CN114123897A - Flywheel permanent magnet motor controller and control system - Google Patents
Flywheel permanent magnet motor controller and control system Download PDFInfo
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
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- H—ELECTRICITY
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- 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
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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
- 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
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Abstract
The invention provides a flywheel permanent magnet motor controller and a control system, which comprise a first acquisition module, a second acquisition module, a third acquisition module, a fourth acquisition module and a driving module, wherein the first acquisition module is used for acquiring a first signal and a second signal; the first acquisition module is connected with an external voltage transformer and a current transformer; the driving module is connected with the external power driving unit module; the second acquisition module is connected with an external Hall sensor; the third acquisition module is connected with an external rotary transformer; the fourth acquisition module is connected with an external signal input module. This flywheel permanent-magnet machine controller can realize the construction and the algorithm realization of whole flywheel permanent-magnet machine controller through integrated first collection module, second collection module, third collection module, fourth collection module and drive module, and then control permanent-magnet machine's mode, do not need FPGA to come expansion interface to can avoid appearing redundantly, under the prerequisite of guaranteeing controller reliability, reduce the controller cost, reduced circuit board size.
Description
Technical Field
The invention relates to the technical field of electrical machinery control, in particular to a flywheel permanent magnet motor controller and a control system.
Background
The control of the flywheel permanent magnet motor can control the working mode of the flywheel permanent magnet motor, in the prior art, a DSP2812+ FPGA control architecture is mostly adopted, the DSP2812 is a digital arithmetic unit which hosts control operation, and the FPGA (Field-Programmable Gate Array) hosts signal acquisition and PWM (Pulse Width Modulation) output. Because the DSP2812 is a digital architecture, some functions are incomplete, and an FPGA is required to extend an interface, redundancy easily occurs in the system, and the cost and the volume of the circuit board are increased.
Disclosure of Invention
The invention aims to provide a flywheel permanent magnet motor controller and a control system, so as to reduce the volume size of a circuit board and reduce the system cost.
The invention provides a flywheel permanent magnet motor controller, comprising: the device comprises a first acquisition module, a second acquisition module, a third acquisition module, a fourth acquisition module and a driving module; the first acquisition module is connected with an external voltage transformer and an external current transformer; the driving module is connected with an external power driving unit module; the second acquisition module is connected with an external Hall sensor; the third acquisition module is connected with an external rotary transformer; the fourth acquisition module is connected with an external signal input module; the first acquisition module is used for acquiring a voltage original signal of the voltage transformer, outputting a voltage signal of the permanent magnet motor, acquiring a current original signal of the current transformer and outputting a current signal of the permanent magnet motor; the second acquisition module is used for acquiring square wave signals of the Hall sensor and outputting rotating speed signals of the flywheel; the third acquisition module is used for acquiring signals of the rotary transformer and outputting angle signals of the permanent magnet motor; the fourth acquisition module is used for acquiring an external input signal sent by the signal input module so as to judge whether to carry out emergency stop control on the flywheel permanent magnet motor controller according to the external input signal; the driving module is used for receiving the target data, performing conversion processing on the target data, outputting a target PWM signal, and controlling the power driving unit module based on the target PWM signal so as to control the working mode of the permanent magnet motor; wherein the target data includes: voltage signal, current signal, rotational speed signal, angle signal and external input signal.
Further, the first acquisition module is further configured to: acquiring a voltage original signal of a voltage transformer, filtering, correcting and compensating the voltage original signal, and outputting a voltage signal of the permanent magnet motor; and acquiring a current original signal of the current transformer, filtering, correcting and compensating the current original signal, and outputting a current signal of the permanent magnet motor.
Further, the second acquisition module is further configured to: collecting square wave signals of a Hall sensor; calculating the first pulse number of the square wave signal in unit time; and calculating a rotating speed signal of the flywheel according to the first pulse number.
Further, the third acquisition module is further configured to: collecting output signals of the rotary transformer, and calculating the second pulse number of the output signals in unit time; and calculating the angle signal of the permanent magnet motor according to the second pulse number.
Further, the controller further comprises: a storage module; the storage module is connected with an external memory; the storage module is used for storing target data and sending the target data to an external memory through an I2C bus.
Further, the driving module is further configured to: receiving target data; converting the target data to obtain processed first conversion data; wherein the transformation process comprises: PARK conversion processing, CLARKE conversion processing, PID closed-loop algorithm processing, IPARK conversion processing, signal processing and sector allocation processing; judging whether a system corresponding to the controller normally operates or not according to the target data; if the operation is normal, configuring the duty ratio of the current PWM signal according to the first conversion data, the pre-configured PWM period and the pre-configured dead time, and outputting the configured target PWM signal; controlling a power driving unit module based on the target PWM signal to control the working mode of the permanent magnet motor; wherein, the working mode at least comprises one of the following modes: charge mode, discharge mode, shutdown mode, standby mode, and fault mode.
