CN203457094U - System for controlling AC servo permanent magnet synchronous motor - Google Patents
System for controlling AC servo permanent magnet synchronous motor Download PDFInfo
- Publication number
- CN203457094U CN203457094U CN201320569389.2U CN201320569389U CN203457094U CN 203457094 U CN203457094 U CN 203457094U CN 201320569389 U CN201320569389 U CN 201320569389U CN 203457094 U CN203457094 U CN 203457094U
- Authority
- CN
- China
- Prior art keywords
- output
- module
- input
- synchronous motor
- phase
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Images
Landscapes
- Control Of Ac Motors In General (AREA)
Abstract
A system for controlling an AC servo permanent magnet synchronous motor comprises a rectifier/filter unit, a three-phase inverter, a core computing control unit, an inversion driving control circuit and a communication monitoring control portion, wherein the communication monitoring control portion is composed of a display operation panel and an on-off control portion, the display operation panel is in signal connection with the core computing control unit, and the on-off control portion is connected with an input terminal of the core computing control unit; an output terminal of the core computing control unit is connected with an input terminal of the inversion driving control circuit, and an output terminal of the inversion driving control circuit is connected with an input terminal of the three-phase inverter; and a three-phase power is connected with another input terminal of the three-phase inverter via the rectifier/filter unit, an output terminal of the three-phase inverter is individually connected with data acquisition circuits and an input terminal of the AC servo permanent magnet synchronous motor, and output terminals of the data acquisition circuits are connected with another input terminal of the core computing control unit.
Description
Technical field
The utility model relates to electric machine control system, particularly a kind of AC servo control system for permanent-magnet synchronous motor.
Background technology
Servomotor divides DC servo motor and AC servo motor, wherein AC servo motor is divided into again asynchronous and synchronous two kinds, direct current machine and synchronous machine are generally permanent-magnet structure, they all need transducer or encoder load on the motor of rotation to obtain speed and the position of the current rotor of motor, thereby realize the control to motor real-time high-precision, this is wherein best with AC servo permagnetic synchronous motor torque performance, control precision is the highest, in high-end fields such as Digit Control Machine Tools, obtain extensive use, but because it need to be at motor side sensor installation, sensor signal is sent to controller end again, the impact of environmental condition such as easily vibrated, Installation and Debugging are inconvenient, be only suitable for indoor scenarios, cannot adapt to field as oil field, coal, the adverse circumstances such as mine.
Summary of the invention
The technical problem that the utility model solves is to provide a kind of AC servo control system for permanent-magnet synchronous motor that does not need transducer.
A kind of AC servo control system for permanent-magnet synchronous motor, include rectification filtering unit, three-phase inverter, its main operational control unit, inversion Drive and Control Circuit, communication monitors control section, communication monitors that control section is comprised of display operating panel and start-stop control section, display operating panel is connected with its main operational control unit signal, start-stop control section is connected with its main operational control unit one input, its main operational control unit one output is connected with inversion Drive and Control Circuit input, inversion Drive and Control Circuit output is connected with three-phase inverter one input, three phase mains is connected through another input of rectification filtering unit and three-phase inverter, the output of three-phase inverter is connected with data acquisition circuit input, data acquisition circuit output is connected with another input of its main operational control unit.
Described data acquisition circuit is comprised of three-phase current sample circuit and three-phase voltage sample circuit, the output of three-phase inverter is connected with three-phase current sample circuit, three-phase voltage sample circuit input respectively, and three-phase current sample circuit, three-phase voltage sample circuit output are connected with another input of its main operational control unit respectively.
Described its main operational control unit is DSP data signal processor, AD modular converter input in processor and three-phase current Acquisition Circuit, the input of three-phase voltage Acquisition Circuit connects, AD modular converter one output Negotiation speed position estimation is connected with position adjustment block, the output of position adjustment block is by rotational speed regulation module, current regulating module, PWM output module is connected with inversion Drive and Control Circuit input, velocity location estimation block one output is connected with rotational speed regulation module one input, current regulating module one input is connected with AD modular converter one output, the given module of SCI communication module output Negotiation speed is connected with position adjustment block, display operating panel is connected with SCI communication module signal, IO control module is connected with start-stop control section.
