CN202538702U - Laboratory mechanical stirrer adopting three-phase permanent magnet brushless direct current motor - Google Patents
Laboratory mechanical stirrer adopting three-phase permanent magnet brushless direct current motor Download PDFInfo
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- CN202538702U CN202538702U CN2012201734390U CN201220173439U CN202538702U CN 202538702 U CN202538702 U CN 202538702U CN 2012201734390 U CN2012201734390 U CN 2012201734390U CN 201220173439 U CN201220173439 U CN 201220173439U CN 202538702 U CN202538702 U CN 202538702U
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Abstract
The utility model provides a laboratory mechanical stirrer adopting a three-phase permanent magnet brushless direct current motor. The mechanical stirrer is characterized in that: a stirring rod is driven by the three-phase permanent magnet brushless direct current motor to rotate; three Hall position sensors are installed on the three-phase permanent magnet brushless direct current motor; signal output terminals of the Hall position sensors are connected with a three-phase gate control logical circuit; a power amplifying circuit of the three-phase gate control logical circuit is respectively connected with an A-phase terminal, a B-phase terminal and a C-phase terminal of the three-phase permanent magnet brushless direct current motor; the three-phase gate control logical circuit is also connected with a rotation speed open-loop set digit circuit; and a square wave with a variable pulse width sent by the rotation speed open-loop set digit circuit is served as an energy using control signal of the three-phase gate control logical circuit. The laboratory mechanical stirrer adopting the three-phase permanent magnet brushless direct current motor provided by the utility model not only has a small volume, but also has a larger mechanical torque, and has an adjustable rotation speed, a good low-speed performance and higher safety.
Description
Technical field
The utility model relates to a kind of laboratory mechanical agitator.
Background technology
Since at the beginning of 21 century, China's medical service outsourcing already develops rapidly, progressively develops toward the diversification direction from original single approach to cooperation.Synthetic various, the different synthesis technique of cooperating content of medicine, experimental provision is set up also and is differed widely.When doing the high experimental project of some viscosity, just can not use by the magnetic agitation of magnetic force coupled drive and accomplish, must adopt mechanical force increase moment of torsion to accomplish.
As everyone knows, seek out mechanical force preferably, most convenient be exactly motor.The most of breadboard power supply of China is the single-phase alternating current of 220V, 50Hz.So more general mechanical agitator all adopts single-phase AC motor as power source on the market.General power is about 100-150W.The general decompression speed method that adopts of rotating speed control.Traditional method is to change the bidirectional triode thyristor angle of flow through the electronics circuits for triggering to accomplish, and its circuit is simple and reliable.In order to realize closed loop constant speed function, generally an alternating current generator is installed at motor coaxle, realize single closed-loop drive to mechanical separator speed through the current feedback form.This product structure is simple, and the control technical maturity is one of more common product in the market.But load motor will seek out 100W power, and its volume is inevitable bigger, need fix with a bigger support, and is relatively heavier.The control rotating speed is to accomplish through controller independently, and is discrete on the electric motor structure.Motor windings voltage is controlled by controller, and is not too convenient in the operation.The single-phase AC motor stator winding is generally the concentric winding of individual layer, and major-minor winding electric angle differs 90 degree, and the electromagnetic force that is produced rotation step pitch is very big, and relative machine torque is just much little than three-phase winding motor.Especially when being transferred to low cruise, because winding voltage reduces, electric current reduces, and moment of torsion is obviously not enough especially, and showing as makes a move stops the phenomenon in half step.In sum, monophase ac capacitance phase shift machinery whisks utensil to be had simple in structurely, and the advantage that the rotating speed control technology is ripe also exists volume heavy simultaneously, is difficult for moving; Inconvenient operation; Moment of torsion is low, the shortcoming of low-speed performance difference.
