CN201302669Y - DC motor-driven system for monitoring running state - Google Patents

DC motor-driven system for monitoring running state Download PDF

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Publication number
CN201302669Y
CN201302669Y CNU2008201735749U CN200820173574U CN201302669Y CN 201302669 Y CN201302669 Y CN 201302669Y CN U2008201735749 U CNU2008201735749 U CN U2008201735749U CN 200820173574 U CN200820173574 U CN 200820173574U CN 201302669 Y CN201302669 Y CN 201302669Y
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CN
China
Prior art keywords
motor
direct current
current generator
controller
running state
Prior art date
Application number
CNU2008201735749U
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Chinese (zh)
Inventor
何波
韩盈盈
任红恩
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中国海洋大学
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Priority to CNU2008201735749U priority Critical patent/CN201302669Y/en
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Publication of CN201302669Y publication Critical patent/CN201302669Y/en

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    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02PCLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

The utility model relates to a DC motor-driven system, in particular to a device for monitoring the running state of DC motors. The DC motor-driven system for monitoring running state comprises a controller, a protocol converter, a CAN bus, a motor driver and a DC motor, wherein the controller communicates with the protocol converter, and the protocol converter is connected with the motor driver through the CAN bus; and the motor driver is connected with the DC motor. The device has on-line monitoring function, monitors the running situation of the motor, can automatically protect the motor to stop running under the conditions of overcurrent, overvoltage, overload, temperature rise and failure, without damaging the motor, can articulate the sensor of the system simultaneously, and control the running state of the motor through the system control strategy, thereby protecting equipment or products.

