CN201467069U - Permanent-magnet synchronous linear motor driver - Google Patents
Permanent-magnet synchronous linear motor driver Download PDFInfo
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- CN201467069U CN201467069U CN2009201200616U CN200920120061U CN201467069U CN 201467069 U CN201467069 U CN 201467069U CN 2009201200616 U CN2009201200616 U CN 2009201200616U CN 200920120061 U CN200920120061 U CN 200920120061U CN 201467069 U CN201467069 U CN 201467069U
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Abstract
The utility model relates to a permanent-magnet synchronous linear motor driver, which is characterized by comprising a first filter (1) for filtering single-phase commercial power, a rectifier (2) which is used for conversing alternating current into direct current, a second filter (2) for smoothly processing direct current, an inverter (4) which converses direct current into three-phase alternating current electricity for driving the linear motor, an electric current detecting device (5) for checking electric current of the linear motor, a controller (8) for accurately controlling the linear motor and receiving feedback signals of the linear motor, wherein the controller (8) receives analogy signals and power voltage signals from the electric current detecting device (5) and simultaneously receives feedback signals from a mover of a linear motor grating ruler, and the controller outputs control signals for accurately controlling the moving position and the propulsion of the mover of the linear motor through conducting internal treatment for the three data. Compared with the prior art, the permanent-magnet synchronous linear motor driver can accurately control the propulsion, the speed and the position of the linear motor.
Description
Technical field
The utility model relates to a kind of permanent-magnetic synchronous linear motor driver.
Background technology
Linear electric motors are a kind of electric energy to be directly changed into rectilinear motion mechanical energy, and without any need for the transmission device of intermediate conversion mechanism.In many industrial circles, the motion path of controlled device is form of straight lines often.But regrettably, the past is had to by means of the rotatablely moving of electric rotating machine for a long time because linear motion driver does not develop fully, adds mechanical transform part and obtains final rectilinear motion, perhaps monodisplacement or two-way shift reciprocately.Obviously, the straight-line mode of this acquisition has the character of " indirectly ".If driver can provide the thrust of rectilinear motion form to controlled device, to obtain unidirectional or two-way limited controlled displacement, both just directly mate consistent on forms of motion so.
Permanent magnetic linear synchronous motor can directly produce linear thrust, and stroke is long, thrust is big, response is fast, is to constitute the first-selected motor type that directly drives linear servo unit.Constantly obtained application in a lot of fields.Vertical lift conveying system for example, high-speed ground transport system, reciprocating compressor or the like.But because its characteristics that directly drive, force oscillation by end effect, slot effect, ripple effect generation, by primary and secondary attraction and guide rail precompressed and the frictional force of introducing, and the load force in when operation all can produce bigger influence to its control precision, needs the well-designed servo-driver that is applicable to such linear electric motors for this reason.
The utility model content
Technical problem to be solved in the utility model provides a kind of permanent-magnetic synchronous linear motor driver that can accurately control thrust, speed and the position of linear electric motors motion.
The utility model solves the problems of the technologies described above the technical scheme that is adopted: this permanent-magnetic synchronous linear motor driver is characterized in that: include first filter that single-phase civil power is carried out filtering; Convert alternating current to galvanic rectifier; Direct current is carried out second filter of smoothing processing; Direct current is converted to the inverter that three-phase alternating current drives linear electric motors; The current sensing means that the linear electric motors electric current is detected, carrying out linear electric motors accurately controls, receive the controller of linear electric motors feedback signal, wherein the input of first filter links to each other with civil power, the output of first filter links to each other with the input of rectifier, the output of rectifier links to each other with the input of second filter, the output of second filter links to each other with the input of inverter, the output of inverter links to each other with the power input of linear electric motors, the input of current sensing means links to each other with the power input of linear electric motors, the output of current sensing means links to each other with first signal input part of controller, and the secondary signal input of controller links to each other with the signal output part of linear electric motors grating chi; The signal input part of linear electric motors grating chi is connected with linear electric motors detection signal output, described controller receives analog signal and the power supply voltage signal from current sensing means, and be the digital signal of corresponding size with these two information translation, receive feedback signal simultaneously from the rotor position of linear electric motors grating chi, by these three data are carried out inter-process, the output control signal is accurately controlled the movement position and the thrust size of linear motor rotor.
