set by an upper computer through the communication unit 112, the expected speed and the expected position are used as reference values of the position and speed closed-loop control algorithm unit 113, and the actual position and the actual speed of the position and speed closed-loop control algorithm unit 113 are compared with the expected position and the expected speed to generate a reference current; at the same time, the current detection module 13 detects the first driving current of the linear motor, the main purpose of the current detection is to detect the armature current and the overcurrent protection, the detected first driving current is input to the current closed-loop control algorithm unit 114 as a current feedback value, the current closed-loop control algorithm unit 114 compares the first driving current with the reference current to generate a driving adjustment current, the output generated driving adjustment current is input to the pulse generation algorithm unit 115, and thus the pulse generation algorithm unit 115 outputs a driving pulse, and the driving pulse generates the driving current required by the driving control of the linear motor after passing through the driving module 14. Wherein the driving pulse may be a PWM pulse.
In some embodiments, fig. 3 shows the main hardware functional modules of the whole FPGA module, as shown in fig. 3, in which the position and velocity resolving algorithm unit includes a displacement accumulator, a counter, and a position and velocity resolving algorithm subunit (control algorithm implemented based on hardware programming, not shown in the figure); the displacement accumulator is used for correcting the displacement once when the pulse signal is received; the counter is used for counting the pulse signals to obtain pulse signal count values; the position and speed calculating algorithm subunit is used for calculating the actual position and the actual speed of the rotor according to the pulse signal count value.
In the embodiment of the disclosure, a pulse scale is formed on the magnetic grating ruler of the linear motor at intervals of 2 tau, and a magnetic grating pulse signal is generated every time the magnetic grating reading head passes through the pulse scale, so that the whole magnetic grating ruler is divided into a plurality of intervals with equal distances. When the displacement accumulator receives the magnetic grid pulse signal, the displacement is corrected once, so that the counting error generated in one interval is corrected in time at the end point of the interval, the accumulated error of each interval is eliminated, and the counting precision of the counter is improved. In one period, the counter counts pulse signals to obtain pulse signal count values, the position and speed calculating algorithm subunit obtains original angles through the pulse signal count values and original deviations, then multiplies the original angles by conversion coefficients to obtain mechanical angles, calculates corresponding electrical angles through mechanical angles and motor pole pair numbers, and calculates to obtain the actual speed of the rotor according to the calculated electrical angles.
The position and speed closed-loop control algorithm unit and/or the current closed-loop control algorithm unit adopt an incremental PID control algorithm. In the implementation process of the incremental PID control algorithm, a top-down design method is adopted, and the modules of the system are divided into the following parts at the top layer: the device comprises a deviation module, a proportion module, a differentiation module, an integration module and a summation output module. From the analysis of the expression of the incremental PID control algorithm, the modules can be realized by subtractors, multipliers and adders. Further, referring to fig. 3, the position and velocity closed-loop control algorithm unit and/or the current closed-loop control algorithm unit includes a subtractor, a multiplier, and an adder, thereby achieving three closed-loop control of position, velocity, and current.
With continued reference to fig. 3, the pulse generation algorithm unit includes a frequency divider, a counter, and a comparator; the frequency divider is used for changing the fundamental frequency signal of the system so as to adapt to the requirements of different devices; the counter is used for calculating the number of the fundamental frequency signals; the comparator is used for comparing the drive regulating current with the fundamental frequency signal to generate a drive pulse.
Specifically, in the pulse generation algorithm unit, the number of fundamental frequency signals is accurately calculated through a counter, so that PWM pulses with different duty ratios are generated, the basic method for generating the PWM pulses is to compare a control command signal with a triangular wave or saw tooth wave signal with fixed frequency, and when the control command signal is larger than a set value, a high level is output; when the control command signal is smaller than the set value, a low level is output. The design principle of the pulse generation algorithm unit in the embodiment of the disclosure is to divide the frequency of the fundamental frequency signal of 50MHz provided by the development board by 64, take the fundamental frequency signal as the fundamental frequency signal of the pulse generation algorithm unit, take the current input into the pulse generation algorithm unit as the control command signal, and compare the current with the fundamental frequency signal to generate the PWM pulse.
Optionally, the position detection module includes a magnetic grating pulse detection unit for detecting a magnetic grating pulse signal containing the position information of the rotor, wherein the magnetic grating pulse signal is a pulse signal.
Optionally, the position detection module further comprises a grating pulse detection unit for detecting a grating pulse signal containing position information of the mover relative to the stator.
Based on the above technical solution, fig. 4 is a schematic diagram of a specific structure of a controller of another linear motor transportation system based on FPGA according to an embodiment of the present disclosure. As shown in fig. 4, the position detection module 12 includes a magnetic grating pulse detection unit 121 and a grating pulse detection unit 122; the magnetic grid pulse detection unit 121 is mainly used for detecting a magnetic grid pulse signal containing position information of the rotor, so that the FPGA module 11 calculates an actual position and an actual speed of the rotor according to the magnetic grid pulse signal. The grating pulse detection unit 122 is mainly used for detecting which stator is located in the action range of a certain rotor in the case of multiple stators. When the grating reading head at one end of the stator detects the grating pulse signal, the rotor starts to drive into the stator, when the grating reading head at the other end of the stator detects the grating pulse signal, the rotor starts to drive out of the stator, the grating pulse signal can be used for judging which stator the rotor is particularly on, and meanwhile, the grating pulse signal can be used as a switching signal for controlling the stator, so that the energy consumption of the whole system can be reduced to a great extent through the control mode.
