CN114928275A - Vehicle servo controller synchronous control method and device - Google Patents
Vehicle servo controller synchronous control method and device Download PDFInfo
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- CN114928275A CN114928275A CN202210486152.1A CN202210486152A CN114928275A CN 114928275 A CN114928275 A CN 114928275A CN 202210486152 A CN202210486152 A CN 202210486152A CN 114928275 A CN114928275 A CN 114928275A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/04—Arrangements for controlling or regulating the speed or torque of more than one motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/24—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed with main controller driven by a servomotor
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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
- H02P25/022—Synchronous motors
- H02P25/024—Synchronous motors controlled by supply frequency
- H02P25/026—Synchronous motors controlled by supply frequency thereby detecting the rotor position
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
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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
- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The invention provides a synchronous control method and device for a vehicle servo controller, and solves the technical problems of low reliability and safety of an existing synchronous servo controller under abnormal conditions. The device comprises an upper monitoring host used for forming a human-computer interaction interface; the main servo controller is used for adjusting a preset control strategy according to the control instruction to carry out frequency conversion on the input direct current power signal so as to form a main power control signal to be output in order; the slave servo controller is used for adjusting a preset control strategy to carry out frequency conversion on the input direct-current power signal according to the control instruction and the feedback data of the running state of the master permanent magnet synchronous motor to form the orderly output of the synchronous power control signal; the main permanent magnet synchronous motor receives a main power control signal to operate; and receiving a synchronous power control signal from the permanent magnet synchronous motor to run synchronously. Through the reliability and safety design, the quick response capability of the synchronous servo controller under the abnormal condition is improved, the reliable and stable operation of the system is ensured, and the application occasions of special vehicles can be greatly improved.
Description
Technical Field
The invention relates to the technical field of control of driving motors, in particular to a synchronous control method and device for a vehicle servo controller.
Background
In the prior art, with the continuous improvement of the electric level of a heavy vehicle, an electric execution system based on a permanent magnet synchronous motor is applied more and more. The application of the dual-motor synchronous control strategy in an electric execution system is more and more, for example, on occasions such as opening and closing of a double-cylinder cabin cover and stretching and retracting of double-cylinder supporting legs in a special vehicle, and higher requirements are provided for the reliability and safety design of synchronous control of a servo controller.
The dual-motor synchronous control of the traditional permanent magnet synchronous motor only pursues the realization of a speed or position synchronization target, and the reliability and safety design of a synchronous servo controller are often ignored. In special vehicle applications, once one of the synchronous servo controllers fails, the other synchronous servo controller still works normally, which causes flow termination or failure, and even irreversible damage to mechanical mechanisms or related important products. In addition, if the power cable between the servo controller and the motor is not connected, the motion command is directly sent at the moment, the motor is dragged reversely under certain applications (for example, a mechanical structure does not have self-locking, and locking is realized by a motor band-type brake), and further the injury of personnel or equipment is caused.
Disclosure of Invention
In view of the above problems, embodiments of the present invention provide a vehicle servo controller synchronization control method and apparatus, which solve the technical problem that the existing synchronization servo controller has low reliability and safety under abnormal conditions.
The synchronous control device of the vehicle servo controller of the embodiment of the invention comprises:
the upper monitoring host is used for forming a human-computer interaction interface, receiving state feedback data of the control process of the permanent magnet synchronous motor to form ordered data display, and converting a control purpose into a control instruction of the servo controller;
the main servo controller is used for adjusting a preset control strategy according to the control instruction to carry out frequency conversion on the input direct current power signal, forming main power control signals for controlling position, speed and torque to be output in order and controlling the operation of the main permanent magnet synchronous motor;
the slave servo controller is used for adjusting a preset control strategy to carry out frequency conversion on the input direct-current power signal according to the control instruction and the feedback data of the running state of the master permanent magnet synchronous motor, forming the sequential output of synchronous power control signals controlled by position, speed and torque, and controlling the synchronous running of the slave permanent magnet synchronous motor;
the main permanent magnet synchronous motor is used for receiving a main power control signal to operate;
and the slave permanent magnet synchronous motor is used for receiving a synchronous power control signal to synchronously operate.