Concrete, described controller comprises the accurately positioner of control of executing location; Execution speed is the speed control of control accurately; Carry out the accurately current controller of control of electric current; Carry out first coordinate transformation unit of two-phase dq axle to the computing of three-phase UVW principal axis transformation; Second coordinate transformation unit from the three-phase current coordinate axis transform to two-phase dq axle; Be used to produce the PWM modulating unit of pwm signal; From biphase current I
aAnd I
bCalculate the third phase electric current I
cAdder; The position electrical degree computing unit of the movement position by grating chi calculated signals linear motor rotor; Speed calculation unit by grating chi calculated signals linear motor rotor speed; Voltage source inverter;
Wherein, generation position negative-feedback signal linked to each other with the position signalling input of positioner after the output of linear electric motors grating chi connected forward-backward counter; The output of linear electric motors grating chi links to each other with the input of speed calculation unit after connecting forward-backward counter, the output of speed calculation unit produces the negative velocity feedback signal, link to each other with the first input end of speed control, the output of positioner produces rate signal, links to each other with the first input end of speed control; The output of linear electric motors grating chi links to each other with the input of position electrical degree computing unit after connecting forward-backward counter, and the output of position electrical degree computing unit produces angle signal, links to each other with the first input end of second coordinate transformation unit; First signal output part and the secondary signal output of second coordinate transformation unit produce Iq respectively, Id Current Negative Three-Point Capacitance signal, second output generation Iq current signal and the extraneous Id current signal that provides with speed control converges respectively, be connected to the first current signal input and the second current signal input of current controller more separately, first current signal output end of current controller and second current signal output end are connected respectively to first current input terminal and the second current signal input of first coordinate transformation unit, first signal output part of first coordinate transformation unit, three signals that secondary signal output and the 3rd signal output part obtain the excitation axle are promptly: Sa, Sb, the Sc signal, be connected to three inputs of PWM modulating unit, three outputs of PWM modulating unit link to each other with three inputs of a voltage source inverter, three outputs of voltage source inverter link to each other with linear electric motors, and two outputs of voltage source inverter obtain Ia respectively, the Ib current signal, obtain Ia, the Ib current signal is connected respectively to the signal input part of adder, and the signal output part of adder obtains the Ic current signal, at last, the Ia of two outputs of voltage source inverter, the signal output part Ic current signal of Ib current signal and musical instruments used in a Buddhist or Taoist mass is connected to other three signal input parts of second coordinate transformation unit.
Compared with prior art, advantage of the present utility model is: adopt the negative feedback control of three rings, can accurately control thrust, speed and the position of linear electric motors, practicality rational in infrastructure.
Description of drawings
Fig. 1 is the hardware block diagram of the utility model embodiment;
Fig. 2 is the structured flowchart of the utility model embodiment middle controller.
Embodiment
Embodiment describes in further detail the utility model below in conjunction with accompanying drawing.
Permanent-magnetic synchronous linear motor driver as shown in Figure 1, include first filter 1 that single-phase civil power is carried out filtering, convert alternating current to galvanic rectifier 2, direct current is carried out second filter 3 of smoothing processing, direct current is converted to the inverter 4 that three-phase alternating current drives linear electric motors, the current sensing means 5 that the linear electric motors electric current is detected, carrying out linear electric motors 6 accurately controls, receive the controller 8 of linear electric motors 6 feedback signals, wherein the input of first filter 1 links to each other with civil power, the output of first filter 1 links to each other with the input of rectifier 2, the output of rectifier 2 links to each other with the input of second filter 3, the output of second filter 3 links to each other with the input of inverter 4, the output of inverter 4 links to each other with the power input of linear electric motors, the input of current sensing means 5 links to each other with linear electric motors, the output of current sensing means 5 links to each other with the signal input part of controller 8, and the signal output part of controller 8 links to each other with linear electric motors grating chi 7; Analog signal and power supply voltage signal that controller 8 receives from current sensing means 5, and be the digital signal of corresponding size with these two information translation, receive feedback signal simultaneously from the rotor position of linear electric motors grating chi 7, by these three data are carried out inter-process, the output control signal is accurately controlled the movement position and the thrust size of linear electric motors 6 movers.
Wherein positioner 9 characteristic big according to linear motor accelerated degree adds the feedforward link in Position Control, the positioning accuracy decline problem that causes owing to inertia when being used to overcome the operation of motor bringing onto load.
Current controller 11, when moving according to linear electric motors inverse electromotive force lower, characteristic, add Current Control link and suitable parameter setting, thrust is directly controlled, reduce the force oscillation in the motor operation course, helped the even running and the accurate location of motor.
Claims (2)
1. a permanent-magnetic synchronous linear motor driver is characterized in that: include first filter (1) that single-phase civil power is carried out filtering; Convert alternating current to galvanic rectifier (2); Direct current is carried out second filter (3) of smoothing processing; Direct current is converted to the inverter (4) that three-phase alternating current drives linear electric motors; The current sensing means (5) that the linear electric motors electric current is detected, carrying out linear electric motors accurately controls, receive the controller (8) of linear electric motors feedback signal, wherein the input of first filter (1) links to each other with civil power, the output of first filter (1) links to each other with the input of rectifier (2), the output of rectifier (2) links to each other with the input of second filter (3), the output of second filter (3) links to each other with the input of inverter (4), the output of inverter (4) links to each other with the power input of linear electric motors, the input of current sensing means (5) links to each other with the power input of linear electric motors, the output of current sensing means (5) links to each other with first signal input part of controller (8), and the secondary signal input of controller (8) links to each other with the signal output part of linear electric motors grating chi; The signal input part of linear electric motors grating chi is connected with linear electric motors detection signal output, described controller (8) receives analog signal and the power supply voltage signal from current sensing means (5), and be the digital signal of corresponding size with these two information translation, receive feedback signal simultaneously from the rotor position of linear electric motors grating chi, by these three data are carried out inter-process, the output control signal is accurately controlled the movement position and the thrust size of linear motor rotor.