Because monophase ac capacitance phase shift mechanical agitation exists moment of torsion to be the weakness that exponential relationship descends when low speed; The technical staff of some machine driving systems just designs a kind of kind of drive of similar reductor principle; Promptly do not change the power frequency rotating speed of load motor; Recently realize speed changing function but change transmission, make the very big torque of acquisition when low speed.Concrete grammar is that a conical surface driving head is installed on motor transmission shaft, and running part is to adopt a rubber ring to realize with contacting recently of conical surface driving head.Rotating speed is the fastest when the transmission rubber ring center of circle and the conical surface center of circle are coaxial, and it is low more that rubber ring departs from driving head center of circle rotating speed more, is equivalent to change gearratio.So, just can dwindle greatly on the structure, machine volume is only bigger than motor.Low-speed performance improves greatly, and convenient moving.Experimental provision is set up simple and flexible, and rotating speed is easy to adjust.But what this structure was not enough is that the kind of drive is to adopt rubber ring and conical surface driving head friction transmission, uses sharply heating of rubber ring for a long time, accelerated ageing.In case the frictional resistance of rubber ring and conical surface driving head reduces, there is not mechanical force moment at once.The experiment that viscosity is high often to prepare several subsequent use.Maintenance rate and maintenance cost are than higher.If the transmission rubber ring has metallic particles to mix in manufacturing process accidentally, in the friction that runs up, have spark certainly and spill, there is the potential safety hazard that causes secondary disaster.
Summary of the invention
The purpose of the utility model provides a kind of reduced volume, increases torque and safe and reliable and is used for breadboard mechanical stirring equipment.
In order to achieve the above object; The technical scheme of the utility model has provided a kind of laboratory mechanical agitator that adopts the three-phase permanent brshless DC motor; It is characterized in that: comprise Switching Power Supply; Switching Power Supply provides electric power for the three-phase permanent brshless DC motor; Drive the puddler rotation by the three-phase permanent brshless DC motor, on the three-phase permanent brshless DC motor, be equipped with 3 and have certain mechanical angle hall position sensor at interval between any two, the signal output part of hall position sensor connects three-phase gating control logic circuit; Three-phase gating control logic circuit connects A phase terminal, B phase terminal and the C phase terminal of three-phase permanent brshless DC motor respectively through the power amplification circuit output; By the conducting order of three-phase gating control logic circuit according to signal controlling A phase terminal, B phase terminal and the C phase terminal of hall position sensor output, three-phase gating control logic circuit also connects the given digital circuit of rotating speed open loop ring, and the variable square wave of the pulse width that is provided by the given digital circuit of rotating speed open loop is as the control signal that enables of three-phase gating control logic circuit; Wherein, the arteries and veins portion width of square wave has been confirmed the rotating speed of three-phase permanent brshless DC motor.
Preferably, the mechanical angle between 3 said hall position sensors is spaced apart 40 degree.
Preferably, the stator of said three-phase permanent brshless DC motor is the sextupole winding, and the magnetic pole motion is the three-phase six-beat formula, and every phase winding is connected to parallel way, and three phase winding tail ends adopt star-like connection.
Preferably, hollow out in the middle of the armature spindle of said three-phase permanent brshless DC motor.
Preferably; The output of said hall position sensor connects closed loop feedback constant speed circuit; Closed loop feedback constant speed circuit also connects the given digital circuit of said rotating speed open loop, and the signal of being exported according to hall position sensor by closed loop feedback constant speed circuit obtains the speed feedback voltage, and speed feedback voltage and the rotational speed setup voltage that obtains through the given digital circuit of rotating speed open loop are compared; Carry out differential amplification; The pulse width of the square wave that the given digital circuit of the timely said rotating speed open loop of adjustment provides is dynamically adjusted rotating speed, reaches the constant speed purpose.
Preferably; Said closed loop rotational speed setup comprises integrating circuit with feedback constant speed circuit; Integrating circuit connects the output of said hall position sensor, and the output of integrating circuit connects shaping circuit, and the output of shaping circuit connects the input of monostable flip chip; To import waveform by the monostable flip chip converts into and the linear analog voltage signal of the rotating speed of said three-phase permanent brshless DC motor; The in-phase end of the output concatenation operation amplifier of monostable flip chip, the given digital circuit of the said rotating speed open loop end of oppisite phase through resistance R 1 concatenation operation amplifier is connected resistance R 2 between the end of oppisite phase of operational amplifier and output.