In one embodiment of the invention, two CAN buses are arranged between the upper monitoring host and each servo controller through communication cables to form redundant communication connection; two paths of high-voltage direct-current power signal output circuits are formed by shunting a high-voltage direct-current power supply and are respectively and electrically connected with direct-current power signal input terminals of the master servo controller and the slave servo controller through power cables, a three-phase power signal output terminal of the master servo controller is electrically connected with a three-phase power signal input terminal of the master permanent magnet synchronous motor through the power cables, and a three-phase power signal output terminal of the slave servo controller is electrically connected with a three-phase power signal input terminal of the slave permanent magnet synchronous motor through the power cables; the main servo controller and the slave servo controller are respectively provided with a group of switching value signal bidirectional interfaces and are electrically connected in a one-to-one mode through monitoring cables, and the main servo controller and the slave servo controller are used for transmitting the specific running state of the body between the servo controllers by utilizing the determined switching value signal bidirectional interfaces for real-time monitoring of the other party.
In an embodiment of the present invention, a position signal cable is connected between the permanent magnet synchronous motor and the corresponding servo controller, and is configured to transmit a position signal of the rotor of the permanent magnet synchronous motor, which is acquired by the position sensor, to a signal input terminal of the servo controller, so as to acquire a real-time rotation state of the rotor of the permanent magnet synchronous motor in real time.
The synchronous control method of the vehicle servo controller of the embodiment of the invention utilizes the synchronous control device of the vehicle servo controller to set synchronous control among permanent magnet synchronous motors by adopting a master-slave control strategy, and comprises the following steps:
the main servo controller receives a rotating speed instruction of an upper monitoring host, and forms rotating speed closed-loop control with the main permanent magnet synchronous motor through the main servo controller to perform rotating speed stable control;
collecting the rotor position of a main permanent magnet synchronous motor as running state feedback data to form position reference data of a slave servo controller;
and forming a slave servo controller and a slave permanent magnet synchronous motor rotating speed closed-loop control according to the position reference data to carry out rotating speed synchronous control.
The vehicle servo controller synchronous control method of the embodiment of the invention utilizes the vehicle servo controller synchronous control device, and comprises the following steps:
when receiving an operation instruction, triggering a three-phase disconnection protection processing process of the motor;
forming a three-level protection processing process according to the fault alarm category in the operation process;
and executing an emergency treatment process according to the alarm category switching value in the operation process.
In an embodiment of the present invention, the three-phase disconnection protection processing procedure of the motor includes:
after receiving a starting control instruction, the servo controller is switched to a small torque control mode, an initial small torque power signal is given, and torque closed-loop control of the permanent magnet synchronous motor is carried out;
judging whether current flows through the input three-phase line of the permanent magnet synchronous motor:
when current flows, the servo controller is switched into a rotating speed control mode or a standard torque control mode; meanwhile, executing an operation process of enabling the contracting brake to be opened, and executing a subsequent control instruction flow;
and when no current flows, performing a three-phase line disconnection protection process of the permanent magnet synchronous motor, and stopping the flow of the control instruction.
In an embodiment of the present invention, the three-level protection processing procedure includes:
judging the fault level according to the monitoring data;
when the fault level is one type, only alarming and not stopping, and the upper monitoring host prompts a user to perform related operation according to the alarm information;
when the fault level is of the second type, the servo controller performs permanent magnet synchronous motor speed reduction according to the sudden stop slope acceleration rule; when the servo controller judges that the rotating speed of the permanent magnet synchronous motor is reduced to 0, the band-type brake is closed to enable the motor; the upper monitoring host computer prompts according to the alarm information;
when the fault level is three, immediately stopping enabling and stopping the machine; meanwhile, the band-type brake is closed emergently; and the upper monitoring host machine prompts according to the alarm information.
In an embodiment of the present invention, the emergency processing process includes:
receiving a switching value signal of a corresponding fault level of the opposite side between the master servo controller and the slave servo controller through a pairing I/O interface; determining a fault level according to the I/O interface identifier and the jumping state of the switching value signal;
when the fault level is of the second class, the servo controller performs permanent magnet synchronous motor deceleration according to the sudden stop slope acceleration rule; when the servo controller judges that the rotating speed of the permanent magnet synchronous motor is reduced to 0, the band-type brake is closed to enable the motor; the upper monitoring host computer prompts according to the alarm information;
when the fault level is three, immediately stopping enabling and stopping the machine; meanwhile, the band-type brake is closed emergently; and the upper monitoring host machine prompts according to the alarm information.