Further, the controller further comprises: a timer module and a total receiving module; the main receiving module is connected with an external upper computer; the timer module is used for judging the working mode of the permanent magnet motor and sending a timing signal to the main receiving module according to the working mode; the master receiving module is used for receiving the control command and the control data sent by the upper computer according to the timing signal so as to enable the controller to enter an on-off state.
Further, the total receiving module comprises a first receiving module and a second receiving module; the first receiving module is connected with an upper computer through a CAN bus; the second receiving module is connected with the upper computer through an RS232 bus; the control commands include: the CAN bus control command corresponding to the first receiving module and the RS232 bus control command corresponding to the second receiving module.
Furthermore, the working processes of the first acquisition module, the timer module, the driving module, the second acquisition module, the third acquisition module, the first receiving module, the second receiving module and the storage module are executed in an interruption mode.
The invention provides a flywheel permanent magnet motor control system, which comprises: a permanent magnet machine, and a flywheel permanent magnet machine controller according to any of the above; the permanent magnet motor is connected with the flywheel permanent magnet motor controller; and the flywheel permanent magnet motor controller is used for controlling the working mode of the permanent magnet motor according to the output target PWM signal.
The invention provides a flywheel permanent magnet motor controller and a control system, which comprise a first acquisition module, a second acquisition module, a third acquisition module, a fourth acquisition module and a driving module, wherein the first acquisition module is used for acquiring a first signal and a second signal; the first acquisition module is connected with an external voltage transformer and an external current transformer; the driving module is connected with an external power driving unit module; the second acquisition module is connected with an external Hall sensor; the third acquisition module is connected with an external rotary transformer; the fourth acquisition module is connected with an external signal input module. This flywheel permanent-magnet machine controller can realize the construction and the algorithm realization of whole flywheel permanent-magnet machine controller through integrated first collection module, second collection module, third collection module, fourth collection module and drive module, and then control permanent-magnet machine's mode, do not need FPGA to come expansion interface to can avoid appearing redundantly, under the prerequisite of guaranteeing controller reliability, reduce the controller cost, reduced circuit board size.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural diagram of a flywheel permanent magnet motor controller according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of another flywheel permanent magnet motor controller according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a hardware interface of a flywheel permanent magnet motor controller according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a flywheel permanent magnet motor control system according to an embodiment of the present invention;
fig. 5 is a flowchart of a flywheel permanent magnet motor control system according to an embodiment of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
At present, a traditional flywheel permanent magnet motor control system mostly adopts a DSP2812+ FPGA control architecture, the DSP2812 is in charge of control operation, and the FPGA is in charge of signal acquisition and PWM output. Because the DSP2812 is a digital architecture, some functions are incomplete, and an FPGA is required to extend an interface, redundancy easily occurs in the system, and the cost and the volume of the circuit board are increased. Based on this, the embodiment of the invention provides a flywheel permanent magnet motor controller and a control system, and the technology can be applied to the application of the charge and discharge control of the flywheel permanent magnet motor.
For the convenience of understanding the present embodiment, a flywheel permanent magnet motor controller disclosed in the embodiments of the present invention will be described in detail first.
Referring to fig. 1, a structural schematic diagram of a flywheel permanent magnet motor controller includes: the system comprises a first acquisition module 10, a second acquisition module 11, a third acquisition module 12, a fourth acquisition module 13 and a driving module 14; the first acquisition module 10 is connected with an external voltage transformer 15 and an external current transformer 16; the driving module 14 is connected with an external power driving unit module 17; the second acquisition module 11 is connected with an external Hall sensor 18; the third acquisition module 12 is connected with an external rotary transformer 19; the fourth acquisition module 13 is connected with an external signal input module 20; the first acquisition module 10 is used for acquiring a voltage original signal of the voltage transformer 15, outputting a voltage signal of the permanent magnet motor, acquiring a current original signal of the current transformer 16, and outputting a current signal of the permanent magnet motor; the second acquisition module 11 is used for acquiring a square wave signal of the hall sensor 18 and outputting a rotating speed signal of the flywheel; the third acquisition module 12 is used for acquiring signals of the rotary transformer 19 and outputting angle signals of the permanent magnet motor; the fourth acquisition module 13 is configured to acquire an external input signal sent by the signal input module 20, so as to determine whether to perform emergency stop control on the flywheel permanent magnet motor controller according to the external input signal; the driving module 14 is configured to receive target data, perform conversion processing on the target data, output a target PWM signal, and control the power driving unit module 17 based on the target PWM signal to control the operating mode of the permanent magnet motor; wherein the target data includes: voltage signal, current signal, rotational speed signal, angle signal and external input signal.