Described DSP data signal processor is 32 bit DSP data signal processors.
Described position estimation is comprised of sliding mode observer velocity location estimation block and Ka Er filter location rotating speed output module, voltage vector decomposes CLARK conversion module two ends and connects sliding mode observer velocity location estimation block and AD modular converter, sliding mode observer velocity location estimation block is connected with rotational speed regulation module by Ka Er filter location speed output module, position adjustment block input is connected with Ka Er filter location speed output module, PARK conversion module two ends are connected with current phasor and decompose CLARK conversion module and current regulating module, PARK inverse transform module two ends connect current regulating module and PWM output module.
In described inversion Drive and Control Circuit, be provided with insulated gate bipolar transistor IGBT as device for power switching.
The output of three-phase inverter is connected with AC servo permagnetic synchronous motor input.
Technique effect of the present utility model is: because the utility model does not need transducer, brand-new Design Mode and vector control algorithm have been adopted, just can realize the accurate control to motor speed and torque, also overcome the impact of environmental conditions such as easily being vibrated, and simple in structure, performance safety is reliable, and accommodation is more extensive.
Accompanying drawing explanation
Fig. 1 is electric machine control system figure of the present utility model.
Fig. 2 is the electric machine control system figure of the utility model embodiment.
Fig. 3 is the utility model electric motor starting operation three-phase current curve chart.
Embodiment
By reference to the accompanying drawings the utility model is described in further detail, as shown in Figure 1, rectification filtering unit becomes direct current by three-phase alternating current through full-bridge rectification, positive and negative is used four electrochemical capacitors, two and two strings are connected, on the both positive and negative polarity of each electric capacity and connect a power resistor to keep mutual impulse electricity balanced, effectively reduce the ripple of DC bus.
Dotted line frame inside is divided into its main operational control unit, the numeral that the main Shi Jiangge of this part road collects and analog signal centralized computing are processed, and master chip adopts TI company 32 bit DSP data signal processors, and processing signals comprises outside input, output switch control start-stop; The input analog amounts such as frequency is given, current acquisition are data operation after AD conversion; The real-time operation of the output such as electric current, rotating speed analog quantity; Motor vector control algorithm based on field orientation is processed; Motor speed and real time position based on sliding formwork and the multiple filtering algorithm of Kalman filtering are accurately estimated; The switching waveform output of motor-drive circuit, is connected with external device communication, real time data is served to position demonstration etc.
Data acquisition circuit: this part realizes the collection of external digital, analog input signal, output current, output voltage and counter electromotive force of motor phase-amplitude, and amplify through shaping, after filtering, deliver to dsp chip port.
Inversion Drive and Control Circuit: this part is realized the output of main power device IGBT and controls, by the SVPWM square-wave signal from DSP, through the isolation of light lotus root, power amplification rear drive IGBT, the inside over-current signal of simultaneously monitoring IGBT feeds back to DSP and drives signal in case the large electric current of IGBT burns out to open to turn-off.
Communication monitors control section: this part mainly utilizes the SCI Serial Communication Function of DSP with monitor or PC communication, realizes the parameter setting of system, adjusts the operations such as supervision.DSP receives the instructions such as the next frequency to monitor or PC, speed, start/stop machine; its main operational unit through data processing to the periphery interface and drive circuit transmit corresponding data and the final operation result of motor postbacked to monitor or PC, thereby see intuitively the service data when front motor.
The controlled output of three-phase inverter given voltage (electric current) drive permagnetic synchronous motor PMSM.