Preferably; The given digital circuit of said rotating speed open loop comprises first operational amplifier; The output of the anti-phase termination triangle wave generating circuit of first operational amplifier; The in-phase end of first operational amplifier connects potentiometer, is that first operational amplifier provides given reference voltage by potentiometer, and the triangular wave of this given reference voltage perpendicular cuts triangle wave generating circuit output obtains the variable square wave of pulse width.
Not only volume is little for the utility model provides a kind of laboratory mechanical agitator that adopts the three-phase permanent brshless DC motor, and has bigger mechanical torque, and its rotating speed is adjustable, and low speed property is good, and security is higher.
Description of drawings
Fig. 1 is the three-phase permanent brshless DC motor developed winding diagram of a phase wherein among the embodiment;
Fig. 2 is the sequential chart of three hall position sensor output signals;
Fig. 3 is the logical circuitry of the open loop control rotating speed in the present embodiment;
Fig. 4 is the power amplification circuit figure of each phase;
Fig. 5 is the closed loop feedback constant speed circuit diagram in the present embodiment.
The specific embodiment
For making the utility model more obviously understandable, now with a preferred embodiment, and conjunction with figs. elaborates as follows.
In the present embodiment, disclose a kind of laboratory mechanical agitator that adopts the three-phase permanent brshless DC motor, comprised the three-phase permanent brshless DC motor.
In order to guarantee enough moments of torsion, the motor windings mode adopts the double-deck chain structure of three-phase.Divide 27 grooves, short pitch, rotating speed are 1400r/min.Motor stator is the sextupole winding; The magnetic pole motion is the three-phase six-beat formula; Every phase winding is connected to parallel way (be commonly called as three and advance fiery formula), and this mode that is connected in parallel mainly is to reduce motor operating voltage, and operating voltage 36V just can meet the demands; Because winding is a double-decker, select the too high phase insulation that causes easily to puncture like operating voltage.Three phase winding tail ends adopt star-like connection.Guaranteeing to have simultaneously in every bat two phase windings to produce electrical angle is that 60 degree move magnetic pole, attracts the same moved further of p-m rotor (the corresponding mechanical angle of electrical angle 360 degree is 120 degree).Rotor is the sextupole permanent magnet.Hollow out in the middle of the armature spindle, puddler can pass the motor center axle easily, and agitated height just can conveniently be regulated, and has solved the difficulty that stirs the vertical height adjustment.The clamp gripper of motor and puddler strengthens, and can grasp paddle conveniently and solidly with less strength.
In motor, cover and adorn 3 mechanical angles and be spaced apart 40 degree hall position sensors, be respectively first hall position sensor 1, second hall position sensor 2 and second hall position sensor 3.In the present embodiment, because the mechanical angle between the hall position sensor is spaced apart 40 degree, and p-m rotor is 6 utmost points, makes in an electrical angle the cycle, obtains 110,100,101,001,011,010 6 logic levels successively, and is as shown in Figure 2.These six logic levels respectively as three-phase change of current gating signal; Rotational speed pulse signal; The benchmark of speed closed loop constant speed signal.
Wherein, The A phase of the three-phase permanent brshless DC motor that these six logic levels are corresponding, B and the C current lead-through between mutually concerns for being followed successively by AB, CB, CA, BA, BC, AC; Promptly when logic was " 110 ", A and B were conducted, A join working power+; Join working power ground of B, and the like.Thus, the signal that can obtain hall position sensor output and A mutually, the logical relation of conducting between B and the C phase, can obtain corresponding logic circuit according to this logical relation, i.e. three-phase gating control logic circuit.In the present embodiment; Three-phase gating control logic circuit is as shown in Figure 3, and this circuit is by 4081, three three inputs of three two inputs and door and door 4073; Six not gates 40106, resistance R 3 to R5 are formed; Wherein, the positive terminal of three two inputs and the output of door 4081 output formation respectively A phase logic, the output of B phase logic and the output of C phase logic, three three inputs and the output of door 4073 form the negative pole end of the output of A phase logic, the output of B phase logic and the output of C phase logic respectively.