The vehicle servo controller synchronous control device of the embodiment of the invention comprises:
the memory is used for storing corresponding program codes in the processing process of the vehicle servo controller synchronous control method;
a processor for executing the program code.
The vehicle servo controller synchronous control device of the embodiment of the invention comprises:
the master-slave control configuration module is used for setting synchronous control among the permanent magnet synchronous motors by adopting a master-slave control strategy;
the disconnection protection control module is used for triggering a three-phase disconnection protection processing process of the motor when receiving an operation instruction;
the hierarchical protection control module is used for forming a three-level protection processing process according to the fault alarm category in the operation process;
and the emergency protection control module is used for executing an emergency treatment process according to the alarm class switching value in the operation process.
The synchronous control method and the synchronous control device for the vehicle servo controller of the embodiment of the invention improve the quick response capability of the synchronous servo controller under the abnormal condition through the reliability and safety design of software and hardware on the basis of ensuring the high synchronous performance of double motors, ensure the reliable and stable operation of the system and greatly improve the application occasions of special vehicles. Through the redundancy and protection design of hardware, the reliability and the safety of the self operation of the servo controller can be realized. By improving the shutdown protection mechanism, increasing the disconnection protection function and increasing the I/O synchronous emergency shutdown function, the servo controller can realize reliable and rapid synchronous shutdown when abnormal conditions occur.
Drawings
Fig. 1 is a schematic structural diagram of a vehicle servo controller synchronization control device according to an embodiment of the invention.
FIG. 2 is a schematic diagram of a synchronization control flow of a vehicle servo controller synchronization control method according to an embodiment of the present invention.
Fig. 3 is a schematic protection logic diagram of a vehicle servo controller synchronization control method according to an embodiment of the invention.
Fig. 4 is a schematic diagram illustrating a disconnection protection process of a vehicle servo controller synchronization control method according to an embodiment of the invention.
Fig. 5 is a schematic flow chart illustrating a hierarchical protection process of a vehicle servo controller synchronization control method according to an embodiment of the invention.
Fig. 6 is a schematic flow chart of an emergency processing process of a vehicle servo controller synchronization control method according to an embodiment of the invention.
FIG. 7 is a schematic diagram of a synchronous control device of a vehicle servo controller according to an embodiment of the present invention
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer and more obvious, the present invention is further described below with reference to the accompanying drawings and the detailed description. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the 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.
Fig. 1 shows a vehicle servo controller synchronization control apparatus according to an embodiment of the present invention. In fig. 1, the present embodiment includes:
and the upper monitoring host is used for forming a human-computer interaction interface, receiving state feedback data of the control process of the permanent magnet synchronous motor to form ordered data display, and converting the control purpose into a control instruction of the servo controller.
The human-computer interaction interface deployed on the monitoring host can be a human-computer interaction interface of an independent monitoring process in the integrated monitoring system. The human-computer interaction interface provides a graphical display interface of feedback data and a graphical instruction object of a control purpose. The man-machine interaction interface converts the interaction process of the graphical instruction object into a series of control instructions.
And the main servo controller is used for adjusting a preset control strategy according to the control instruction to carry out frequency conversion on the input direct current power signal, forming main power control signals for controlling position, speed and torque to be output in order and controlling the main permanent magnet synchronous motor to operate.
The main servo controller adopts a mature hardware module, and adopts various measures for improving reliability and safety in hardware design, such as derating grade selection according to national military standards or enterprise standards, and key devices such as a power module and a driving chip are selected according to high-grade derating requirements; the device with larger loss needs to be subjected to heat dissipation treatment, and the temperature rise of the device under different use environments, particularly at high temperature, needs to be considered; a redundancy design method is adopted during hardware or software design; the controller is provided with a grading protection mechanism, such as overcurrent protection, overvoltage protection, overheat protection, overspeed protection, stall protection and other protection functions.
The main servo controller takes the control command as an adjusting parameter according to a preset control strategy, and converts the direct current power signal into an alternating current power signal in a controlled frequency conversion mode to form a driving signal aiming at the position, the speed and the torque requirements.
And the slave servo controller is used for adjusting a preset control strategy according to the control instruction and the running state feedback data of the master permanent magnet synchronous motor to carry out frequency conversion on the input direct current power signal, forming orderly output of synchronous power control signals for position, speed and torque control, and controlling the synchronous running of the slave permanent magnet synchronous motor.
