CN117856689A - Intelligent motor control circuit and method based on three-dimensional lamination three-dimensional assembly - Google Patents
Intelligent motor control circuit and method based on three-dimensional lamination three-dimensional assembly Download PDFInfo
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Abstract
The invention discloses an intelligent motor control circuit and method based on three-dimensional lamination stereo assembly, which are characterized in that position information of a motor is acquired for decoding, phase current signals of the motor are acquired through a current transformer, input signals are output to 6 paths of driving signals after being resolved by a digital signal processor, and three-phase power driving signals are output to drive the motor to run at a stable speed after being isolated by an optical coupler, so that the running efficiency is improved compared with the prior art. The circuit integrates the functions of power conversion, communication, signal acquisition, power driving and the like, can realize three closed-loop control and no position sensor control on the position rotating speed and current of a brushless direct current motor, a brushed direct current motor, a permanent magnet synchronous motor, an asynchronous motor and a stepping motor, reduces the volume and the weight of the servo driving complete machine system with the same level, and solves the problems of miniaturization and light weight of the existing motor driving system. The circuit provided by the invention has wide application prospect in military servo control systems such as aviation, weapons and the like.
Description
Technical Field
The invention belongs to the technical field of intelligent control, and relates to an intelligent motor control circuit and method based on three-dimensional lamination and three-dimensional assembly.
Background
With the development of integrated circuits and micro-electromechanical system technologies in recent years, miniaturization, weight saving, high reliability, intellectualization and generalization of the integrated circuits and micro-electromechanical system technologies become an important development direction of the current motor servo system. The small-sized low-voltage intelligent servo driver can be intelligently matched with different load motors such as a brush direct current motor, a brushless direct current motor, an alternating current synchronous motor, a stepping motor and the like due to the characteristics of miniaturization, high integration level, high power density and the like, realizes various high-performance control algorithms, comprises position, rotating speed and current three-closed-loop control, position-sensor-free control and the like, and is convenient to apply. The method is widely applied to military servo control systems of aviation, weapons and the like such as military aircrafts, unmanned aerial vehicles, missiles, airborne radars and the like. However, most of the existing servo drivers are board-level products, and the problems of large size, low universality and low efficiency exist, so that improvement is needed.
Disclosure of Invention
The invention aims to solve the problems that a driver is difficult to realize miniaturization and universalization and has low performance in the prior art, and provides an intelligent motor control circuit and method based on three-dimensional lamination and three-dimensional assembly.
In order to achieve the purpose, the invention is realized by adopting the following technical scheme:
the invention provides an intelligent motor control circuit based on three-dimensional lamination and three-dimensional assembly, which comprises position decoding, a current transformer, a digital signal processor and optical coupler isolation;
one end of the position decoder is connected with a position acquisition device, and the other end of the position decoder is connected with a digital signal processor; one end of the current transformer is connected with the motor, and the other end of the current transformer is connected with the digital signal processor; the output port of the digital signal processor is connected with the optical coupler in an isolated manner, and the output end of the optical coupler is connected with the power drive which is connected with the motor.
Preferably, the digital signal processor, the optocoupler isolation and the power drive are powered by three power supplies.
Preferably, the input port of the three-way power supply is connected with a 16V-48V bus, the first output port of the three-way power supply is connected with the power drive, the second output port of the three-way power supply is connected with the digital signal processor, and the third output port of the three-way power supply is isolated and connected with the optical coupler.
Preferably, the digital signal processor is also connected with a CAN communication transceiver, and the CAN communication transceiver is adopted to communicate with an upper computer CAN.
Preferably, the input port of the digital signal processor is also connected with temperature sampling.
Preferably, the position acquisition device is a motor position sensor.
Preferably, the optical coupling isolation adopts a TLP2345 high-speed optical coupling to complete the isolation of six paths of PWM output signals.
Preferably, the position decoding uses an AD2S1210 chip, a MAX3485 chip, an AM26LV32 chip or a NSi8230 three-channel digital isolator.
Preferably, the power driving uses an IR2103 driving chip.