Description

The direct current generator drive system of monitoring running state
Technical field
The utility model relates to a kind of motor driver, relate in particular to a kind of can be to the device of the monitoring running state of direct current generator.
Background technology
In the prior art, automation control system has obtained using widely and developing in all trades and professions, and the main flow that DC speed regulation is controlled as Electrified Transmission plays main effect in modern production.For a long time, direct current motor occupies certain status because of it has characteristics such as the rotating ratio of adjusting is flexible, method is simple, be easy to interior stepless speed control on a large scale, control performance is good at transmission field.At numerically-controlled machine, in the flexible transmission system such as robot, often need the reversible dc electric machine speed regulation to drive.
Modern comfort generally is total digitalization control automatically, the control core generally is the control decision program that operates on industrial computer or the PC, program needs in time to understand the current working order of motor, and provide foundation for next step decision-making, but existing drive system does not have corresponding circuit to provide these parameters, thereby make upper strata control can't know the implementation status of instruction, be in the state of a control of open loop basically.Simultaneously, device power machine is many and disperse, and the system that the prior art neither one is unified controls, manages all motors on the equipment, but a plurality of control system of a plurality of motor, make high layer software control coordinate quite difficulty, even system's situation out of control very easily occurs; And often use a plurality of different types of direct current generators in the equipment, system, for example powerful DC dynamo motor, brush direct current generator, brshless DC motor, stepper motor, servomotor or the like different motor control method difference is arranged; Because the difference of application scenario, electric system need link to each other with industrial computer by specific interface, and a lot of motor-drive circuits have only for example 232 interfaces of single interface circuit, and it has significant limitation.
During total digitalization is controlled automatically, the Micro Controller Unit (MCU) driving technology is formed motor driven systems by Micro Controller Unit (MCU) driving and motion controller, total system is made up of four parts usually: single-chip microcomputer carries out software programming and control signal transmission, be connected with processor controls by the I/O interface, control treatment module can produce pwm pulse control; Optical code disk and position feedback realize the test of motor corner displacement.This driving circuit is that with the difference of the application's patent controller separates with single-chip microcomputer, connect by the I/O interface, make the speed of its data transfer slow, and few, the no networking function of information channel, storer and bus expansion difficulty are not easy to realize jointly controlling of multi-axle motor drive system.
The quality of coordinating control in the servo-drive system between Electric Machine Control and many motors directly influence equipment work efficient and reliability, how high-efficiency management, conveniently use, real-time control be the matter of utmost importance that many motor servo systems need to be resolved hurrily.
The utility model content
Technique effect of the present utility model can overcome above-mentioned defective, and a kind of direct current generator drive system of monitoring running state is provided, and it has on-line monitoring function, defencive function.
For achieving the above object, the utility model adopts following technical scheme: it comprises controller, protocol converter, CAN bus, motor driver, direct current generator, controller is communicated by letter with protocol converter, protocol converter is connected with motor driver by the CAN bus, and motor driver connects direct current generator.
Controller adopts PC or industrial computer, and operational system control decision program is communicated by letter with protocol converter by certain protocol specification on it, controls each motor rotation and obtains the motor rotation situation.Adopt the mode of one or more combinations among USB, Ethernet, wireless ethernet, RS232, the RS485 to communicate by letter between controller and the protocol converter, its communication Protocol Conversion all is integrated in the protocol converter; Direct current generator is provided with one at least, and direct current generator is corresponding one by one with motor driver; The unified control of PC or industrial computer, a plurality of different types of direct current motors of management; comprise brush motor, brushless electric machine, stepper motor, servomotor; realize the start and stop, speed change of motor, covert, step-length control etc.; and can implement the monitoring motor working order; comprise normal, idle running, overload, stuck, fault; and energy guestimate motor load, and then it is tactful to implement different control protections according to the motor rotation situation.
Protocol converter realization controller is connected with the CAN bus; Protocol converter is that the signal that is suitable for transmitting on the CAN bus sends on the CAN bus by distinct interface with the instruction transformation of the controller that obtains, simultaneously the direct current generator operating condition information that obtains from the CAN bus and sensor information is converted to the data layout that controller can receive and sends to controller.
Be provided with the CAN transceiver in the CAN bus, the CAN transceiver adopts the MCP2551 model, and it should meet the CAN2.0B standard, is generally two shieldings or unshielded twisted pair.