2. permanent-magnetic synchronous linear motor driver according to claim 1 is characterized in that: described controller (8) comprises the accurately positioner (9) of control of executing location; Execution speed is the speed control (10) of control accurately; Carry out the accurately current controller (11) of control of electric current; Carry out first coordinate transformation unit (12) of two-phase dq axle to the computing of three-phase UVW principal axis transformation; Second coordinate transformation unit (16) from the three-phase current coordinate axis transform to two-phase dq axle; Be used to produce the PWM modulating unit (13) of pwm signal; From biphase current I
aAnd I
bCalculate the third phase electric current I
cAdder (18); The position electrical degree computing unit (17) of the movement position by grating chi calculated signals linear motor rotor; Speed calculation unit (15) by grating chi calculated signals linear motor rotor speed; Voltage source inverter (14);
Wherein, generation position negative-feedback signal linked to each other with the position signalling input of positioner (9) after the output of linear electric motors grating chi connected forward-backward counter (20); The output of linear electric motors grating chi connects forward-backward counter (20) back and links to each other with the input of speed calculation unit (15), the output of speed calculation unit (15) produces the negative velocity feedback signal, link to each other with the first input end of speed control (10), the output of positioner (9) produces rate signal, links to each other with the first input end of speed control (10); The output of linear electric motors grating chi connects forward-backward counter (20) back and links to each other with the input of position electrical degree computing unit (17), the output of position electrical degree computing unit (17) produces angle signal, links to each other with the first input end of second coordinate transformation unit (16); First signal output part and the secondary signal output of second coordinate transformation unit (16) produce Iq respectively, Id Current Negative Three-Point Capacitance signal, respectively and second output of speed control (10) produces the Iq current signal and the extraneous Id current signal that provides converges, be connected to the first current signal input and the second current signal input of current controller (11) more separately, first current signal output end of current controller (11) and second current signal output end are connected respectively to first current input terminal and the second current signal input of first coordinate transformation unit (12), first signal output part of first coordinate transformation unit (12), three signals that secondary signal output and the 3rd signal output part obtain three-phase UVW axle are promptly: Sa, Sb, the Sc signal, be connected to three inputs of PWM modulating unit (13), three outputs of PWM modulating unit (13) link to each other with three inputs of a voltage source inverter (14), three outputs of voltage source inverter (14) link to each other with linear electric motors, and two outputs of voltage source inverter (14) obtain Ia respectively, the Ib current signal, obtain Ia, the Ib current signal is connected respectively to the signal input part of adder (18), and the signal output part of adder (18) obtains the Ic current signal, at last, the Ia of two outputs of voltage source inverter (14), the signal output part Ic current signal of Ib current signal and musical instruments used in a Buddhist or Taoist mass (18) is connected to other three signal input parts of second coordinate transformation unit (16).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009201200616U CN201467069U (en) | 2009-05-14 | 2009-05-14 | Permanent-magnet synchronous linear motor driver |
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| CN2009201200616U CN201467069U (en) | 2009-05-14 | 2009-05-14 | Permanent-magnet synchronous linear motor driver |
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| CN2009201200616U Expired - Fee Related CN201467069U (en) | 2009-05-14 | 2009-05-14 | Permanent-magnet synchronous linear motor driver |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103701394A (en) * | 2013-12-30 | 2014-04-02 | 哈尔滨工业大学 | Current-magnitude-based open-circuit failure online-diagnosis method for power tube of inverter |
| CN104113254A (en) * | 2014-06-27 | 2014-10-22 | 南京航空航天大学 | Method for controlling pressure regulating and magnetism regulating motor |
| CN109194223A (en) * | 2018-10-08 | 2019-01-11 | 湖南航天机电设备与特种材料研究所 | A kind of control system for permanent-magnet synchronous motor for being used to set product from laser for three |
-
2009
- 2009-05-14 CN CN2009201200616U patent/CN201467069U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103701394A (en) * | 2013-12-30 | 2014-04-02 | 哈尔滨工业大学 | Current-magnitude-based open-circuit failure online-diagnosis method for power tube of inverter |
| CN103701394B (en) * | 2013-12-30 | 2016-06-08 | 哈尔滨工业大学 | A kind of online diagnostic method of the open-circuit fault of power tubes of inverter based on the magnitude of current |
| CN104113254A (en) * | 2014-06-27 | 2014-10-22 | 南京航空航天大学 | Method for controlling pressure regulating and magnetism regulating motor |
| CN104113254B (en) * | 2014-06-27 | 2016-08-17 | 南京航空航天大学 | A kind of pressure regulation adjustable magnetic motor control method |
| CN109194223A (en) * | 2018-10-08 | 2019-01-11 | 湖南航天机电设备与特种材料研究所 | A kind of control system for permanent-magnet synchronous motor for being used to set product from laser for three |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100512 Termination date: 20150514 |
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| EXPY | Termination of patent right or utility model |