CN201839248U - Brushless DC (direct current) motor phase locking speed control device - Google Patents

Brushless DC (direct current) motor phase locking speed control device Download PDF

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Publication number
CN201839248U
CN201839248U CN2010205318094U CN201020531809U CN201839248U CN 201839248 U CN201839248 U CN 201839248U CN 2010205318094 U CN2010205318094 U CN 2010205318094U CN 201020531809 U CN201020531809 U CN 201020531809U CN 201839248 U CN201839248 U CN 201839248U
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resistance
pin
circuit
motor
speed
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CN2010205318094U
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马建如
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Abstract

The utility model discloses a brushless DC (direct current) motor phase locking speed control device which comprises a subtracting circuit (1), a proportional integral circuit (2), a phase locking circuit (3), an adding circuit (4) and a frequency voltage conversion circuit (5). In use, a motor speed signal Omega r after frequency voltage conversion is subtracted from one path of a given motor speed command control signal Omega s, the result is processed by the proportional integral circuit and then a proportional integral speed error signal is generated; another path of the given motor speed command control signal Omega s and a motor speed pulse signal fr are input to the phase locking circuit together to generate a phase locking speed error integral signal. The proportional integral speed error signal and the phase locking speed error integral signal are synthetized by the adding circuit to generate a current signal for controlling motor torque so as to control the motor speed to track the given speed signal. When the motor speed command changes, the proportional integral control link firstly guide the motor speed to approach to the speed command, and once the approaching difference value is in the phase locking range, the phase locking speed error integral link acts. The brushless DC motor phase locking speed control device can realize the accurate control on speed change of the motor, and a relative error between the actual speed and the given speed is less than 0.02 percent.