Because the digital circuit load capacity is not high, directly drive motors overlaps the power amplification electronic circuit so also need design one.Power amplification circuit is very simple, and is as shown in Figure 4, mainly is made up of triode T and resistance R.The corresponding power amplification electronic circuit of a pair of single-phase logic output; Therefore; Have 3 power amplification electronic circuits in the present embodiment; In order to improve the dc supply quality, the collector output of 3 the power amplification electronic circuits inductor filter that all is connected in series connects A phase terminal, B phase terminal and the C phase terminal of three-phase permanent brshless DC motor respectively.
Return Fig. 3, three-phase gating control logic circuit also connects the given digital circuit of rotating speed open loop.The end of oppisite phase that the given digital circuit of rotating speed open loop comprises first operational amplifier, 393, the first operational amplifiers 393 connects the output of triangle wave generating circuit through resistance R 10, and the in-phase end of first operational amplifier 393 connects potentiometer R7 through resistance R 6.Wherein, triangle wave generating circuit is made up of two second operational amplifiers 358 and corresponding resistance R 8 and resistance R 9.Second operational amplifier, 358 main generation concussion frequencies are 12-18KHz triangular wave (in 12V and 0V saltus step).In order to obtain good positive logic, increased pull-up resistor R11 at the output of first operational amplifier 393.In order to improve logic transition response speed, in-phase end and the output at first operational amplifier 393 inserts a positive feedback resistor R12 again simultaneously.The resistance of adjustment potentiometer R7; Just be equivalent to change the in-phase end reference voltage of first operational amplifier 393, this reference voltage perpendicular cuts triangular wave, the output of first operational amplifier 393 just obtains the variable square wave of pulse width; The square wave of first operational amplifier, 393 outputs is as the enable control signal of three three inputs with door 4073; Changed the pulse width of three inputs, opened pulse width, reached the purpose of speed governing with the PWM modulation system thereby change logic with door 4073 Enable Pins.
Only rely on the open loop rotation-speed setting circuit then; Can not guarantee the rotating speed control accuracy; On direct current generator, can not as load motor, the speed feedback electric current be provided generator of coaxial installation, direct current generator can only provide the Hall pulse, can know from the open loop control principle; Rotational speed setup is to obtain reference voltage control through potentiometer R7, is an analog quantity.And the rotating speed feedback that obtains through first hall position sensor 1, second hall position sensor 2 and second hall position sensor 3 is an impulse wave; Belong to digital quantity, need be processed into analog voltage amount to this digital quantity could form speed closed loop control with given voltage.
For this reason; In conjunction with Fig. 5; At first the signal of first hall position sensor 1, second hall position sensor 2 and second hall position sensor 3 be connected in series respectively three little capacitor C 1 to C3 and and connect 3 resistance R 13 to R15 and form integrating circuit; Be integrated into the input of sending into phase inverter 40106 after the spike to the square wave of hall position sensor output, three diode D1 to D3 of output serial connection of phase inverter 40106, the negative electrode of diode also connects after resistance R 16 ground connection.Phase inverter 40106 plays shaping operation here, and main effect is to be divided into independently wide constant amplitude pulse ripple to three Hall broad pulses when arbitrarily angled (, three hall signals always have two logics to overlap); Rotating speed is high more; Impulse wave is more little at interval, and rotating speed is slow more, and is big more at interval.Insert any two pulse signals in the counting display circuit, just can show current actual speed.Count decoding display circuit by the way, the three-phase permanent brshless DC motor is a 6-pole motor, that is to say that the motor hall position sensor that rotates a circle produces 3 orthopedic impulse waves, adopts just produce 6 impulse waves two one weeks of Hall pulse signal so.If the decoding count pulse was got for 1 second (scan period is depended on external crystal oscillator frequency) sweep time, just can obtain 6 pulse signals, got in one minute 60 times so, 60 divided by 6, just in time corresponding to the tens of 4 decoding circuits.So rotating speed is accurate to ten.This precision is enough for compound experiment.This mode is commonly called as normal 0, ten counting in position.Integrated it is enough as for decoding circuit, just brings for use, just do not do here and do not give unnecessary details.