By the real-time monitored to current of electric and voltage waveform, use, based on gliding model and Kalman filtering algorithm, has realized without velocity location transducer or encoder and can accurately estimate rotating speed and the rotor-position of motor, thereby realized motor position, rotating speed, electric current three closed-loop controls.Under high performance driving coordinates, electric motor starting torque is large, overload capacity is strong, and maximum starting torque can reach specified more than 2 times.The feature that system effectiveness is high, power factor is high, its efficiency characteristic curve has Gao Erping, when motor underloading, energy-saving effect is more obvious, and particularly load torque fluctuation is large to be applicable to various loading conditions, the occasion that torque request is high.
During the utility model operation, by host computer or the given motor speed of display operating panel, because this control system is without transducer, need to before electric motor starting, to the parameter of electric machine and initial position, identify, specific practice is to motor output 20V left and right direct voltage, the alternate resistance of measured motor, voltage to motor output different frequency, saliency according to motor calculates the initial position when front motor, system adopts three closed-loop adjustment, know after the initial position of motor, can regulate by in-position PID, the input that the output of position adjustments regulates as speed, speed feedback is from velocity location estimation block, AD module is in real time to delivering to velocity location estimation block after three-phase current and voltage acquisition, velocity location estimation block is carried out resolution of vectors to the data that gather, field orientation Vector Control Model according to motor calculates the residing electrical degree of current rotor and speed.The input that the output that speed regulates regulates as electric current, the instantaneous value that current feedback amount gathers from AD module, electric current loop is that innermost ring regulates, can to the variable of motor load, make adjustment very soon, output variable after electric current regulates can form the required switching value of three-phase through vector inverse transformation and send into PWM output module, then through inverter circuit, drives permagnetic synchronous motor PMSM.
As shown in Figure 2, described position estimation is comprised of sliding mode observer velocity location estimation block and Ka Er filter location rotating speed output module, voltage vector decomposes CLARK conversion module two ends and connects sliding mode observer velocity location estimation block and AD modular converter, sliding mode observer velocity location estimation block is connected with rotational speed regulation module by Ka Er filter location speed output module, position adjustment block input is connected with Ka Er filter location speed output module, PARK conversion module two ends are connected with current phasor and decompose CLARK conversion module and current regulating module, PARK inverse transform module two ends connect current regulating module and PWM output module.When the utility model adopts based on rotor flux-orientation vector control, use location, speed, electric current three closed-loop adjustment, position ring is outer shroud, speed ring and electric current loop are the SERVO CONTROL that interior ring is realized synchronous machine.First the known parameter of electric machine is set, as motor rated power, electric current, number of pole-pairs; Then by self study, the special parameters such as the initial position of motor, resistance, DQ axle inductance, motor-field are carried out to identification.By these parameters, can build the control model of motor, motor is from the starting of zero vector position, electric current and voltage that its main operational control unit is come to each carrier cycle collection carry out resolution of vectors, current signal Ia, Ib, Ic decomposes CLARK conversion by current phasor and is transformed into static two-phase I α, in I β coordinate system, through PARK, convert two-phase rest frame I α again, I β component forwards two-phase rotating coordinate system ID to, IQ component, be motor-field component and torque component, can regulate magnetic field and the torque of controlling respectively motor by electric current loop like this, to reach high accuracy, control the object of motor, voltage signal Ua, Ub, Uc becomes two-phase rest frame U α after decomposing CLARK conversion by voltage vector, U β, rest frame U α, U β and I α, after I β estimates velocity location through sliding mode observer, through Kalman filter, convert stable tach signal and position signalling THeta to again, position signalling THeta and speed preset signal transmit signal to position adjustment block after integrated treatment, stable tach signal passes to rotational speed regulation module, ID, IQ component signal passes to current regulating module, the signal that position adjustment block produces is through rotational speed regulation module, current regulating module generates two phase coordinate system Id after regulating, Iq, by PARK inverse transform module, produce the three-phase voltage signal UA after regulating, UB, UC, by PWM output module, inversion Drive and Control Circuit is exported to three-phase converter permagnetic synchronous motor PMSM.And the feedback of whole control procedure medium speed and position is to complete by sliding mode observer and Ka Er filter, real-time current and voltage signal are delivered to sliding mode observer after resolution of vectors, sliding mode observer is to calculate current position and rotating speed according to the vector phase angle of electric current and voltage, because of its instantaneous value for estimation, be subject to transient current voltage harmonic, the impacts such as noise, can there is certain error with actual value, for obtaining more accurate angle and tachometer value, need to remove the noise jamming in position location computation with Kalman filtering algorithm, a kind of high efficiency autoregression data processing algorithm of Kalman filtering, it knows upper once the estimated value of state and the measured value of current state can calculate the estimated value of current state constantly by circulation, can effectively remove the impact of noise, thereby obtain the estimated value that approaches realistic objective most.