Description

The phase-locked speed control unit of a kind of brshless DC motor
Technical field
The utility model relates to the phase-locked speed control unit of a kind of brshless DC motor, particularly relates to a kind of accurate phase-locking type motor speed control device that can lock various brshless DC motor rotating speed command signals easily and can do speed change degree control application.
Background technology
Brshless DC motor rotating speed control at present mainly contains three kinds of methods, first method as shown in Figure 1, be an incremental encoder to be installed detect the motor speed pulse signal on machine shaft, obtain motor speed signal by FV convertor then, motor speed command-control signal and motor speed signal subtract each other and obtain speed error signal, this signal produces drive signal by electric motor speed controller, makes the motor rotary speed satisfy the requirement of rotating speed command-control signal.The deficiency of this method is: the pulse signal of encoder output is after conversion, signal accuracy descends easily, because the signal processing of controller depends on speed error signal in a large number, and its variation of output signals lags behind speed error signal, therefore make the speed control precision not high in addition.Second method is to adopt Phase Lock Technique, as shown in Figure 2, by the phase difference of motor speed command-control signal and motor speed signal, makes motor speed command-control signal lock out motor running speed behind loop filter.The deficiency of this method is: because motor kinetic energy characteristic far lags behind Voltage-Controlled oscillation circuit, merely with the method by motor speed command-control signal lock out motor speed and be not easy, be designed to the electric machine controller of fixed speed only.The third method as shown in Figure 3, this speed control unit is except that design has phase-locked control loop, also design has speed proportional control circuit and control model selector switch, when motor speed with the order near the time, mode selection switch switches to phase lock circuitry control, and when motor speed and order have certain gap, mode selection switch switches to the speed proportional control circuit, though the method has improved the control precision when electrical motor gearshift is spent, but must design two overlap control models in the device, increased manufacturing cost, the break-off phenomenon that causes when control model is switched has in addition also increased the difficulty in the global design.
The utility model content
At the problem that prior art exists, the utility model proposes a kind ofly on the basis of common proportional integral circuit and connect the method for phase-locked integration, realize need not diverter switch accurate tracing preset speed command under arbitrary speed.
The technical scheme that the utility model adopted is:
Comprise subtraction circuit, proportional integral circuit, phase lock circuitry, add circuit, frequency-voltage conversion circuit, subtraction circuit and given motor speed command-control signal ω SBe connected with frequency-voltage conversion circuit, the proportional integral circuit is connected with subtraction circuit, phase lock circuitry and given motor speed command signal ω SBe connected with brshless DC motor, add circuit is connected with phase lock circuitry with the proportional integral circuit, the rotational speed pulse signal f of frequency-voltage conversion circuit and brshless DC motor rConnect.
Described subtraction circuit comprises resistance R 1, R 2, R 3, R 4, operational amplifier U1A, given motor speed command-control signal ω SThrough resistance R 1Be connected motor actual speed ω with the U1A in-phase input end rThrough resistance R 2With the U1A inverting input be connected resistance R 4An end be connected with the U1A inverting input, the other end of resistance R 4 is connected with the U1A output.
Described proportional integral circuit comprises resistance R 5, R 6, capacitor C 1, operational amplifier U1B, the output of operational amplifier U1A and resistance R 5An end connect resistance R 5The other end and inverting input and the R of U1B 6An end connect R 6The other end and capacitor C 1An end connect C 1The other end be connected with the output of U1B, the in-phase input end of U1B is connected with ground.
Described phase lock circuitry comprises resistance R 14, R 15, R 16, capacitor C 2, phase-locked integrated circuit U3, resistance R 15An end be connected 13 pin and the resistance R of the other end and U3 with 16 pin and the 5V power supply of U3 16An end connect resistance R 16An end and 13 pin and the resistance R of U3 15Connect, the other end is connected with ground, resistance R 14An end be connected with 11 pin of U3, the other end is connected with ground, the two ends of capacitor C 2 are connected with 6,7 pin of U3, given motor speed command-control signal ω SBe connected with 9 pin of U3,4 pin of U3 are connected with 14 pin, and 5 pin are connected with ground with 8 pin, the rotational speed pulse signal f of 3 pin of U3 and brshless DC motor output rConnect.
Described add circuit comprises resistance R 7, R 8, R 9, operational amplifier U1C, the output of operational amplifier U1C and resistance R 9An end connect resistance R 9The other end and R 7, R 8An end tandem, R 7The other end be connected R with the output of U1B 8The other end be connected with 13 pin of phase-locked integrated circuit U3.
Described frequency-voltage conversion circuit comprises resistance R 10, R 11, R 12, R 13, capacitor C 3, C 4, diode D, voltage to frequency converter ic U2, the rotational speed pulse signal f of 1 pin of voltage to frequency converter ic U2 and brshless DC motor output rConnect, 2 pin and 4 pin respectively with capacitor C 4, C 3An end connect capacitor C 4, C 3The other end be connected 3 pin and the resistance R of U2 with ground 11An end connect R 11The other end be connected resistance R with ground 10An end and 5 pin of U2 and 10 pin tandems after with resistance R 2An end connect resistance R 10The other end be connected with ground, 8 pin of U2 are connected with the 15V power supply, 9 pin and resistance R 12An end connect R 12The other end and resistance R 13An end and 15V power supply connect 11 pin and the resistance R of U2 13The other end and the anode of diode D connect, 12 pin of U2 and the negative terminal of diode with tandem.