The slave servo controller utilizes additional running state feedback data to participate in controlled frequency conversion according to a preset control strategy to convert a direct current power signal into an alternating current power signal, necessary phase-locked control between two controlled shapes is formed, and synchronous control precision is kept.
And the main permanent magnet synchronous motor is used for receiving the main power control signal to operate.
And the slave permanent magnet synchronous motor is used for receiving the synchronous power control signal to synchronously operate.
The main permanent magnet synchronous motor and the slave permanent magnet synchronous motor select motors with the same batch and the same parameters, and the length, the impedance characteristics and the like of cables are kept consistent as much as possible, so that the stability of the system can be improved, original errors caused by inconsistent parameters are removed, and the synchronization performance of the system motion is ensured.
And the high-voltage direct current power supply is used for providing a high-voltage direct current power signal.
The high-voltage direct-current power supply can adopt a power battery pack, a diesel generating set and other high-voltage direct-current primary sources in the system so as to meet vehicle-mounted requirements.
The vehicle servo controller synchronous control device provided by the embodiment of the invention provides a vehicle servo controller synchronous control framework, and a drive control structure of a synchronous servo controller is designed with reliability and safety, so that the data transmission in the drive control process avoids single-point failure of a circuit, the state feedback path and the feedback efficiency are different, and the vehicle servo controller synchronous control process has a reliable hardware basis.
As shown in fig. 1, in an embodiment of the present invention, two CAN buses are disposed between the upper monitoring host and each of the servo controllers through a communication cable to form a redundant communication connection, and the master servo controller or the slave servo controller performs data transmission with the monitoring host and other servo controllers through the two CAN buses to form a dual CAN bus redundant data transmission mode. If one of the buses fails, the other bus CAN be put into normal use, and the simultaneous receiving and sending functions of the double CAN are realized in software. The double CAN bus CAN adopt a shielding twisted pair special cable to solve the problem of communication interference in a high-voltage system.
As shown in fig. 1, in an embodiment of the present invention, two high-voltage dc power signal output lines are formed by shunting a high-voltage dc power supply, and are electrically connected to dc power signal input terminals of a master servo controller and a slave servo controller respectively through power cables. The three-phase power signal output terminal of the master servo controller is electrically connected with the three-phase power signal input terminal of the master permanent magnet synchronous motor through a power cable, and the three-phase power signal output terminal of the slave servo controller is electrically connected with the three-phase power signal input terminal of the slave permanent magnet synchronous motor through the power cable. Each permanent magnet synchronous motor is independently controlled by a corresponding servo controller, and each servo controller forms a synchronous power control signal of the corresponding permanent magnet synchronous motor according to the control instruction.
As shown in fig. 1, in an embodiment of the present invention, a position signal cable is connected between the pmsm and the corresponding servo controller, and is used for transmitting a rotor position signal of the pmsm, which is obtained by a position sensor, to a signal input terminal of the servo controller, so as to obtain a real-time rotation state of the pmsm in real time.
As shown in fig. 1, in an embodiment of the present invention, a set of bidirectional switching value signal interfaces is respectively disposed on the master servo controller and the slave servo controller, and are electrically connected one to one through a monitoring cable, so as to transmit a specific operation state of the main body between the servo controllers by using the bidirectional switching value signal interfaces for real-time monitoring. The servo controller monitors an I/O switching value signal of another servo controller in real time, when the monitored signal is from low to high, the other servo controller is indicated to have a corresponding fault shutdown state, and the servo controller needs to distinguish fault types according to an I/O port.
Fig. 2 shows a synchronous control logic of a synchronous control method for a vehicle servo controller according to an embodiment of the present invention. In fig. 2, the step 100 of setting synchronous control between permanent magnet synchronous motors by using the vehicle servo controller synchronous control device of the above embodiment and using a master-slave control strategy in the present embodiment includes:
step 110: the main servo controller receives a rotating speed instruction of the upper monitoring host, and forms rotating speed closed-loop control with the main permanent magnet synchronous motor through the main servo controller to perform rotating speed stable control;
step 120: collecting the rotor position of a main permanent magnet synchronous motor as running state feedback data to form position reference data of a slave servo controller;
step 130: and forming a slave servo controller and a slave permanent magnet synchronous motor rotating speed closed-loop control according to the position reference data to carry out rotating speed synchronous control.