In practical implementation, the flywheel permanent magnet motor controller can be implemented by using a TMS320F28335 chip, where the TMS320F28335 chip is a digital signal processor and is a TMS320C28X series floating-point DSP controller. Compared with the prior fixed-point DSP2812, the device has the advantages of high precision, low cost, low power consumption, high performance, high peripheral integration level, large data and program storage capacity, more accurate and rapid A/D (Analog/Digital) conversion and the like. TMS320F28335 has a High-speed processing capability of 150MHz, and has a 32-bit floating point processing unit, 6 DMA (Direct Memory Access) channel support ADCs (Analog-to-Digital converter), McBSP (multi-channel Buffered Serial Port), and EMIF (External Memory Interface), and has up to 18 PWM outputs, of which 6 are PWM outputs with higher precision (abbreviated as HRPWM, which is called High Resolution Pulse Width Modulator, High Resolution Pulse Width modulation, 12-bit 16-channel ADC). Thanks to the floating point arithmetic unit, a user can quickly write a control algorithm without consuming excessive time and energy on decimal processing operation, the average performance is improved by 50 percent compared with the prior DSP, and the control algorithm is compatible with fixed point C28x controller software, thereby simplifying software development, shortening development period and reducing development cost.
The first acquisition module 10, the second acquisition module 11, the third acquisition module 12, the fourth acquisition module 13 and the driving module 14 are 5 hardware interfaces designed based on TMS320F 28335.
The first acquisition module may be an AD (Analog to Digital) module in the TMS320F28335 chip, and the first acquisition module is usually connected to an external voltage and current transformer, and can acquire a voltage original signal and a current original signal of the flywheel permanent magnet motor by acquiring signals of the voltage and current transformer, process the voltage original signal and the current original signal, and output the voltage signal and the current signal of the flywheel permanent magnet motor, and generally acquire the signals by an AD interrupt mode.
The second acquisition module may be a CAP (CAP or, nonpolar CAPACITOR) module in the TMS320F28335 chip, and the second acquisition module is usually connected to an external hall sensor, and calculates the pulse number of the square wave signal in unit time by acquiring the square wave signal of the hall sensor, and may output the rotation speed signal of the flywheel, and the acquisition is generally performed in an interrupt manner.
The third acquisition module may be a QEP (Quadrature Encoder Pulse) module in the TMS320F28335 chip, and the third acquisition module is usually connected to an external rotary transformer, and calculates the number of pulses of a signal in a unit time by acquiring a signal of the rotary transformer, and may output an angle signal of the flywheel, and generally adopts an interrupt mode for acquisition.
The fourth acquisition module may be a General Purpose Input/Output (GPIO) module in the TMS320F28335 chip, and the fourth acquisition module generally acquires the state of an external Input/Output (IO) signal through a GPIO inquiry method, so as to be used for emergency stop control, and the system is stopped once the IO state is set, otherwise the system is normally operated.
The driving module may be a PWM module in the TMS320F28335 chip, the driving module receives the voltage signal and the current signal output by the first collecting module, the rotational speed signal output by the second collecting module, the angle signal output by the third collecting module, and the external input signal collected by the fourth collecting module, and outputs a target PWM signal by performing transformation processing on the voltage signal, the current signal, the rotational speed signal of the flywheel, the angle signal of the flywheel permanent magnet motor, and the external input signal, and controls the power driving unit module based on the target PWM signal to control the operating mode of the permanent magnet motor, which is generally performed in an interrupt manner.
The power driving unit module may be an Insulated Gate Bipolar Transistor (IGBT) power driving unit connected to an external portion of the TMS320F28335 chip, and drives the flywheel permanent magnet motor by receiving a target PWM signal output by the driving module, so as to control an operating mode of the permanent magnet motor.
The Hall sensor is a magnetic field sensor manufactured according to the Hall effect, the output of the Hall sensor for measuring the speed is approximate to a square wave, the period of the square wave is increased and decreased along with the speed of the rotating speed, and the response speed of the Hall sensor is high relative to the ordinary mechanical quantity.
The resolver is an electromagnetic sensor, also called a synchronous resolver, and is a small alternating current motor for measuring angles, and is used for measuring angular displacement and angular velocity of a rotating shaft of a rotating object.