Motor driver comprises primary controller, driver module, the PWM driving circuit that is electrically connected; Primary controller adopts the PIC30F4011 model; Driver module adopts the IR2136 model.Integrated CAN bus controller, PWM generator, AD sampling thief in the primary controller, the CAN bus controller is connected with the CAN bus, and the PWM generator is connected with driver module, and the AD sampling thief is connected with the PWM driving circuit.The PWM driving circuit comprises four or six power MOSFET tubes, and it adopts the IRFP054N model; The PWM driving circuit connects Hall current sensor.
Motor driver is a system core device, and polytype is arranged, corresponding to different types of direct current motor, and the physical circuit difference of motor driver.Comprise brush direct current motor driver, driver for brushless DC motor, dc stepper motor driver, DC servo motor driver.Motor driver is mainly realized following function: 1) bus transmitting-receiving, and receiving control information on the CAN bus is selected useful information according to the addressing of oneself, and the state parameter with oneself sends on the CAN bus simultaneously; 2) produce motor drive signal, according to the instruction that receives, produce corresponding motor drive signal, as the pwm signal of particular duty cycle; 3) MOSFET drives, and Electric Machine Control adopts bridge-type MOSFET circuit, and driver need amplify shaping with motor drive signal, finally can driven MOS FET; 4) motor-driven, i.e. bridge-type MOSFET circuit, this circuit need satisfy the power requirement of institute's drive motor; 5) parameter acquisition comprises that voltage, electric current, rotating speed, temperature etc. reflect the parameter of motor operating states; 6) infer motor operating state, according to the parameter of being gathered, according to the motor model characteristic, the utilization fuzzy control principle is inferred the running status that motor, as normal, overload, idle running, stuck, fault etc., and size that can the guestimate motor load.Motor driver and motor can increase as required, in theory can 200 motor node of carry, but consider that transmission performance is advisable with no more than 100.
The utility model is widely used: can be applicable to following occasion:
1. electrified vehicle.The utility model can be applied to various electrified power traction locomotives, is used for driving all direct current motors on the locomotive, both can field control, and again can be by wired or wireless mode Long-distance Control.Because the vehicle control strategy is simple, can be without PC or industrial computer, but import, output interface and motor monitoring, control and get final product as system controller with single-chip microcomputer.
2. various robot devices.In the said equipment, need use various direct current generators because application site is different, the utility model can be connected with the control navigational system all direct current generators are carried out unified control and management.For example be applied under water autonomous aircraft (AUV), the general dynamic propulsion plant of motor application among the AUV, by several horizontal propellers and vertical pusher, power propeller generally has a brush direct current generator with high-power, can use the DC motor driver driving; If the last installation of AUV tool arm generally can be used a plurality of stepper motors, can use stepper motor driver to drive; Also having such as shooting is first-class needs rotation and wants pinpoint mechanism can use servomotor, can use motor servo driver or the like.All motors are all worked under the unified command of controller is coordinated, and controller receives the parameter of various sensors (can be articulated on the CAN bus) simultaneously, makes a policy.
3. numerically controlled lathe.Numerically controlled lathe is used a plurality of power differences, and stepper motor that precision is different and dc brushless motor etc. can reach efficient, high safety, high reliability, be convenient to advantages such as program control with the unified control of the utility model motor.
4. electrified production line etc.
This device has the on-line monitoring function, monitor the working order of motor in real time, gather data such as current of electric, voltage, temperature, ambient humidity, and then infer the working order (run well, no-load idle running, overload stall, stuck, electric fault) of motor by fuzzy algorithm, for host computer provides decision-making foundation.Has defencive function.Can protect motor out of service when overcurrent, overvoltage, overload, temperature rise, fault automatically, motor can not damaged, can articulate the sensor of system simultaneously, by system control strategy control motor rotation state, thus protection equipment or product.Motor control method provides general data-interface to the upper layer software (applications) transparence, as long as understand interface protocol, just can develop the upper strata Control Software easily, need not to understand the principle and the course of work of particular hardware circuit.
Description of drawings
Fig. 1 is a modular structure synoptic diagram of the present utility model;
Fig. 2 is embodiment 1 circuit diagram of the present utility model;
Fig. 3 is embodiment 2 circuit diagrams of the present utility model.
Embodiment
Native system comprises controller, protocol converter, CAN bus, motor driver, direct current generator, and controller is communicated by letter with protocol converter, and protocol converter is connected with motor driver by the CAN bus, and motor driver connects direct current generator.