According to the synchronous control method of the vehicle servo controller, the real-time rotor position information of the master permanent magnet synchronous motor is used as the control parameter of the slave servo controller, so that the rotor state of the slave permanent magnet synchronous motor is kept synchronous with that of the master permanent magnet synchronous motor, random states of disturbance, interference, drift and the like of the permanent magnet synchronous motor can be synchronously reflected in the control process of the slave servo controller, and the synchronous reliability among the permanent magnet synchronous motors is ensured.
Further, in order to compensate errors caused by a master-slave control mode, position compensation control is added in an upper-layer control strategy of the upper monitoring host, and when the displacement difference of mechanisms driven by the two motors exceeds an allowable range, the upper computer performs automatic position compensation through an algorithm.
The protection logic of the synchronous control method for the vehicle servo controller according to an embodiment of the invention is shown in fig. 3. In fig. 3, the present embodiment includes:
step 200: and when receiving the operation instruction, triggering a three-phase disconnection protection processing process of the motor.
In order to avoid the situation that the motor is dragged to move reversely under the action of gravity due to the fact that a mechanical structure cannot be locked, the rear-end structure load is prevented from causing unpredictable consequences, and a permanent magnet synchronous motor band-type brake needs to be arranged to lock the structure. The band-type brake control is required to be carried out aiming at the possible phenomenon of accidental back dragging of the motor. When the three-phase line of the motor is not connected to the servo controller, if the upper computer sends an action instruction to the servo controller, the servo controller directly opens the band-type brake at the moment, and the situation that the motor is dragged reversely still possibly occurs.
Step 300: and forming a three-level protection processing process according to the fault alarm category in the operation process.
The fault alarm categories in the operation process include but are not limited to input overvoltage, input undervoltage, overheating and overload of a motor and a module, faults of an IGBT module, stall, disconnection and the like, and the classification protection can be adopted to pertinently implement operation state control and give consideration to the operation efficiency and the protection timeliness.
Step 400: and executing an emergency treatment process according to the alarm category switching value in the operation process.
In the process of synchronous control, if one of the servo controllers fails and stops and the other one of the servo controllers runs normally, the servo controllers lose synchronization, and synchronous stop CAN be performed through information interaction of the CAN bus. However, the information interaction period of the CAN bus may be long or the bus load rate is high in some control processes, so that the feedback response is slow, and the conditions of inconsistent downtime, mechanical structure damage and the like may be caused. And the hardware detection switching value time is short and fixed, so that the high-reliability rapid synchronous shutdown function can be realized by an I/O hardware detection mode.
The synchronous control method for the vehicle servo controller provided by the embodiment of the invention counts the accidental judgment process and the grading judgment process of the synchronous control process, and forms a targeted overcoming means for the technical defects in the conventional synchronous control process. The reliability and the safety of the synchronous control process of the vehicle servo controller are realized, the servo controller is reliably and quickly stopped synchronously when abnormal conditions occur, and the safe and reliable operation of special vehicles is realized. The synchronous control method of the vehicle servo controller provided by the embodiment of the invention can be applied to a synchronous control process with consistent synchronous actions, can also be applied to a synchronous control process with complementary adaptation of the synchronous actions, and has a wide application range.
The disconnection protection of the synchronous control method of the vehicle servo controller according to an embodiment of the invention is shown in fig. 4. In fig. 4, one embodiment of performing the disconnection protection in step 200 includes:
after receiving a starting control instruction, the servo controller is switched to a small torque control mode, an initial small torque power signal is given, and torque closed-loop control of the permanent magnet synchronous motor is carried out;
judging whether current flows through the input three-phase line of the permanent magnet synchronous motor:
when current flows, the servo controller is switched into a rotating speed control mode or a standard torque control mode; meanwhile, executing an operation process of enabling the contracting brake to be opened, and executing a subsequent control instruction flow;
and when no current flows, performing a three-phase line disconnection protection process of the permanent magnet synchronous motor, and stopping the flow of the control instruction.
The vehicle servo controller synchronous control method of the embodiment of the invention realizes specific torque closed-loop control by inputting small current (according to the magnitude of the brake torque) to the permanent magnet synchronous motor in a small torque control mode, judges whether current flows through a three-phase line of the motor to form a subsequent brake opening enabling operation and a short-line protection process, and further improves the customer service of accidental back dragging of the permanent magnet synchronous motor.