The external signal input module is actually provided with an external emergency stop button, and can generate an IO signal. The external voltage transformer is mainly used for supplying power to the measuring instrument and the relay protection device, measuring the voltage, the power and the electric energy of a line, or protecting valuable equipment, a motor and a transformer in the line when the line fails; the current transformer is composed of a closed iron core and a winding, large current on a primary side is converted into small current on a secondary side for use, the secondary side cannot be opened, and the working state is close to short circuit.
The flywheel permanent magnet motor controller comprises a first acquisition module, a second acquisition module, a third acquisition module, a fourth acquisition module and a driving module; the first acquisition module is connected with an external voltage transformer and an external current transformer; the driving module is connected with an external power driving unit module; the second acquisition module is connected with an external Hall sensor; the third acquisition module is connected with an external rotary transformer; the fourth acquisition module is connected with an external signal input module. This flywheel permanent-magnet machine controller can realize the construction and the algorithm realization of whole flywheel permanent-magnet machine controller through integrated first collection module, second collection module, third collection module, fourth collection module and drive module, and then control permanent-magnet machine's mode, do not need FPGA to come expansion interface to can avoid appearing redundantly, under the prerequisite of guaranteeing controller reliability, reduce the controller cost, reduced circuit board size.
Further, the first acquisition module is further configured to: acquiring a voltage original signal of a voltage transformer, filtering, correcting and compensating the voltage original signal, and outputting a voltage signal of the permanent magnet motor; and acquiring a current original signal of the current transformer, filtering, correcting and compensating the current original signal, and outputting a current signal of the permanent magnet motor.
The filtering process can be understood as filtering out specific band frequencies in the signal, suppressing and preventing interference; the above-described correction processing and compensation processing may be understood as processing means taken for acquiring accurate signals; the first acquisition module is connected with the voltage transformer and the current transformer, acquires original signals of the voltage transformer and the current transformer, and obtains voltage and current information of the flywheel permanent magnet motor by filtering, correcting and compensating the original signals.
Further, the second acquisition module is further configured to: collecting square wave signals of a Hall sensor; calculating the first pulse number of the square wave signal in unit time; and calculating a rotating speed signal of the flywheel according to the first pulse number.
The unit time can be set as the time difference between the front square wave signal and the rear square wave signal, and the second acquisition module is connected with the Hall sensor and is used for acquiring the square wave signals output by the Hall sensor; calculating the pulse number of square wave signals in the time difference of the front square wave signal and the rear square wave signal; and obtaining the information such as the rotating speed of the flywheel and the like.
Further, the third acquisition module is further configured to: collecting output signals of the rotary transformer, and calculating the second pulse number of the output signals in unit time; and calculating the angle signal of the permanent magnet motor according to the second pulse number.
In practical implementation, the output signal of the rotary transformer is two-phase orthogonal analog signals, the amplitudes of the two-phase orthogonal analog signals change in sine and cosine with the rotation angle, and the output signal is converted into an encoder form to be output, namely orthogonal A, B and Z signals. The unit time can be set as the time difference between the front square wave signal and the rear square wave signal, the third acquisition module is connected with the rotary transformer and used for acquiring the A, B and Z signals output after conversion, and the information such as the real-time angle of the flywheel motor is obtained by calculating the pulse number of the signals in the time difference between the front signal and the rear signal.
Further, an embodiment of the present invention further discloses another flywheel permanent magnet motor controller, referring to a schematic structural diagram of another flywheel permanent magnet motor controller shown in fig. 2, the controller further includes: a storage module 21; the storage module 21 is connected with an external memory 22; the memory module 21 is used to store target data, and transmits the target data to the external memory 22 through an I2C (Inter-Integrated Circuit) bus.
The memory module can be an I2C module in a TMS320F28335 chip; the external memory 22 is usually an external FLASH memory, also called FLASH memory, which can hold data for a long time without supplying current, and has a storage characteristic equivalent to a hard disk. The storage module 21 may store a voltage signal, a current signal, a rotation speed signal of the flywheel, an angle signal of the flywheel permanent magnet motor, and an external input signal of the flywheel permanent magnet motor, and transmit the stored data to the external memory 22 through the I2C bus, so as to implement long-term storage of the data.
Further, the driving module is further configured to: receiving target data; converting the target data to obtain processed first conversion data; wherein the transformation process comprises: PARK (PARK transformation, PARK) transformation processing, CLARKE transformation processing, PID (Proportional-Integral-Derivative) closed-loop algorithm processing, IPARK transformation processing, signal processing, and sector allocation processing; judging whether a system corresponding to the controller normally operates or not according to the target data; if the operation is normal, configuring the duty ratio of the current PWM signal according to the first conversion data, the pre-configured PWM period and the pre-configured dead time, and outputting the configured target PWM signal; controlling a power driving unit module based on the target PWM signal to control the working mode of the permanent magnet motor; wherein, the working mode at least comprises one of the following modes: charge mode, discharge mode, shutdown mode, standby mode, and fault mode.