The invention provides an intelligent motor control method based on three-dimensional lamination and three-dimensional assembly, which comprises the following steps:
the position decoding receives and decodes the motor position signal, the current transformer receives the phase current signal of the motor, and the decoded signal and the phase current signal are transmitted to the digital signal processor;
the digital signal processor receives the rotor position and phase current signals of the motor, and outputs 6 paths of PWM driving signals after the signals are processed by the digital signal processor;
the 6 paths of PWM driving signals are output to the power driving after being isolated by the optical coupler, and the motor is driven to run at a stable speed through the power driving, so that the motor is controlled.
Compared with the prior art, the invention has the following beneficial effects:
according to the intelligent motor control circuit based on three-dimensional lamination and three-dimensional assembly, decoding is carried out by collecting the position information of the motor, phase current signals of the motor are collected through the current transformer, 6 paths of driving signals are output after input signals are resolved through the digital signal processor, three-phase power driving signals are output after optical coupling isolation to drive the motor to run at a stable speed, and the running efficiency is improved compared with the prior art. The circuit integrates the functions of power conversion, communication, signal acquisition, power driving and the like, can realize three closed-loop control and no position sensor control on the position rotating speed and current of a brushless direct current motor, a brushed direct current motor, a permanent magnet synchronous motor, an asynchronous motor and a stepping motor, reduces the volume and the weight of the servo driving complete machine system with the same level, and solves the problems of miniaturization and light weight of the existing motor driving system. The circuit provided by the invention has wide application prospect in military servo control systems such as aviation, weapons and the like.
Further, the input port of the digital signal processor is also connected with temperature sampling, and the temperature value of the power driving part is measured in real time, so that the over-temperature protection function is realized.
Further, the position decoding adopts an AD2S1210 chip to decode the position information of the rotary transformer, a MAX3485 chip to decode the position information of the absolute encoder, an AM26LV32 chip to decode the position information of the incremental encoder, and a NSi8230 three-channel digital isolator to decode the position information of the Hall position sensor.
Further, the power driving adopts an IR2103 driving chip to realize three-phase bridge driving.
Drawings
For a clearer description of the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is an electrical schematic block diagram of an intelligent motor control circuit based on three-dimensional lamination and three-dimensional assembly of the invention.
Fig. 2 is an assembly structure diagram of an intelligent motor control circuit based on three-dimensional lamination and three-dimensional assembly.
Fig. 3 is a flow chart of a control method of an intelligent motor control circuit based on three-dimensional lamination and three-dimensional assembly.
Wherein: 1-upper control board, 2-middle interconnection board, 3-bottom driving board, 4-contact pin, 5-metal base.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the embodiments of the present invention, it should be noted that, if the terms "upper," "lower," "horizontal," "inner," and the like indicate an azimuth or a positional relationship based on the azimuth or the positional relationship shown in the drawings, or the azimuth or the positional relationship in which the inventive product is conventionally put in use, it is merely for convenience of describing the present invention and simplifying the description, and does not indicate or imply that the apparatus or element to be referred to must have a specific azimuth, be configured and operated in a specific azimuth, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
Furthermore, the term "horizontal" if present does not mean that the component is required to be absolutely horizontal, but may be slightly inclined. As "horizontal" merely means that its direction is more horizontal than "vertical", and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the embodiments of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" should be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
The invention is described in further detail below with reference to the attached drawing figures:
referring to fig. 1, the structure diagram of an intelligent motor control circuit based on three-dimensional lamination and three-dimensional assembly provided by the invention comprises a power supply part, a control part, a signal conditioning part and a power part, wherein the power supply part, the control part, the signal conditioning part and the power part comprise position decoding, a current transformer, a digital signal processor and optical coupling isolation;
one end of the position decoder is connected with a position acquisition device, and the other end of the position decoder is connected with a digital signal processor; one end of the current transformer is connected with the motor, and the other end of the current transformer is connected with the digital signal processor; the output port of the digital signal processor is connected with the optical coupler in an isolated manner, and the output end of the optical coupler is connected with the power drive which is connected with the motor. The digital signal processor, the optocoupler isolation and the power driving are powered by three power supplies.