The hierarchical protection of the synchronous control method of the vehicle servo controller according to an embodiment of the invention is shown in fig. 5. In fig. 5, one embodiment of the hierarchical protection in step 300 includes:
judging the fault level according to the monitoring data;
the fault level judgment comprises forming a fault level according to the fault type. One type of alarm fault level comprises but is not limited to input overvoltage first level, input undervoltage first level, motor and module overheating first level alarm and the like, two types of protection fault levels comprise but is not limited to input undervoltage second level, motor and module overheating second level, overload and the like, and three types of protection fault levels comprise but is not limited to input overvoltage second level, IGBT module fault, stall, disconnection and the like.
When the fault level is one type, only alarming and not stopping, and the upper monitoring host prompts a user to perform related operation according to the alarm information;
the fault does not affect the short-time operation of the system and can not cause the damage of the hardware of the controller.
When the fault level is of the second type, the servo controller performs permanent magnet synchronous motor speed reduction according to the sudden stop slope acceleration rule;
when the servo controller judges that the rotating speed of the permanent magnet synchronous motor is reduced to 0, the brake is closed to enable the operation;
the upper monitoring host prompts according to the alarm information;
if the controller hardware is easy to damage in further operation after the fault occurs, the controller is stopped controllably in a slope speed reduction mode.
When the fault level is three, immediately stopping enabling and stopping the machine;
meanwhile, the band-type brake is closed emergently;
the upper monitoring host computer prompts according to the alarm information;
after the fault occurs, control hardware is easily damaged or a system has safety accidents, the motor is required to be immediately in a state of being incapable of controlling release, and the internal contracting brake is required to be closed emergently, so that more serious consequences caused by the fact that the motor is pulled back due to gravity are prevented.
The vehicle servo controller synchronous control method of the embodiment of the invention pre-forms the hazard grade and the corresponding processing rule of the alarm signal through fault grade classification, so that the complex alarm signal, the hazard and the corresponding processing form a continuous feedback-identification-processing process. So that the processing of the alarm signal is ordered.
Fig. 6 shows an emergency treatment of the synchronous control method of the vehicle servo controller according to an embodiment of the present invention. In fig. 6, one embodiment of emergency handling in step 400 includes:
receiving a switching value signal of a corresponding fault level of the opposite side between the master servo controller and the slave servo controller through a pairing I/O interface; determining a fault level according to the I/O interface identifier and the jumping state of the switching value signal;
when the fault level is of the second type, the servo controller performs permanent magnet synchronous motor speed reduction according to the sudden stop slope acceleration rule; when the servo controller judges that the rotating speed of the permanent magnet synchronous motor is reduced to 0, the brake is closed to enable the operation; the upper monitoring host computer prompts according to the alarm information;
when the fault level is three, immediately stopping enabling and stopping the machine; meanwhile, the band-type brake is closed emergently; and the upper monitoring host machine prompts according to the alarm information.
The I/O interface pair is a pair of I/O interfaces in signal connection with the master servo controller and the slave servo controller, each I/O interface has a certain identification which can be identified by software for the servo controller, and the I/O interfaces are configured to be switching value signals of digital levels or analog waveforms. The transition state of the switching value signal comprises a level, a pulse or a gradient from low to high transition. The plurality of matched I/O interfaces are respectively corresponding to the plurality of determined fault levels, and the switching value signals in the determined matched I/O interfaces are changed to directly reflect the determined fault levels and fault types.
According to the synchronous control method for the vehicle servo controller, a real-time judgment structure transmission path is formed by additionally utilizing the result data of fault judgment through the hardware priority of the I/O interface on the basis of the fault judgment processing process of the information processing process, so that the defect that the time delay of fault diagnosis information transmission is uncertain is avoided.
The vehicle servo controller synchronization control device of an embodiment of the present invention includes:
the memory is used for storing corresponding program codes in the processing process of the vehicle servo controller synchronous control method in the embodiment;
and the processor is used for executing corresponding program codes in the processing process of the vehicle servo controller synchronous control method in the embodiment.