The PARK conversion process converts each electromagnetic quantity (current, voltage, flux linkage, etc.) of the abc phase transformation quantity system into a dq0 axis variable system with the vertical axis d of the rotor, the horizontal axis q, and the stationary axis 0 as coordinate axes; the CLARKE transformation processing is to transform abc to a stationary alpha and beta coordinate system; PID closed loop algorithm processing: the proportionality is that the input deviation is multiplied by a constant to amplify the deviation of the current time proportionally, the Integral is that the Integral operation is performed to the input deviation to integrate the deviation of all the past time, the Derivative operation is performed to the input deviation, and the output trend of the control system is pre-judged through the deviation of the deviation to play a role of advance regulation; the IPARK transformation processes the transformation from two phases that are stationary relative to the rotor to two phases that are stationary relative to the stator; the signal processing comprises deburring and filtering, and is used for removing interference so as to obtain a more accurate signal; and sector allocation processing: looking up a table to determine which sector the given voltage vector is located at the sampling moment; calculating the conducting time of the composite voltage vector decomposed to two adjacent voltage vectors in the sector; vector switch points within the sector are calculated.
The target data includes: voltage signals, current signals, rotation speed signals, angle signals and external input signals of the flywheel permanent magnet motor. CLARKE conversion is carried out on the current signals, angle signals are integrated for PARK conversion, PID closed-loop algorithm and IPARK conversion are carried out on the converted signals, filtering and deburring processing (corresponding to the signal processing) are carried out on the signals after the IPARK conversion, and sector judgment is carried out to obtain processed data (corresponding to the first conversion data). Judging whether the voltage is too high, whether the current and the angle are too large, whether the rotating speed is too high or too low, and whether a fault occurs according to the target data, and if not, indicating that a system corresponding to the controller normally operates; and configuring the duty ratio of the current PWM signal according to the first conversion data, the pre-configured PWM period and the pre-configured dead time, and outputting the configured target PWM signal. Generally, in order to reduce power consumption, the configured target PWM signal has a small driving capability to the outside, but the power of the flywheel permanent magnet motor is relatively high, and if it is obviously not feasible to directly use the configured target PWM signal to drive, a power driving circuit (corresponding to the power driving unit module) needs to be introduced, the power driving circuit is controlled by the configured target PWM signal, and the power driving circuit generates a high-power signal to drive the flywheel permanent magnet motor and control the working mode of the permanent magnet motor; the operation mode can be a charging mode, a discharging mode, a shutdown mode, a standby mode and a fault mode.
Further, the controller further comprises: a timer module and a total receiving module; the main receiving module is connected with an external upper computer; the timer module is used for judging the working mode of the permanent magnet motor and sending a timing signal to the main receiving module according to the working mode; the master receiving module is used for receiving the control command and the control data sent by the upper computer according to the timing signal so as to enable the controller to enter an on-off state.
Taking fig. 2 as an example, the controller further includes: a timer module 23 and a total reception module 24; the total receiving module 24 is connected with an external upper computer 25; the upper computer is a computer capable of directly sending control commands, generally provides a user operation interaction interface and displays feedback data to a user, and can be a computer, a mobile phone, a tablet, a panel and a touch screen. The timer module 23 is used for timing the bus, timing in a time-sharing mode, triggering the bus to send enable when the number of the variable meter reaches a certain value, and judging a working mode after the enable is finished, wherein the three buses have three variables for representing enable or disable, and the working mode also has one variable for representing whether a charging mode, a discharging mode or a stopping mode; and sending a timing signal to the master receiving module according to the working mode. The main receiving module receives control commands of charging, discharging, starting operation and stopping sent by the upper computer and control data such as set rotating speed, voltage and power according to the timing signals, so that the controller enters an on-off state, the interruption is the self-carried function of the TMS320F28335 (corresponding to the controller), subsequent programs are executed when the interruption comes, and the interruption automatically waits when the interruption does not come.
Further, the total receiving module comprises a first receiving module and a second receiving module; the first receiving module is connected with an upper computer through a CAN bus; the second receiving module is connected with the upper computer through an RS232 bus; the control commands include: the CAN bus control command corresponding to the first receiving module and the RS232 bus control command corresponding to the second receiving module.