The input port of the three-way power supply is connected with a 16V-48V bus, the first output port of the three-way power supply is connected with the power drive, the second output port of the three-way power supply is connected with the digital signal processor, and the third output port of the three-way power supply is isolated and connected with the optical coupler. The 16V-48V bus single power supply is adopted for supplying power, and the 16V-48V is converted into P12V to supply power for driving through a three-way power supply circuit; the method comprises the steps of converting 16V to 48V into D12V, converting D12V into D5V, D3.3V and D1.8V to supply power for partial circuits of the digital signal processor, and converting 16V to 48V buses into A5V to supply power for the front stage of the optical coupling isolation circuit. And the digital signal processor is also connected with a CAN communication transceiver, and the CAN communication transceiver is adopted to carry out CAN communication with the upper computer. The input port of the digital signal processor is also connected with a temperature sampling circuit. The digital signal processor is connected with the program debugging port by adopting a JTAG interface, and is communicated with the outside by adopting a serial port.
The position acquisition device is a motor position sensor, and the rotor position of the motor is calculated through a position decoding circuit (namely a rotary transformer/Hall/encoder) by receiving a position signal output by the motor position sensor; the phase current signals of the motor are collected through the current transformer, the phase current signals are calculated through the digital signal processor, 6 paths of PWM signals are output, and three-phase power driving signals are output after the phase current signals are isolated through the optical coupler to drive the motor to run at a stable speed.
The following describes the components of the control circuit in detail:
the digital signal processor selects a high-performance 32-bit floating point digital processor TMS320F28335. The method has the advantages of high precision, low power consumption, high performance, large data and program reserves and the like, and integrates rich peripheral resources aiming at the motor control field. TMS320F28335 completes the calculation of the position, speed and current loop of the motor, and realizes communication through CAN bus and RS-232; and meanwhile, the real-time acquisition of state information, serial-parallel conversion, logic synthesis and protection, system vector calculation are completed, and three closed-loop control of position, rotation speed and current and a position-sensor-free control algorithm are realized.
The resolver decoding circuit selects AD2S1210 to provide motor shaft position/speed feedback information. AD2S1210 is a well-established 10-bit to 16-bit resolution RDC with integrated programmable sine wave oscillator on-chip to provide excitation for the resolver. According to the invention, the pin 7 of the AD2S1210 chip is externally connected with a crystal oscillator with the frequency of 8.192MHz, a frequency control word is written into an excitation frequency register, the excitation frequency of the AD2S1210 is set to be 10kHz, and the resolution of more than 12 bits is realized. The position information is input to the digital signal processor for processing via the parallel data interface pins 11-28.
The decoding circuit of the incremental encoder selects a high-speed four-way differential line driver AM26LV32, is powered by D3.3V, and outputs three pulse differential signals A+, A-, B+, B-, INDEX+, INDEX-input AM26LV32, and outputs ENC_A, ENC_B and ENC_Z single-ended signals which are connected with the ABZ pin of the eQEP module of the digital signal processor; the DSP detects the region where the rotor position is located by reading the ABZ signal.
The decoding circuit of the absolute encoder selects an RS485 transceiver chip MAX3485, two paths of differential signals CLOCK+, CLOCK-, DATA+ and DATA-are input to pins 8 and 9 of the MAX3485, and output digital logic level signals are connected with pins corresponding to SPI modules of the digital signal processor.
The Hall signal isolation circuit selects NSi and 8230 three-channel digital isolators to isolate 3 paths of Hall signals, converts 5V Hall signals HA, HB and HC into 3.3V digital signals, and inputs the digital signals to an eCAP module of the digital signal processor.
The CAN communication transceiver circuit adopts a high-speed CAN bus transceiver NAC1042 to realize the CAN communication function, and a pin 1 and a pin 4 are respectively connected with a CANTX pin and a CANRX pin of the digital signal processor; pins 2, 5 and 8 are grounded; pin 3 is connected with a 3.3V power supply; and a resistor is connected in parallel between the pin 6 and the pin 7 and is used as the outputs CANH and CANL of the CAN bus.
The optical coupler isolation circuit adopts a TLP2345 high-speed optical coupler to complete isolation of six paths of PWM output signals, a pin 1 is connected with a digital 3.3V power supply, a pin 6 is connected with an analog 12V power supply, and a pin 4 is grounded; the digital signal processor outputs six paths of PWM signals, and the six paths of PWM signals are input to the pin 3 through a 510 omega current limiting resistor; after the optocoupler is isolated, the pin 5 outputs an isolated PWM driving signal to the power driver, so that the control of the power three-phase bridge is realized.