Fig. 7 shows a vehicle servo controller synchronization control apparatus according to an embodiment of the present invention. In fig. 7, the present embodiment includes:
a master-slave control configuration module 10, configured to set synchronous control between the permanent magnet synchronous motors by using a master-slave control strategy;
the disconnection protection control module 20 is used for triggering a three-phase disconnection protection processing process of the motor when receiving an operation instruction;
the hierarchical protection control module 30 is used for forming a three-level protection processing process according to the fault alarm category in the operation process;
and the emergency protection control module 40 is used for executing an emergency treatment process according to the alarm category switching value in the operation process.
The Signal collection processor 22 and the Signal filtering processor 16 may employ a dsp (digital Signal processor), an FPGA (Field-Programmable Gate Array), an mcu (microcontroller unit) system board, an soc (system on a chip) system board, or a plc (Programmable Logic controller) minimum system including I/O, or a servo controller.
While the invention has been described with reference to specific preferred embodiments, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the following claims. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A vehicle servo controller synchronization control apparatus, characterized by comprising:
the upper monitoring host is used for forming a human-computer interaction interface, receiving state feedback data of the control process of the permanent magnet synchronous motor to form ordered data display, and converting a control purpose into a control instruction of the servo controller;
the main servo controller is used for adjusting a preset control strategy according to the control instruction to carry out frequency conversion on the input direct-current power signal, forming main power control signals for controlling position, speed and torque to be output in order and controlling the main permanent magnet synchronous motor to operate;
the slave servo controller is used for adjusting a preset control strategy to carry out frequency conversion on the input direct current power signal according to the control instruction and the running state feedback data of the master permanent magnet synchronous motor, forming orderly output of synchronous power control signals for position, speed and torque control, and controlling the synchronous running of the slave permanent magnet synchronous motor;
the main permanent magnet synchronous motor is used for receiving a main power control signal to operate;
and the slave permanent magnet synchronous motor is used for receiving the synchronous power control signal to synchronously operate.
2. The vehicle servo controller synchronous control device according to claim 1, wherein two CAN buses are provided between the upper monitoring host and each servo controller through communication cables to form redundant communication connection; two paths of high-voltage direct-current power signal output circuits are formed by shunting a high-voltage direct-current power supply and are respectively and electrically connected with direct-current power signal input terminals of the master servo controller and the slave servo controller through power cables, a three-phase power signal output terminal of the master servo controller is electrically connected with a three-phase power signal input terminal of the master permanent magnet synchronous motor through the power cables, and a three-phase power signal output terminal of the slave servo controller is electrically connected with a three-phase power signal input terminal of the slave permanent magnet synchronous motor through the power cables; the main servo controller and the slave servo controller are respectively provided with a group of switching value signal bidirectional interfaces and are electrically connected in a one-to-one mode through monitoring cables, and the main servo controller and the slave servo controller are used for transmitting the specific running state of the body between the servo controllers by utilizing the determined switching value signal bidirectional interfaces so as to be monitored by the other side in real time.
3. The vehicle servo controller synchronous control device of claim 2, wherein a position signal cable is connected between the permanent magnet synchronous motor and the corresponding servo controller for transmitting a permanent magnet synchronous motor rotor position signal obtained by the position sensor to a signal input terminal of the servo controller to obtain a real-time rotation state of the permanent magnet synchronous motor rotor in real time.
4. A vehicle servo controller synchronization control method using the vehicle servo controller synchronization control apparatus according to any one of claims 1 to 3, wherein a master-slave control strategy is employed to set inter-permanent magnet synchronous motor synchronization control, comprising:
the main servo controller receives a rotating speed instruction of an upper monitoring host, and forms rotating speed closed-loop control with the main permanent magnet synchronous motor through the main servo controller to perform rotating speed stable control;
collecting the rotor position of a main permanent magnet synchronous motor as running state feedback data to form position reference data of a slave servo controller;
and forming a slave servo controller and a slave permanent magnet synchronous motor rotating speed closed-loop control according to the position reference data to carry out rotating speed synchronous control.
5. A vehicle servo controller synchronization control method using the vehicle servo controller synchronization control apparatus according to any one of claims 1 to 3, characterized by comprising:
when receiving an operation instruction, triggering a three-phase disconnection protection processing process of the motor;
forming a three-level protection processing process according to the fault alarm category in the operation process;
and executing an emergency treatment process according to the alarm category switching value in the operation process.