By the integrated treatment of above gliding model and Kalman filtering algorithm, system can obtain point-device motor real time position and speed in the situation that there is no mechanical pick-up device feedback, then through three closed loop PID, regulate, first by position ring, regulate, guarantee static system accuracy and performance of dynamic tracking, can realize high accuracy apart from control, speed ring has guaranteed that the ability of system anti-disturbance realizes a smooth transition, electric current loop can resist internal interference, realizes the quick response of motor torque.Through three closed-loop controls, make motor in speed, torque, all obtain the control of degree of precision, can adapt to any loading condition and environmental limitations, reach SERVO CONTROL truly.
The running current waveform of collection can be found out as shown in Figure 3, and system, without transducer, can be started in a short period of time under stable state and move, and realizes perfect sinusoidal waveform output.
Claims (7)
1. an AC servo control system for permanent-magnet synchronous motor, include rectification filtering unit, three-phase inverter, its main operational control unit, inversion Drive and Control Circuit, communication monitors control section, communication monitors that control section is comprised of display operating panel and start-stop control section, it is characterized in that: display operating panel is connected with its main operational control unit signal, start-stop control section is connected with its main operational control unit one input, its main operational control unit one output is connected with inversion Drive and Control Circuit input, inversion Drive and Control Circuit output is connected with three-phase inverter one input, three phase mains is connected through another input of rectification filtering unit and three-phase inverter, the output of three-phase inverter is connected with data acquisition circuit input, data acquisition circuit output is connected with another input of its main operational control unit.
2. a kind of AC servo control system for permanent-magnet synchronous motor according to claim 1, it is characterized in that: described data acquisition circuit is comprised of three-phase current sample circuit and three-phase voltage sample circuit, the output of three-phase inverter is connected with three-phase current sample circuit, three-phase voltage sample circuit input respectively, and three-phase current sample circuit, three-phase voltage sample circuit output are connected with another input of its main operational control unit respectively.
3. a kind of AC servo control system for permanent-magnet synchronous motor according to claim 2, it is characterized in that: described its main operational control unit is DSP data signal processor, AD modular converter input in processor and three-phase current Acquisition Circuit, the input of three-phase voltage Acquisition Circuit connects, AD modular converter one output Negotiation speed position estimation is connected with position adjustment block, the output of position adjustment block is by rotational speed regulation module, current regulating module, PWM output module is connected with inversion Drive and Control Circuit input, velocity location estimation block one output is connected with rotational speed regulation module one input, current regulating module one input is connected with AD modular converter one output, the given module of SCI communication module output Negotiation speed is connected with position adjustment block, display operating panel is connected with SCI communication module signal, IO control module is connected with start-stop control section.
4. a kind of AC servo control system for permanent-magnet synchronous motor according to claim 3, is characterized in that: described DSP data signal processor is 32 bit DSP data signal processors.