The input pin pin of monostable flip chip 4528 is sent in the output of phase inverter 40106 after the negative electrode of three diode D1 to D3 connects.Resistance R 17 and capacitor C 4 are formed the integration RC constant of monostable flip chips 4528.Pulse output pin output through monostable flip chip 4528.What the pulse output pin was exported is pulse output number in the unit interval, depends on the RC integral constant.After capacitor C 5 filtering, obtain one with the linear analog voltage signal of motor speed, amplitude equals the product of pulse number and integral constant, this analog voltage signal is the speed feedback voltage.So far, digital circuit becomes the analog circuit completion.Next be exactly having compared of rotational speed setup voltage and speed feedback voltage, very simple, just solved with a comparator.
Connect the in-phase end of operational amplifier 3581 to the speed feedback voltage, the rotational speed setup voltage inserts the end of oppisite phase of operational amplifier 3581 through resistance R 1 (resistance is 10K).The output of operational amplifier 3581 and end of oppisite phase connecting resistance R2 (resistance is 100K) are equivalent to enlarge 10 times (multiplication factor is 100/10) to the rotational speed setup voltage, and the output of operational amplifier 358 will be realized constant speed control function.Operational amplifier 3581 has been actually differential amplification, output voltage U 0=100/10* (U2U1), and wherein, U0 is an output voltage, and U2 is a reference voltage, and U1 is a feedback voltage.Receive the given reference voltage output point of open loop (being the in-phase end of first operational amplifier 393 among Fig. 3) to this voltage signal, just can carry out closed-loop control.When the speed feedback voltage is lower than the rotational speed setup voltage, then output reference voltage raises, and rotating speed rises; Otherwise then reference voltage reduces, and rotating speed descends.Owing to two groups of amplifiers are arranged in the operational amplifier 3581, be one voltage follower (output and end of oppisite phase short circuit, multiplication factor are 1) so can become multiplication factor to first winding, more can improve the stability of Closed-Loop Speed Governing System.
Traditional transformer efficiency wants to accomplish 100W, and volume is also very big, and power volume does not greatly meet the requirement of complete machine for volume yet, thus must adopt Switching Power Supply to replace traditional transformer, thus realize miniaturization.Consider the characteristic of electronic component simultaneously, the power of Switching Power Supply must be much larger than the actual power of three-phase permanent brshless DC motor.So, conventional way be the 220V alternating voltage through rectifies, boost to about 311V through electrochemical capacitor filtering, pass through the copped wave of high frequency chopping three-terminal switch pipe again, the dc source that obtains wanting after the filter capacitor filtering.This also is a mature technique very, is exactly nothing but to install a current-limiting protection circuit on the original basis additional, prevents the excessive copped wave three-terminal switch pipe that burns out of motor windings electric current.Practical implementation is exactly at small voltage sample resistance of earth terminal serial connection, again with current-limiting resistance on voltage ratio because high frequency three-terminal switch pipe output characteristics has avalanche effect,, make output voltage sharply descend in case overcurrent gets into constant current state at once.Play the effect that prevents the power supply overcurrent.
Claims (7)
1. laboratory mechanical agitator that adopts the three-phase permanent brshless DC motor; It is characterized in that: comprise Switching Power Supply; Switching Power Supply provides electric power for the three-phase permanent brshless DC motor; Drive the puddler rotation by the three-phase permanent brshless DC motor; On the three-phase permanent brshless DC motor, be equipped with 3 and have certain mechanical angle hall position sensor at interval between any two; The signal output part of hall position sensor connects three-phase gating control logic circuit, and three-phase gating control logic circuit power amplification circuit output connects A phase terminal, B phase terminal and the C phase terminal of three-phase permanent brshless DC motor respectively, by the conducting order of three-phase gating control logic circuit according to signal controlling A phase terminal, B phase terminal and the C phase terminal of hall position sensor output; Three-phase gating control logic circuit also connects the given digital circuit of rotating speed open loop; The variable square wave of the pulse width that is provided by the given digital circuit of rotating speed open loop is as the control signal that enables of three-phase gating control logic circuit, and wherein, the pulse width of square wave has been confirmed the rotating speed of three-phase permanent brshless DC motor.