Motor driver adopts the PIC30F4011 of Microchip company as primary controller, this primary controller is inner integrated CAN bus controller, and PWM produces circuit, AD sample circuit.The CAN bus links to each other with the CAN bus controller of PIC30F4011 primary controller by CAN transceiver MCP2551.The CAN bus controller of primary controller is supported CAN1.2, CAN2.0A, CAN2.0B Passive and the CAN2.0B Active version of CAN agreement.What this controller was realized is a complete CAN system, support normal data frame, growth data frame, teledata frame, the programmable bits rate reaches 1Mb/s, six complete receiving filtration devices, two complete receiving filtration mask registers, the receiver of double buffering, three transmission buffers can be by using assigned priority and having termination ability or the like.Primary controller is integrated 6 tunnel Electric Machine Control PWM generators, this module reduction produce the task of multiple synchronous width modulation output.The hardware fault input pin that programmable functions is arranged is used for the special event trigger that synchronous A/D changes, and the hardware fault input pin of programmable functions is arranged.Has multiple output mode: edge alignment pattern, center-aligned pattern, two center-aligned pattern, the single event patterns of upgrading of band.Primary controller is integrated ten bit AD sample devices have following principal feature: the slewing rate of successive approximation register conversion, maximum 1Msps, nine analog input pins, external reference voltage input pin, four unipolarity difference samplings keep (S/H) amplifier, to four analog input pins nearly sample simultaneously, passage scan pattern, optional transition trigger source (can adopt the PWM Event triggered) or the like automatically.
Embodiment 1
Adopt the brush motor driver.
Motor-driven partly adopts the MOSFET of IR company to drive IR2136 and MOSFET:IRFP054N constitutes bridge-type Reversible PWM driving circuit, as shown in Figure 2.IR2136 has adopted 600V BCDMOS technology, and its source electrode is withstand voltage to be 600V, the chipset control circuit, and level conversion, Low ESR output and identification protecting are one.This driving circuit only needs several peripheral discrete components that the logic control signal of three bridge circuits is connected with the mos gate interpolar is complete, adopts it that the design time of power system is shortened, and size reduces, and cost reduces, and reliability improves.This driving can drive maximum voltage 600V, and the direct current motor of maximum current 80A is realized the running of 10-99% dutycycle Reversible PWM.
There is the brush direct current generator need accomplish reversible, the adjustable-speed of direction, therefore the design adopts H bridge driving circuit, power tube Q2, Q3 conducting motor just change, power tube Q1, the counter-rotating of Q4 conducting motor, the knee-joint pwm signal is realized the width modulation speed governing on the bridge, and bridge underarm conducting all the time in the running provides continuous current circuit.PWM and MOS control signal are provided by primary controller PIC30F4011, and primary controller receives the CAN bus control signal, enable to control PWM work.The AD sampling thief of primary controller is gathered current and voltage signals, current signal is obtained by Hall current sensor, adopt Hall current sensor to have fast, the advantages such as degree of accuracy is high, no energy consumption of response, AD sampling after the dividing potential drop of electric moter voltage collection and utilization motor two ends, the absolute value of getting difference then can obtain the electric moter voltage value.
There is the status monitor circuit of brush direct current generator to judge motor operating state according to motor electric current in service, magnitude of voltage; motor circuit voltage parameter when normal operation, idle running, overload, stuck, fault is different; situation of change according to these parameters; infer the running status of motor by single-chip microcomputer by fuzzy algorithm, implement protection rapidly and be uploaded to operation controller by the CAN bus.The protection parameter of different capacity motor is different, and parameters such as rated voltage, electric current, power will be set in the controller human-computer interaction interface.
Embodiment 2
Adopt the brshless DC motor driver.
The brushless electric machine driver is supported position sensor and two kinds of brshless DC motors of position-sensor-free.
For the brshless DC motor of typical three-phase belt sensor, six different operation intervals are arranged, specific two phase windings energising is arranged in each interval.The brshless DC motor commutation can obtain a tri-bit encoding, the scope of encoded radio from 1 to 6 by detecting Hall element.Each encoded radio is represented rotor present located interval.Need be thereby provide to the information of which winding energising.Therefore program can use simple table lookup operation to determine and will switch on so that rotor rotation to which two pairs specific windings.For making the brushless dc motor speed variable, must add pwm signal at the two ends of two phase windings.The PIC30F4011 primary controller has six PWM outputs, and by using six MOSFET, three phase windings can be driven is high level, low level or energising.High-end access pwm signal is realized variable-ratio, low side and high-end complementation, and, prevent the straight-through initiation of underarm short circuit at high low side level saltus step place insertion Dead Time.
For the non sensor brushless motor, adopt BEMF (english abbreviation of inverse electromotive force) zero passage detection technology for detection motor rotor position.BEMF zero passage detection method can realize like this: the terminal voltage and the VDC that monitor all three-phases by voltage divider and A/D converter.In the corresponding time period, detect phase BEMF and when pass through 1/2VDC.For certain certain period of time, only need the voltage of monitoring one phase.Use an available timer to measure the time of 60 ° (promptly twice zero crossing between).This value divided by 2, is loaded in another timer then, so just can cancels the required implicit 30 ° of compensation of correct commutation.For filtering noise improves system robustness, in software, give up the several BEMF sampled points that begin most after the commutation, can avoid the degaussing problem of phase winding.The BEMF waveform is not carried out obvious filtering with hardware, and carefully choose the signal sampling point, can get rid of mutual coupling PWM " noise " and discontinuous current problem according to the PWM waveform.Before switch cuts out, use the special event trigger of Electric Machine Control PWM module to start the A/D conversion of signals.
Equally, the state-detection of brshless DC motor also is the current and voltage signals when gathering the motor operation, infers out by fuzzy algorithm, owing to can detect rotor-position, also add the motor speed parameter in the algorithm, made the state-detection accuracy rate obviously improve.