The power driving circuit adopts a driving chip IR2103, and the chip can not only drive by a bootstrap circuitThe dynamic power circuit has stable output and under-voltage locking function, and can cut off the output of signals in time when in fault. The pins 2, 3, 4, 5, 6 and 7 are respectively connected with the output pins 5 of the six optocouplers, the low-side output pin 5 is connected with the grid G of the lower tube of the three-phase bridge, and the high-side output pin 7 is connected with the grid G of the upper tube of the three-phase bridge. The grid electrode driving adopts the design of reverse diode discharge, increases certain dead time, and prevents the condition of bridge arm sharing during commutation and wave spreading. VDMOS tube is voltage-resistant V DSS 200V, current I D 42A, on-resistance R DS Is a 32mΩ MOSFET and meets the requirements of most low-voltage driving occasions.
The phase current sampling adopts a Hall current transformer to sample current mutual inductance, the maximum induction current is 50A, the isolation is 2000V, the pin 8 is connected with a 3.3V power supply, and the pin 5 is grounded; the output of the power three-phase bridge enters the chip through the pins 1 and 2, the output of the power three-phase bridge realizes the collection of motor current signals, the motor current signals are converted into voltage signals, the voltage signals are output to the pin 7, and the voltage signals are sent to the pins M2 and M3 of the digital signal processor through RC filtering to perform data calculation.
The bus voltage sampling circuit samples bus voltage through a voltage division principle, and simultaneously performs isolation processing on signals through an isolation operational amplifier NSI3190, so that interference signals such as overshoot and ringing of the bus voltage are prevented from feeling the back-stage part mutually. Pin 16 is connected with a 12V analog power supply, and pins 9 and 15 are grounded to analog ground; pin 1 is connected with a 3.3V power supply, and pins 2, 5 and 8 are grounded digitally; pin 6 is pulled up to 5V power through a resistor. After the bus voltage is divided by resistors, the bus voltage is input to a pin 12 through a current limiting resistor, and a voltage signal output by a pin 7 is sent to a pin L3 of a digital signal processor for data calculation. When the bus voltage exceeds 95V, the signal sent into the digital signal processor is 3V, and the output signal is turned off at the moment, so that the burning phenomenon of a rear-stage power bridge circuit caused by the overvoltage burning of the power conversion chip is avoided.
The temperature sampling circuit is realized by a thermistor, converts a temperature signal into a voltage signal, and sends the voltage signal to a pin L2 of the digital signal processor for sampling. The voltage dividing resistor is powered by 3.3V, so that the amplitude of the signal fed into the AD port of the digital signal processor is ensured to be lower than 3V.
As shown in fig. 2, which is a circuit assembly structure diagram, the overall size of the circuit is 55mm×47mm×15mm, wherein the size of the metal base 5 is 55mm×47mm, the height of the metal base 5 to the upper control board 1 is 10mm, and the circuit assembly structure diagram adopts 5 pins 4 to realize interconnection and support of three layers of PCB substrates, namely the upper control board 1, the middle interconnection board 2 and the bottom driving board 3. Interconnection and support between the upper control board 1 and the bottom driving board 3 are realized through the contact pins 4, and the bottom driving board 3 is connected with the metal base 5 through welding. During assembly, the back device of the bottom driving plate 3 is welded by high-temperature solder, the front device of the bottom driving plate 3 is welded by low-temperature solder, and the bottom driving plate 3 is welded with the metal base 5. The upper control board 1 and the bottom driving board 3 are both double-sided mounting technology, an SMT assembly technology is adopted, and the front side and the back side are welded by adopting two solders with temperature difference. The exterior is encapsulated by high temperature plastic.
The invention provides an intelligent motor control method based on three-dimensional lamination three-dimensional assembly, which is shown in fig. 3 and comprises the following steps:
step 1, position decoding receives and decodes position signals of a position motor, a current transformer receives phase current signals of the motor, and the decoded signals and the phase current signals are transmitted to a digital signal processor;
step 2, a digital signal processor receives a rotor position and a phase current signal of a motor, and outputs 6 paths of PWM driving signals after being processed by the digital signal processor;
and step 3, outputting the 6 paths of PWM driving signals to a power driver after being isolated by an optical coupler, and driving a motor to run at a stable speed through the power driver so as to realize the control of the motor.