2. a kind of laboratory mechanical agitator that adopts the three-phase permanent brshless DC motor as claimed in claim 1 is characterized in that: the mechanical angle between 3 said hall position sensors is spaced apart 40 degree.
3. a kind of laboratory mechanical agitator that adopts the three-phase permanent brshless DC motor as claimed in claim 1; It is characterized in that: the stator of said three-phase permanent brshless DC motor is the sextupole winding; The magnetic pole motion is the three-phase six-beat formula; Every phase winding is connected to parallel way, and three phase winding tail ends adopt star-like connection.
4. a kind of laboratory mechanical agitator that adopts the three-phase permanent brshless DC motor as claimed in claim 1 is characterized in that: hollow out in the middle of the armature spindle of said three-phase permanent brshless DC motor.
5. a kind of laboratory mechanical agitator that adopts the three-phase permanent brshless DC motor as claimed in claim 1; It is characterized in that: the output of said hall position sensor connects closed loop feedback constant speed circuit; Closed loop feedback constant speed circuit also connects the given digital circuit of said rotating speed open loop; The signal of being exported according to hall position sensor by feedback constant speed circuit obtains the speed feedback voltage; And speed feedback voltage and the rotational speed setup voltage that obtains through the given digital circuit of rotating speed open loop compared, carry out differential amplification, in time adjust the pulse width of the output square wave that the given digital circuit of said rotating speed open loop provides; Dynamically the adjustment rotating speed reaches the constant speed purpose.
6. a kind of laboratory mechanical agitator that adopts the three-phase permanent brshless DC motor as claimed in claim 5; It is characterized in that: said closed loop rotational speed setup comprises integrating circuit with feedback constant speed circuit; Integrating circuit connects the output of said hall position sensor; The output of integrating circuit connects shaping circuit; The output of shaping circuit connects the input of monostable flip chip (4528), will import waveform by monostable flip chip (4528) and convert and the linear analog voltage signal of the rotating speed of said three-phase permanent brshless DC motor the in-phase end of the output concatenation operation amplifier of monostable flip chip (4528) into; The end of oppisite phase of the given digital circuit of said rotating speed open loop through resistance R 1 concatenation operation amplifier is connected resistance R 2 between the end of oppisite phase of operational amplifier and output.
7. a kind of laboratory mechanical agitator that adopts the three-phase permanent brshless DC motor as claimed in claim 1; It is characterized in that: the given digital circuit of said rotating speed open loop comprises first operational amplifier (393); The output of the anti-phase termination triangle wave generating circuit of first operational amplifier (393); The in-phase end of first operational amplifier (393) connects potentiometer; By potentiometer is that first operational amplifier (393) provides given reference voltage, and the triangular wave of this given reference voltage cutting triangle wave generating circuit output obtains the variable square wave of pulse width.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012201734390U CN202538702U (en) | 2012-04-22 | 2012-04-22 | Laboratory mechanical stirrer adopting three-phase permanent magnet brushless direct current motor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2012201734390U CN202538702U (en) | 2012-04-22 | 2012-04-22 | Laboratory mechanical stirrer adopting three-phase permanent magnet brushless direct current motor |
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| CN202538702U true CN202538702U (en) | 2012-11-21 |
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| CN2012201734390U Expired - Fee Related CN202538702U (en) | 2012-04-22 | 2012-04-22 | Laboratory mechanical stirrer adopting three-phase permanent magnet brushless direct current motor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106649998A (en) * | 2016-11-17 | 2017-05-10 | 上海空间推进研究所 | Load torque dynamic performance simulation system of tri-phase permanent magnet brushless DC motor and simulation method of the system |
-
2012
- 2012-04-22 CN CN2012201734390U patent/CN202538702U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106649998A (en) * | 2016-11-17 | 2017-05-10 | 上海空间推进研究所 | Load torque dynamic performance simulation system of tri-phase permanent magnet brushless DC motor and simulation method of the system |
| CN106649998B (en) * | 2016-11-17 | 2020-07-14 | 上海空间推进研究所 | Load torque dynamic characteristic simulation system and method for direct current motor |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20121121 Termination date: 20140422 |