The phase-locked speed control unit of the utility model brshless DC motor, utilize motor speed pulse signal phase place and frequency signal simultaneously, produce proportional integral velocity error and phase-locked speed error signal, use the phase-locked control device of single Circuit Design brshless DC motor variable velocity, compare with background technology and to have realized need not two cover control models, variable velocity realizes the precisely purpose of control motor speed, and the relative error of actual speed and given rotating speed is less than 0.02%.
Description of drawings
Fig. 1 is background technology method one block diagram.
Fig. 2 is a background technology method two block diagram.
Fig. 3 is background technology method three square frame schematic diagrames.
Fig. 4 is the utility model block diagram.
Fig. 5 is the circuit connection diagram of an embodiment of the present utility model.
Among Fig. 4: 1, subtraction circuit, 2, the proportional integral circuit, 3, phase lock circuitry, 4, add circuit, 5, frequency-voltage conversion circuit.
Embodiment
The utility model is described in further detail below in conjunction with accompanying drawing 4 and embodiment.
As shown in Figure 4, the utility model is the phase-locked speed control unit of a kind of brshless DC motor, comprise: subtraction circuit (1), proportional integral circuit (2), phase lock circuitry (3), add circuit (4), frequency-voltage conversion circuit (5), subtraction circuit (1) is connected with frequency-voltage conversion circuit (5) with given motor speed command-control signal, proportional integral circuit (2) is connected with subtraction circuit (1), phase lock circuitry (3) is connected with brshless DC motor with the given rotating speed bid value, add circuit (4) is connected with phase lock circuitry (3) with proportional integral circuit (2), and frequency-voltage conversion circuit (5) is connected with brshless DC motor.
As shown in Figure 5, subtraction circuit (1) comprises resistance R 1, R 2, R 3, R 4, operational amplifier U1A, given motor speed command-control signal ω SThrough resistance R 1Be connected motor actual speed ω with the U1A in-phase input end rThrough resistance R 2With the U1A inverting input be connected resistance R 4An end be connected resistance R with the U1A inverting input 4The other end be connected with the U1A output; Proportional integral circuit (2) comprises resistance R 5, R 6, capacitor C 1, operational amplifier U1B, the output of operational amplifier U1A and resistance R 5An end connect resistance R 5The other end and inverting input and the R of U1B 6An end connect R 6The other end and capacitor C 1An end connect C 1The other end be connected with the output of U1B, the in-phase input end of U1B is connected with ground; Phase lock circuitry (3) comprises resistance R 14, R 15, R 16, capacitor C 2, phase-locked integrated circuit U3, resistance R 15An end be connected 13 pin and the resistance R of the other end and U3 with 16 pin and the 5V power supply of U3 16An end connect resistance R 16An end and 13 pin and the resistance R of U3 15Connect, the other end is connected with ground, resistance R 14An end be connected with 11 pin of U3, the other end is connected with ground, the two ends of capacitor C 2 are connected with 6,7 pin of U3, given motor speed command-control signal ω SBe connected with 9 pin of U3,4 pin of U3 are connected with 14 pin, and 5 pin are connected with ground with 8 pin, the rotational speed pulse signal f of 3 pin of U3 and brshless DC motor output rConnect; Add circuit (4) comprises resistance R 7, R 8, R 9, operational amplifier U1C, the output of operational amplifier U1C and resistance R 9An end connect resistance R 9The other end and R 7, R 8An end tandem, R 7The other end be connected R with the output of U1B 8The other end be connected with 13 pin of phase-locked integrated circuit U3; Frequency-voltage conversion circuit (5) comprises resistance R 10, R 11, R 12, R 13, capacitor C 3, C 4, diode D, voltage to frequency converter ic U2, the rotational speed pulse signal f that 1 pin of voltage to frequency converter ic U2 and brshless DC motor go out rConnect, 2 pin and 4 pin respectively with capacitor C 4, C 3An end connect capacitor C 4, C 3The other end be connected 3 pin and the resistance R of U2 with ground 11An end connect R 11The other end be connected resistance R with ground 10An end and 5 pin of U2 and 10 pin tandems after with resistance R 2An end connect resistance R 10The other end be connected with ground, 8 pin of U2 are connected with the 15V power supply, 9 pin and resistance R 12An end connect R 12The other end and resistance R 13An end and 15V power supply connect 11 pin and the resistance R of U2 13The other end and the anode of diode D connect, 12 pin of U2 and the negative terminal of diode with tandem.
The phase-locked speed control unit of a kind of brshless DC motor of the present utility model, the U1C of the U1B of the U1A of subtraction circuit (1), proportional integral circuit (2), add circuit (4) adopts a slice integrated chip TL074, the U3 of phase lock circuitry (3) adopts a slice integrated chip CD4046, and the U2 of frequency-voltage conversion circuit (5) adopts a slice integrated chip LM2907.
The course of work of the present utility model is:
As shown in Figure 4, given motor speed command-control signal ω s one tunnel and the motor speed ω r after the voltage to frequency conversion subtract each other, and produce the proportional integral speed error signal after the proportional integral processing of circuit.Another road is input to phase lock circuitry with the motor speed pulse signal and carries out phase demodulation, produces phase-locked velocity error integrated signal.Proportional integral speed error signal and phase-locked velocity error integrated signal θ e, through the synthetic current signal is that produces the control motor torque of add circuit, the tach signal of control rotating speed of motor tracing preset.When the motor speed order changed, the proportional plus integral control link at first guided the order of motor speed closing speed, in case when approaching difference is in the phase locking range, phase-locked velocity error integral element will be had an effect, and realize the High Accuracy Control of speed.
Above-mentioned embodiment is used for explaining the utility model; rather than the utility model limited; in the protection range of spirit of the present utility model and claim, any modification and change to the utility model is made all fall in the protection range of the present utility model.