The intelligent motor control circuit based on three-dimensional lamination and three-dimensional assembly provided by the invention has the advantages of high integration level, strong universality, simple structure and reasonable design, and is internally integrated with functional circuits such as a secondary power supply, communication, a digital signal processor, signal acquisition, power driving and the like. The three closed-loop control of the position, the rotating speed and the current of the brushless direct current motor, the brush direct current motor, the permanent magnet synchronous motor, the asynchronous motor and the stepping motor and the control of a position-free sensor can be realized, the volume of the servo drive complete machine system at the same level is reduced by more than 60%, the weight is reduced by more than 70%, the universality of a motor drive control system is improved through a modularized design, and the problems of miniaturization, light weight, intellectualization and the like of the traditional motor drive system are solved. The servo driving module designed by the scheme has wide application prospect in military servo control systems of aviation, weapons and the like such as military aircrafts, unmanned aerial vehicles, missiles, airborne radars and the like, and has important strategic significance and social benefits.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. An intelligent motor control circuit based on three-dimensional lamination and three-dimensional assembly is characterized by comprising position decoding, a current transformer, a digital signal processor and optical coupling isolation;
one end of the position decoder is connected with a position acquisition device, and the other end of the position decoder is connected with a digital signal processor; one end of the current transformer is connected with the motor, and the other end of the current transformer is connected with the digital signal processor; the output port of the digital signal processor is connected with the optical coupler in an isolated manner, and the output end of the optical coupler is connected with the power drive which is connected with the motor.
2. The intelligent motor control circuit based on three-dimensional stacked stereoscopic assembly of claim 1, wherein the digital signal processor, the optocoupler isolation and the power drive are powered by three power supplies.
3. The intelligent motor control circuit based on three-dimensional laminated three-dimensional assembly according to claim 2, wherein the input port of the three-way power supply is connected with a 16-48V bus, the first output port of the three-way power supply is connected with a power driver, the second output port of the three-way power supply is connected with a digital signal processor, and the third output port of the three-way power supply is connected with an optical coupler in an isolated manner.
4. The intelligent motor control circuit based on three-dimensional laminated stereo assembly according to claim 1, wherein a CAN communication transceiver is further connected to the digital signal processor, and the CAN communication transceiver is adopted to communicate with an upper computer CAN.
5. The intelligent motor control circuit based on three-dimensional stacked stereoscopic assembly of claim 1, wherein the input port of the digital signal processor is further connected with a temperature sample.
6. The intelligent motor control circuit based on three-dimensional stacked stereoscopic assembly of claim 1, wherein the position acquisition device is a motor position sensor.
7. The intelligent motor control circuit based on three-dimensional stacked three-dimensional assembly according to claim 1, wherein the optocoupler isolation uses TLP2345 high-speed optocoupler to isolate six paths of PWM output signals.
8. The intelligent motor control circuit based on three-dimensional stacked stereoscopic assembly of claim 1, wherein the position decoding employs an AD2S1210 chip, a MAX3485 chip, an AM26LV32 core, or a NSi8230 three-channel digital isolator.
9. The intelligent motor control circuit based on three-dimensional stacked stereoscopic assembly of claim 1, wherein the power drive employs an IR2103 drive chip.
10. An intelligent motor control method based on three-dimensional lamination stereo assembly is characterized by comprising the following steps:
the position decoding receives and decodes the motor position signal, the current transformer receives the phase current signal of the motor, and the decoded signal and the phase current signal are transmitted to the digital signal processor;
the digital signal processor receives the rotor position and phase current signals of the motor, and outputs 6 paths of PWM driving signals after the signals are processed by the digital signal processor;
the 6 paths of PWM driving signals are output to the power driving after being isolated by the optical coupler, and the motor is driven to run at a stable speed through the power driving, so that the motor is controlled.
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| CN202410153702.7A CN117856689A (en) | 2024-02-02 | 2024-02-02 | Intelligent motor control circuit and method based on three-dimensional lamination three-dimensional assembly |
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| CN202410153702.7A CN117856689A (en) | 2024-02-02 | 2024-02-02 | Intelligent motor control circuit and method based on three-dimensional lamination three-dimensional assembly |
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