Still taking fig. 2 as an example, the above-mentioned total receiving module 24 includes a first receiving module 26 and a second receiving module 27; the first receiving module 26 is connected to the upper computer 25 through a CAN bus and is used for receiving a CAN bus control command and corresponding control data sent by the upper computer; the second receiving module 27 is connected to the upper computer 25 through an RS232 bus, and is configured to receive an RS232 bus control command and corresponding control data sent by the upper computer.
Furthermore, the working processes of the first acquisition module, the timer module, the driving module, the second acquisition module, the third acquisition module, the first receiving module, the second receiving module and the storage module are executed in an interruption mode.
The TMS320F28335 control clock system is provided with an on-chip oscillator, a watchdog module, a dynamic PLL (Phase Locked Loop) regulation support, an internal programmable PLL, and the input clock frequency of a CPU (Central processing Unit) is changed by setting the value of a corresponding register through software; 8 external interrupts, have specialized interrupt pin, have no specialized interrupt pin to TMS320F2812X series DSP, GPIO 0-GPIO 63 are connected to the interrupt, GPIO 00-GPIO 31 are connected to XINT1, XINT2 and XNMI external interrupts, GPIO 32-GPIO 63 are connected to XINT3-XINT7 external interrupts. Meanwhile, a Peripheral Interrupt extension controller PIE (Peripheral Interrupt extension) supporting 58 Peripheral interrupts manages Interrupt requests caused by on-chip peripherals and the outside, and conforms to an on-chip scan emulation interface JTAG (Joint Test Action Group) of the IEEE 1149.1 standard. The interrupt is the TMS320F28335 self-contained function, the subsequent program is executed when the interrupt comes, and the interrupt automatically waits when the interrupt does not come.
To further understand the above embodiments, referring to fig. 3, a schematic diagram of a hardware interface of a flywheel permanent magnet motor controller is shown, which includes: an AD module 30 (corresponding to a first acquisition module of the present application), a CAP module 31 (corresponding to a second acquisition module of the present application), a QEP module 32 (corresponding to a third acquisition module of the present application), a GPIO module 34 (corresponding to a fourth acquisition module of the present application), a PWM module 33 (corresponding to a driving module of the present application), a CAN module 35 (corresponding to a first receiving module of the present application), a UART module 36 (corresponding to a second receiving module of the present application), an I2C module 37 (corresponding to a storage module of the present application), and a timer module 23; the AD module 30 is connected to an external voltage and current transformer 38; the PWM module 33 is connected to an IGBT power driving unit 39 (corresponding to the power driving unit module of the present application); the CAP module 31 is connected with an external Hall sensor 18; the QEP module 32 is connected with an external rotary transformer 19; the GPIO block 34 is connected to an external input signal 40 (corresponding to the signal input block of the present application); the CAN module 35 is connected with an upper computer CAN communication 41 (corresponding to the upper computer of the application), the UART module 36 is connected with an upper computer RS232 communication 42 (corresponding to the upper computer of the application), and the I2C module 37 is connected with an external FLASH memory 43.
The AD module collects signals of the voltage and current transformers to obtain voltage and current information of the flywheel motor, and the voltage and current information is collected in an AD interruption mode. The timer module is used for a CAN bus timing transmitting function, flywheel charging and discharging control mode judgment, an RS232 bus timing transmitting function, an I2C bus timing data storage function and the like, and is executed in a timer interrupt mode. The PWM module executes a vector control algorithm to complete PARK conversion, CLARKE conversion, IPARK conversion, sector allocation, PID closed-loop algorithm, PWM duty ratio configuration, signal output and the like, and is executed in an interruption mode, and PWM signals (corresponding to the target PWM signals of the application) are output to the IGBT power driving unit. The CAP module collects signals of the Hall sensor, obtains information such as the rotating speed of the flywheel and the like, and collects the information in an interruption mode. The QEP module collects signals of the rotary transformer, obtains information such as real-time angles of the flywheel motor and the like, and collects the information in an interruption mode. The CAN module receives a CAN bus (corresponding to the CAN communication of the upper computer) control command and control data of the upper computer or the touch screen, and receives the control command and the control data in an interrupt mode. The UART module receives a control command and control data of an RS232 bus (corresponding to the RS232 communication of the upper computer) of the upper computer or the touch screen, and receives the control command and the control data in an interrupt mode. The GPIO module collects external input signals, is used for controlling external emergency stop judgment and the like, and adopts a query mode for collection. The I2C module can store the voltage signal, current signal, flywheel speed information, flywheel permanent magnet motor angle information and external input signal of the flywheel permanent magnet motor, and send data to the external FLASH memory through the I2C bus by adopting an interrupt mode.