Claims (9)

1. the direct current generator drive system of a monitoring running state, it is characterized in that comprising controller, protocol converter, CAN bus, motor driver, direct current generator, controller is communicated by letter with protocol converter, protocol converter is connected with motor driver by the CAN bus, and motor driver connects direct current generator.
2. the direct current generator drive system of monitoring running state according to claim 1 is characterized in that controller adopts PC or industrial computer.
3. the direct current generator drive system of monitoring running state according to claim 1 and 2 is characterized in that adopting the mode of one or more combinations among USB, Ethernet, wireless ethernet, RS232, the RS485 to communicate by letter between controller and the protocol converter.
4. the direct current generator drive system of monitoring running state according to claim 1 is characterized in that being provided with in the CAN bus CAN transceiver, and the CAN transceiver adopts the MCP2551 model.
5. the direct current generator drive system of monitoring running state according to claim 1 is characterized in that motor driver comprises primary controller, driver module, the PWM driving circuit that is electrically connected; Primary controller adopts the PIC30F4011 model; Driver module adopts the IR2136 model.
6. the direct current generator drive system of monitoring running state according to claim 5, it is characterized in that integrated CAN bus controller, PWM generator, AD sampling thief in the primary controller, the CAN bus controller is connected with the CAN bus, the PWM generator is connected with driver module, and the AD sampling thief is connected with the PWM driving circuit.
7. the direct current generator drive system of monitoring running state according to claim 5 is characterized in that the PWM driving circuit comprises four or six power MOSFET tubes, and it adopts the IRFP054N model; The PWM driving circuit connects Hall current sensor.
8. the direct current generator drive system of monitoring running state according to claim 1 is characterized in that direct current generator is provided with one at least, and direct current generator is corresponding one by one with motor driver.
9. the direct current generator drive system of monitoring running state according to claim 8 is characterized in that the direct current generator employing has brush direct current generator, brshless DC motor, stepper motor, servomotor.
CNU2008201735749U 2008-10-20 2008-10-20 DC motor-driven system for monitoring running state CN201302669Y (en)

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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103344273A (en) * 2013-06-08 2013-10-09 中国东方电气集团有限公司 Full electric vehicle motor driver measurement and control system and measurement and control method thereof
CN104106206A (en) * 2012-03-12 2014-10-15 富士电机株式会社 Motor drive system
CN104143939A (en) * 2013-05-10 2014-11-12 波音公司 Remote wireless motor control law processing system
CN104467620A (en) * 2014-11-28 2015-03-25 卧龙电气集团股份有限公司 Novel wireless group control system for integrated motors
CN105048886A (en) * 2014-04-29 2015-11-11 波音公司 Systems and methods for the control and operation of a parallel motor controller architecture
CN106370997A (en) * 2016-08-31 2017-02-01 株洲易力达机电有限公司 H-bridge driving circuit detection device and method in EPS system
CN106610595A (en) * 2015-10-22 2017-05-03 沈阳新松机器人自动化股份有限公司 Intelligent steering engine and robot arm control system
CN107196831A (en) * 2017-07-04 2017-09-22 西北工业大学 A kind of internal communication method of portable autonomous submarine navigation device
CN108073116A (en) * 2016-11-11 2018-05-25 南京南瑞继保电气有限公司 A kind of real-time statistical method of the equipment running status based on comprehensive monitoring system

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104106206A (en) * 2012-03-12 2014-10-15 富士电机株式会社 Motor drive system
CN104143939A (en) * 2013-05-10 2014-11-12 波音公司 Remote wireless motor control law processing system
CN104143939B (en) * 2013-05-10 2020-05-19 波音公司 Remote radio control rule processing system
CN103344273B (en) * 2013-06-08 2016-04-06 中国东方电气集团有限公司 A kind of full electric vehicle motor driver TT&C system and investigating method thereof
CN103344273A (en) * 2013-06-08 2013-10-09 中国东方电气集团有限公司 Full electric vehicle motor driver measurement and control system and measurement and control method thereof
CN105048886A (en) * 2014-04-29 2015-11-11 波音公司 Systems and methods for the control and operation of a parallel motor controller architecture
CN105048886B (en) * 2014-04-29 2019-01-01 波音公司 The System and method for controled and operated for shunt motor controller architecture
CN104467620A (en) * 2014-11-28 2015-03-25 卧龙电气集团股份有限公司 Novel wireless group control system for integrated motors
CN106610595A (en) * 2015-10-22 2017-05-03 沈阳新松机器人自动化股份有限公司 Intelligent steering engine and robot arm control system
CN106370997A (en) * 2016-08-31 2017-02-01 株洲易力达机电有限公司 H-bridge driving circuit detection device and method in EPS system
CN108073116A (en) * 2016-11-11 2018-05-25 南京南瑞继保电气有限公司 A kind of real-time statistical method of the equipment running status based on comprehensive monitoring system
CN107196831A (en) * 2017-07-04 2017-09-22 西北工业大学 A kind of internal communication method of portable autonomous submarine navigation device
CN107196831B (en) * 2017-07-04 2020-02-14 西北工业大学 Internal communication method of portable autonomous underwater vehicle

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Granted publication date: 20090902

Termination date: 20111020