6. The vehicle servo controller synchronization control method according to claim 5, wherein the motor three-phase disconnection protection process comprises:
after receiving a starting control instruction, the servo controller is switched to a small torque control mode, an initial small torque power signal is given, and torque closed-loop control of the permanent magnet synchronous motor is carried out;
judging whether current flows through the input three-phase line of the permanent magnet synchronous motor:
when current flows, the servo controller is switched into a rotating speed control mode or a standard torque control mode; meanwhile, executing an operation process of enabling the contracting brake to be opened, and executing a subsequent control instruction flow;
and when no current flows, performing a three-phase line disconnection protection process of the permanent magnet synchronous motor, and stopping the flow of the control instruction.
7. The vehicle servo controller synchronization control method according to claim 5, wherein the three-level protection process includes:
judging the fault level according to the monitoring data;
when the fault grade is one class, only alarming and not stopping, and the upper monitoring host prompts a user to carry out related operation according to the alarm information;
when the fault level is of the second class, the servo controller performs permanent magnet synchronous motor deceleration according to the sudden stop slope acceleration rule; when the servo controller judges that the rotating speed of the permanent magnet synchronous motor is reduced to 0, the band-type brake is closed to enable the motor; the upper monitoring host computer prompts according to the alarm information;
when the fault level is three types, the machine is immediately stopped to enable the machine to stop; meanwhile, the band-type brake is closed emergently; and the upper monitoring host prompts according to the alarm information.
8. The vehicle servo controller synchronization control method according to claim 5, wherein the emergency process includes:
receiving a switching value signal of a corresponding fault level of the opposite side between the master servo controller and the slave servo controller through a pairing I/O interface; determining a fault level according to the I/O interface identifier and the jumping state of the switching value signal;
when the fault level is of the second type, the servo controller performs permanent magnet synchronous motor speed reduction according to the sudden stop slope acceleration rule; when the servo controller judges that the rotating speed of the permanent magnet synchronous motor is reduced to 0, the brake is closed to enable the operation; the upper monitoring host prompts according to the alarm information;
when the fault level is three types, the machine is immediately stopped to enable the machine to stop; meanwhile, the band-type brake is closed emergently; and the upper monitoring host machine prompts according to the alarm information.
9. A vehicle servo controller synchronization control apparatus, characterized by comprising:
a memory for storing a program code corresponding to the processing procedure of the vehicle servo controller synchronization control method according to any one of claims 4 to 8;
a processor for executing the program code.
10. A vehicle servo controller synchronization control apparatus, characterized by comprising:
the master-slave control configuration module is used for setting synchronous control between the permanent magnet synchronous motors by adopting a master-slave control strategy;
the disconnection protection control module is used for triggering a three-phase disconnection protection processing process of the motor when receiving an operation instruction;
the hierarchical protection control module is used for forming a three-level protection processing process according to the fault alarm category in the operation process;
and the emergency protection control module is used for executing an emergency treatment process according to the alarm class switching value in the operation process.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210486152.1A CN114928275A (en) | 2022-05-06 | 2022-05-06 | Vehicle servo controller synchronous control method and device |
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| CN202210486152.1A CN114928275A (en) | 2022-05-06 | 2022-05-06 | Vehicle servo controller synchronous control method and device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115800831A (en) * | 2022-11-22 | 2023-03-14 | 北京航天发射技术研究所 | Start-stop control method and device for synchronous servo control system of electrically-driven special vehicle |
| CN116360389A (en) * | 2023-02-22 | 2023-06-30 | 北京航天发射技术研究所 | Synchronous servo controller fault control system and method for electrically driven special vehicle |
-
2022
- 2022-05-06 CN CN202210486152.1A patent/CN114928275A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115800831A (en) * | 2022-11-22 | 2023-03-14 | 北京航天发射技术研究所 | Start-stop control method and device for synchronous servo control system of electrically-driven special vehicle |
| CN115800831B (en) * | 2022-11-22 | 2024-05-14 | 北京航天发射技术研究所 | Start-stop control method and device for synchronous servo control system of electrically-driven special vehicle |
| CN116360389A (en) * | 2023-02-22 | 2023-06-30 | 北京航天发射技术研究所 | Synchronous servo controller fault control system and method for electrically driven special vehicle |
| CN116360389B (en) * | 2023-02-22 | 2024-04-09 | 北京航天发射技术研究所 | Synchronous servo controller fault control system and method for electrically driven special vehicle |
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