On the basis of the above embodiments, the present invention further provides another flywheel permanent magnet motor control system, referring to a schematic structural diagram of a flywheel permanent magnet motor control system shown in fig. 4, including: a permanent magnet motor 44, and a flywheel permanent magnet motor controller 45 according to any of the above; the permanent magnet motor 44 is connected with a flywheel permanent magnet motor controller 45; the flywheel permanent magnet motor controller 45 is configured to control the operating mode of the permanent magnet motor according to the output target PWM signal.
Under CCS3.3(Code Composer Studio 3.3, software integration development environment), developing the PMSM digital control software based on a TMS320F28335 digital signal controller by adopting C language, outputting control signals (corresponding to the control command and the control data of the application) through a PWM (pulse-width modulation) port of the TMS320F28335 after finishing the software initialization of the TMS320F28335 digital signal controller, sampling signals and rotating speed of a current transformer by C language programs, taking the signals and the rotating speed as feedback through PARK (partial response) transformation and CLARK (class response) transformation, comparing the signals with reference given values sent by an upper computer, taking the signals as input quantities of a PID (proportion integration differentiation) control algorithm, generating given voltage vectors after the output quantities are subjected to IPARK transformation, configuring a PWM register by adopting C language, outputting SVPWM signals (corresponding to the target PWM signals of the application), realizing the digital control of the rotating speed and the torque of a flywheel permanent magnet motor and the charge and discharge control of a flywheel.
For convenience of understanding, referring to a flowchart of a flywheel permanent magnet motor control system shown in fig. 5, as shown in fig. 5, a controller is powered on to complete system initialization; the upper computer sends a control command and control data of the flywheel permanent magnet motor to the controller through the CAN bus or the RS232 bus, and after receiving the command, the upper computer triggers the fourth acquisition module to execute corresponding program operation, specifically, the GPIO inquires an external input signal and judges whether to carry out emergency stop control on the flywheel permanent magnet motor controller; if so, the system is stopped, otherwise, the system is normally operated. In addition, after receiving the command, the controller also opens the interrupt, enters the main cycle and waits for the interrupt; judging whether to enter an interrupt waiting state; if not, judging whether to trigger the first module interrupt, the second module interrupt, the third module interrupt, the timer module interrupt, the drive module interrupt and the storage module interrupt; and if so, executing the program operation corresponding to the interrupt.
The first module interrupts corresponding program operation to collect original signals of the voltage transformer and the current transformer; filtering, correcting and compensating the original signal; and outputting a voltage signal and a current signal of the permanent magnet motor. The second module interrupts corresponding program operation to acquire square wave signals of the Hall sensor; calculating the first pulse number of the square wave signal in unit time; and outputting a rotating speed signal of the flywheel. The third module interrupts corresponding program operation to acquire the output signal of the rotary transformer and calculate the second pulse number of the output signal in unit time; and outputting an angle signal of the permanent magnet motor. The storage module interrupts the corresponding program operation to store the target data; the target data is sent to the memory over the I2C bus. The timer module interrupts the corresponding program operation to trigger the bus to send the enabling; judging a working mode; and sending a timing signal to the total receiving module.
Reading the output voltage signal, current signal, rotation speed signal, angle signal and external input signal (corresponding to the target data), sending the signals to a drive module to interrupt PARK conversion and CLARKE conversion in a subprogram for signal processing, executing PID closed-loop algorithm processing, generating a given voltage vector after IPARK conversion processing, obtaining processed data (corresponding to the first conversion data) after signal processing and sector allocation processing, and judging whether a system corresponding to the controller normally operates according to the target data; if the operation is abnormal, the PWM output is closed, and an instruction is waited; if the operation is normal, configuring the duty ratio of the current PWM signal according to the first conversion data, the preset PWM period and dead time, and performing different PWM configurations according to various commands sent by the upper computer; outputting the configured target PWM signal; and controlling the power driving unit module based on the target PWM signal so as to control the working mode of the permanent magnet motor.