In some embodiments, the current detection module includes a current sensor, an over-current protection signal generation circuit, and a current sensor interface circuit. The overcurrent protection signal generating circuit is used for generating an overcurrent protection signal so as to realize overcurrent protection, and therefore, the safety operation of the motor is guaranteed. The driving module comprises a driving circuit and a three-phase inverter bridge circuit. The specific working principle of the circuit is more conventional and will not be repeated here
It should be noted that, although the FPGA module is designed for a linear motor control system with multiple movers and multiple stators, the application range is very wide, and the FPGA module can be even used as a general mode in the field of motor control. The application can modify the related parameters in the algorithm and the programming of the hardware language according to the application requirement of the application so as to meet the requirement of the system of the application, the application range is wider, and the flexibility is stronger.
It should be noted that in this document, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The foregoing is merely a specific embodiment of the disclosure to enable one skilled in the art to understand or practice the disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown and described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. The controller of the linear motor transportation system based on the FPGA is characterized by comprising an FPGA module, a position detection module, a current detection module and a driving module, wherein the FPGA module is respectively connected with the position detection module, the current detection module and the driving module;
the position detection module is used for detecting the position of the rotor to obtain a pulse signal containing rotor position information;
the current detection module is used for feeding back a first driving current of the linear motor to the FPGA module;
the FPGA module is used for generating driving pulses according to the expected position, the expected speed, the pulse signals and the first driving current;
the driving module is used for generating a second driving current of the linear motor according to the driving pulse;
the FPGA module comprises a position and speed resolving algorithm unit, a communication unit, a position and speed closed-loop control algorithm unit, a current closed-loop control algorithm unit and a pulse generation algorithm unit;
the position and speed calculation algorithm unit is used for calculating the actual position and the actual speed of the rotor according to the pulse signals and transmitting the actual position and the actual speed to the position and speed closed-loop control algorithm unit;
the communication unit is used for receiving the expected position and the expected speed sent by the upper computer and transmitting the expected position and the expected speed to the position and speed closed-loop control algorithm unit;
the position and speed closed-loop control algorithm unit is used for determining a reference current according to the expected position, the expected speed, the actual position and the actual speed, and transmitting the reference current to the current closed-loop control algorithm unit;
the current closed-loop control algorithm unit is used for determining a driving adjustment current according to the reference current and the first driving current and transmitting the driving adjustment current to the pulse generation algorithm unit;
the pulse generation algorithm unit is used for generating the driving pulse according to the driving regulating current;
the position and speed resolving algorithm unit comprises a displacement accumulator, a counter and a position and speed resolving algorithm subunit;
the displacement accumulator is used for correcting displacement once when the pulse signal is received;
the counter is used for counting the pulse signals to obtain pulse signal count values;
the position and speed calculating algorithm subunit is used for calculating the actual position and the actual speed of the rotor according to the pulse signal count value;
the position and speed calculating algorithm subunit obtains an original angle through the pulse signal count value and the original deviation, then multiplies the original angle by a conversion coefficient to obtain a mechanical angle, calculates the corresponding electrical angle through the mechanical angle and the motor pole pair number, and calculates the actual speed of the rotor according to the calculated electrical angle.
2. The controller according to claim 1, wherein the position and velocity closed-loop control algorithm unit and/or the current closed-loop control algorithm unit employs an incremental PID control algorithm.
3. The controller according to claim 2, wherein the position and velocity closed-loop control algorithm unit and/or the current closed-loop control algorithm unit comprises a subtractor, a multiplier and an adder.
4. The controller of claim 1, wherein the pulse generation algorithm unit comprises a frequency divider, a counter, and a comparator;
the frequency divider is used for changing the fundamental frequency signal of the system;
the counter is used for calculating the number of the fundamental frequency signals;
the comparator is used for comparing the driving adjustment current with the fundamental frequency signal to generate the driving pulse.
5. The controller according to claim 1, wherein the position detection module comprises a magnetic grid pulse detection unit for detecting a magnetic grid pulse signal containing the mover position information, wherein the magnetic grid pulse signal is the pulse signal.
6. The controller of claim 5, wherein the position detection module further comprises a raster pulse detection unit for detecting a raster pulse signal containing the mover relative stator position information.
7. The controller of claim 1, wherein the current detection module comprises a current sensor, an over-current protection signal generation circuit, and a current sensor interface circuit.
8. The controller of claim 1, wherein the drive module comprises a drive circuit and a three-phase inverter bridge circuit.
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Citations (3)
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| CN110601633A (en) * | 2019-10-22 | 2019-12-20 | 武汉久同智能科技有限公司 | Permanent magnet synchronous motor initial phase detection system |
| CN112019100A (en) * | 2020-08-21 | 2020-12-01 | 北京航空航天大学 | Linear motor control system based on wireless data transmission |
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| US7092623B2 (en) * | 2003-09-22 | 2006-08-15 | Standard Microsystems Corporation | Method and apparatus to achieve accurate fan tachometer with programmable look-up table |
| DE102006052042A1 (en) * | 2006-10-30 | 2008-05-15 | Bombardier Transportation Gmbh | Control and / or regulation of a 3-phase power converter for the operation of an asynchronous machine |
| JP5292770B2 (en) * | 2007-11-07 | 2013-09-18 | セイコーエプソン株式会社 | PWM control circuit, electric motor including the PWM control circuit, apparatus including the electric motor, and method for generating a PWM signal |
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| CN102594250A (en) * | 2012-02-17 | 2012-07-18 | 哈尔滨工业大学 | Maximum torque per ampere vector control system and control method for position sensor-free internal permanent magnet synchronous motor |
| CN110601633A (en) * | 2019-10-22 | 2019-12-20 | 武汉久同智能科技有限公司 | Permanent magnet synchronous motor initial phase detection system |
| CN112019100A (en) * | 2020-08-21 | 2020-12-01 | 北京航空航天大学 | Linear motor control system based on wireless data transmission |
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