Claims (7)

1. phase-locked speed control unit of brshless DC motor, it is characterized in that: comprise subtraction circuit (1), proportional integral circuit (2), phase lock circuitry (3), add circuit (4), frequency-voltage conversion circuit (5), subtraction circuit (1) is connected with frequency-voltage conversion circuit (5) with given motor speed command-control signal, proportional integral circuit (2) is connected with subtraction circuit (1), phase lock circuitry (3) is connected with brshless DC motor with given motor speed command signal, add circuit (4) is connected with phase lock circuitry (3) with proportional integral circuit (2), and frequency-voltage conversion circuit (5) is connected with brshless DC motor.
2. the phase-locked speed control unit of brshless DC motor according to claim 1 is characterized in that: described subtraction circuit (1) comprises resistance R 1, R 2, R 3, R 4, operational amplifier U1A, given motor speed command-control signal is through resistance R 1Be connected with the U1A in-phase input end, the motor actual speed is through resistance R 2With the U1A inverting input be connected resistance R 4An end be connected resistance R with the U1A inverting input 4The other end be connected with the U1A output.
3. the phase-locked speed control unit of brshless DC motor according to claim 1 is characterized in that: described proportional integral circuit (2) comprises resistance R 5, R 6, capacitor C 1, operational amplifier U1B, the output of operational amplifier U1A and resistance R 5An end connect resistance R 5The other end and inverting input and the R of U1B 6An end connect R 6The other end and capacitor C 1An end connect C 1The other end be connected with the output of U1B, the in-phase input end of U1B is connected with ground.
4. the phase-locked speed control unit of brshless DC motor according to claim 1 is characterized in that: described phase lock circuitry (3) comprises resistance R 14, R 15, R 16, capacitor C 2, phase-locked integrated circuit U3, resistance R 15An end be connected 13 pin and the resistance R of the other end and U3 with 16 pin and the 5V power supply of U3 16An end connect resistance R 16An end and 13 pin and the resistance R of U3 15Connect, the other end is connected with ground, resistance R 14An end be connected with 11 pin of U3, the other end is connected with ground, the two ends of capacitor C 2 are connected with 6,7 pin of U3, given motor speed command-control signal is connected with 9 pin of U3,4 pin of U3 are connected with 14 pin, 5 pin are connected with ground with 8 pin, and 3 pin of U3 are connected with the rotational speed pulse signal of brshless DC motor output.
5. the phase-locked speed control unit of brshless DC motor according to claim 1 is characterized in that: described add circuit (4) comprises resistance R 7, R 8, R 9, operational amplifier U1C, the output of operational amplifier U1C and resistance R 9An end connect resistance R 9The other end and R 7, R 8An end tandem, R 7The other end be connected R with the output of U1B 8The other end be connected with 13 pin of phase-locked integrated circuit U3.
6. the phase-locked speed control unit of brshless DC motor according to claim 1 is characterized in that: described frequency-voltage conversion circuit (5) comprises resistance R 10, R 11, R 12, R 13, capacitor C 3, C 4, diode D, voltage to frequency converter ic U2, the rotational speed pulse signal of 1 pin of voltage to frequency converter ic U2 and brshless DC motor output is connected, 2 pin and 4 pin respectively with capacitor C 4, C 3An end connect capacitor C 4, C 3The other end be connected 3 pin and the resistance R of U2 with ground 11An end connect R 11The other end be connected resistance R with ground 10An end and 5 pin of U2 and 10 pin tandems after with resistance R 2An end connect resistance R 10The other end be connected with ground, 8 pin of U2 are connected with the 15V power supply, 9 pin and resistance R 12An end connect R 12The other end and resistance R 13An end and 15V power supply connect 11 pin and the resistance R of U2 13The other end and the anode of diode D connect, 12 pin of U2 and the negative terminal of diode with tandem.
7. the phase-locked speed control unit of brshless DC motor according to claim 1, it is characterized in that: the U1B of the U1A of subtraction circuit (1), proportional integral circuit (2), the U1C of add circuit (4) adopt a slice integrated chip TL074, the U3 of phase lock circuitry (3) adopts a slice integrated chip CD4046, and the U2 of frequency-voltage conversion circuit (5) adopts a slice integrated chip LM2907.
CN2010205318094U 2010-09-12 2010-09-12 Brushless DC (direct current) motor phase locking speed control device Expired - Fee Related CN201839248U (en)

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Application Number Priority Date Filing Date Title
CN2010205318094U CN201839248U (en) 2010-09-12 2010-09-12 Brushless DC (direct current) motor phase locking speed control device

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Application Number Priority Date Filing Date Title
CN2010205318094U CN201839248U (en) 2010-09-12 2010-09-12 Brushless DC (direct current) motor phase locking speed control device

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107592039A (en) * 2017-11-02 2018-01-16 中国电子科技集团公司第二十四研究所 High accuracy lock phase motor speed controller
CN107769663A (en) * 2017-09-19 2018-03-06 宁波欣达电梯配件厂 A kind of Electrical Machinery Rotational Speed Testing System and method

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107769663A (en) * 2017-09-19 2018-03-06 宁波欣达电梯配件厂 A kind of Electrical Machinery Rotational Speed Testing System and method
CN107592039A (en) * 2017-11-02 2018-01-16 中国电子科技集团公司第二十四研究所 High accuracy lock phase motor speed controller
CN107592039B (en) * 2017-11-02 2019-05-10 中国电子科技集团公司第二十四研究所 High-precision locking phase motor speed controller

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C17 Cessation of patent right
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Granted publication date: 20110518

Termination date: 20120912