In the flywheel permanent magnet motor control system, the first acquisition module acquires original voltage and current signals of the voltage transformer and the current transformer and outputs a voltage signal and a current signal of the permanent magnet motor; the second acquisition module acquires a square wave signal of the Hall sensor and outputs a rotating speed signal of the flywheel; the third acquisition module acquires signals of the rotary transformer and outputs angle signals of the permanent magnet motor; the fourth acquisition module acquires an external input signal sent by the signal input module and judges whether to carry out emergency stop control on the flywheel permanent magnet motor controller or not; the driving module receives the target data, converts the target data, and outputs a target PWM signal to control the power driving unit module so as to control the working mode of the permanent magnet motor. According to the invention, the construction and algorithm realization of the whole flywheel permanent magnet motor control system can be realized only by adopting one TMS320F28335 chip, and further, on the premise of ensuring the reliability of the system, the volume size of a circuit board can be reduced, and the system cost is reduced.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A flywheel permanent magnet motor controller, comprising: the device comprises a first acquisition module, a second acquisition module, a third acquisition module, a fourth acquisition module and a driving module; the first acquisition module is connected with an external voltage transformer and an external current transformer; the driving module is connected with an external power driving unit module; the second acquisition module is connected with an external Hall sensor; the third acquisition module is connected with an external rotary transformer; the fourth acquisition module is connected with an external signal input module;
the first acquisition module is used for acquiring a voltage original signal of the voltage transformer, outputting a voltage signal of the permanent magnet motor, acquiring a current original signal of the current transformer and outputting a current signal of the permanent magnet motor; the second acquisition module is used for acquiring square wave signals of the Hall sensor and outputting rotating speed signals of the flywheel; the third acquisition module is used for acquiring signals of the rotary transformer and outputting angle signals of the permanent magnet motor; the fourth acquisition module is used for acquiring an external input signal sent by the signal input module so as to judge whether to carry out emergency stop control on the flywheel permanent magnet motor controller according to the external input signal; the driving module is used for receiving target data, converting the target data, outputting a target PWM signal, and controlling the power driving unit module based on the target PWM signal so as to control the working mode of the permanent magnet motor; wherein the target data comprises: the voltage signal, the current signal, the rotational speed signal, the angle signal, and the external input signal.
2. The controller of claim 1, wherein the first acquisition module is further configured to:
acquiring a voltage original signal of the voltage transformer, filtering, correcting and compensating the voltage original signal, and outputting a voltage signal of the permanent magnet motor;
and acquiring a current original signal of the current transformer, filtering, correcting and compensating the current original signal, and outputting a current signal of the permanent magnet motor.
3. The controller of claim 1, wherein the second acquisition module is further configured to:
collecting a square wave signal of the Hall sensor;
calculating the first pulse number of the square wave signal in unit time;
and calculating a rotating speed signal of the flywheel according to the first pulse number.
4. The controller of claim 1, wherein the third acquisition module is further configured to:
collecting an output signal of the rotary transformer,
calculating a second pulse number of the output signal per unit time;
and calculating the angle signal of the permanent magnet motor according to the second pulse number.
5. The controller of claim 1, further comprising: a storage module; the storage module is connected with an external memory;
the storage module is used for storing the target data and sending the target data to the external memory through an I2C bus.
6. The controller of claim 1, wherein the drive module is further configured to:
receiving the target data;
performing transformation processing on the target data to obtain processed first transformation data; wherein the transformation process comprises: PARK conversion processing, CLARKE conversion processing, PID closed-loop algorithm processing, IPARK conversion processing, signal processing and sector allocation processing;
judging whether a system corresponding to the controller normally operates according to the target data;
if the operation is normal, configuring the duty ratio of the current PWM signal according to the first conversion data, a pre-configured PWM period and dead time, and outputting a configured target PWM signal;
controlling the power driving unit module based on the target PWM signal to control the working mode of the permanent magnet motor; wherein the operating mode includes at least one of: charge mode, discharge mode, shutdown mode, standby mode, and fault mode.
7. The controller of claim 5, further comprising: a timer module and a total receiving module; the main receiving module is connected with an external upper computer;
the timer module is used for judging the working mode of the permanent magnet motor and sending a timing signal to the main receiving module according to the working mode; and the total receiving module is used for receiving the control command and the control data sent by the upper computer according to the timing signal so as to enable the controller to enter an on-off state.
8. The controller of claim 7, wherein the total receive module comprises a first receive module and a second receive module; the first receiving module is connected with the upper computer through a CAN bus; the second receiving module is connected with the upper computer through an RS232 bus; the control command includes: the CAN bus control command corresponding to the first receiving module and the RS232 bus control command corresponding to the second receiving module.
9. The controller according to claim 8, wherein the working processes of the first collection module, the timer module, the driving module, the second collection module, the third collection module, the first receiving module, the second receiving module and the storage module are executed by an interrupt mode.
10. A flywheel permanent magnet motor control system, comprising: a permanent magnet machine, and a flywheel permanent magnet machine controller according to any one of claims 1 to 9; the permanent magnet motor is connected with the flywheel permanent magnet motor controller;
and the flywheel permanent magnet motor controller is used for controlling the working mode of the permanent magnet motor according to the output target PWM signal.
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| CN202111450758.1A CN114123897B (en) | 2021-12-01 | Flywheel permanent magnet motor controller and control system |
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