5. according to a kind of AC servo control system for permanent-magnet synchronous motor described in claim 3 or 4, it is characterized in that: described position estimation is comprised of sliding mode observer velocity location estimation block and Ka Er filter location rotating speed output module, voltage vector decomposes CLARK conversion module two ends and connects sliding mode observer velocity location estimation block and AD modular converter, sliding mode observer velocity location estimation block is connected with rotational speed regulation module by Ka Er filter location speed output module, position adjustment block input is connected with Ka Er filter location speed output module, PARK conversion module two ends are connected with current phasor and decompose CLARK conversion module and current regulating module, PARK inverse transform module two ends connect current regulating module and PWM output module.
6. a kind of AC servo control system for permanent-magnet synchronous motor according to claim 5, is characterized in that: in described inversion Drive and Control Circuit, be provided with insulated gate bipolar transistor IGBT as device for power switching.
7. a kind of AC servo control system for permanent-magnet synchronous motor according to claim 6, is characterized in that: the output of three-phase inverter is connected with AC servo permagnetic synchronous motor input.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320569389.2U CN203457094U (en) | 2013-09-15 | 2013-09-15 | System for controlling AC servo permanent magnet synchronous motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320569389.2U CN203457094U (en) | 2013-09-15 | 2013-09-15 | System for controlling AC servo permanent magnet synchronous motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203457094U true CN203457094U (en) | 2014-02-26 |
Family
ID=50136938
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320569389.2U Expired - Lifetime CN203457094U (en) | 2013-09-15 | 2013-09-15 | System for controlling AC servo permanent magnet synchronous motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203457094U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105137145A (en) * | 2014-06-05 | 2015-12-09 | 国网山西省电力公司电力科学研究院 | High precision anti-interference wave recorder |
| CN107634690A (en) * | 2017-11-11 | 2018-01-26 | 成都海逸机电设备有限公司 | A kind of electromechanical servo system and its control method |
| CN111121827A (en) * | 2019-12-19 | 2020-05-08 | 杭州电子科技大学 | TMR magnetic encoder system based on Kalman filtering |
| CN116345957A (en) * | 2023-01-05 | 2023-06-27 | 上海耀杉电子科技有限公司 | Compressor controller voltage sectional starting method and system thereof |
-
2013
- 2013-09-15 CN CN201320569389.2U patent/CN203457094U/en not_active Expired - Lifetime
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105137145A (en) * | 2014-06-05 | 2015-12-09 | 国网山西省电力公司电力科学研究院 | High precision anti-interference wave recorder |
| CN107634690A (en) * | 2017-11-11 | 2018-01-26 | 成都海逸机电设备有限公司 | A kind of electromechanical servo system and its control method |
| CN111121827A (en) * | 2019-12-19 | 2020-05-08 | 杭州电子科技大学 | TMR magnetic encoder system based on Kalman filtering |
| CN111121827B (en) * | 2019-12-19 | 2021-09-14 | 杭州电子科技大学 | TMR magnetic encoder system based on Kalman filtering |
| CN116345957A (en) * | 2023-01-05 | 2023-06-27 | 上海耀杉电子科技有限公司 | Compressor controller voltage sectional starting method and system thereof |
| CN116345957B (en) * | 2023-01-05 | 2023-12-08 | 上海耀杉电子科技有限公司 | Compressor controller voltage sectional starting method and system thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103856132A (en) | Control system of alternating current servo permanent magnet synchronous motor | |
| CN103701367B (en) | A kind of control of soft device of brushless DC motor without sensor | |
| CN102710188B (en) | Direct torque control method and device of brushless continuous current dynamo | |
| CN102055401B (en) | System and method for controlling indirect torque of single regulating loop of three-phase induction motor | |
| CN106787988A (en) | A kind of full speed adjustable range internal torque pulsation suppressing method of brshless DC motor | |
| CN108390602B (en) | A kind of direct prediction power control method of hybrid exciting synchronous motor | |
| CN104796050B (en) | A kind of delay control method for suppressing torque pulsation of brushless DC motor | |
| CN106452225A (en) | Real-time correction system and method for commutation phase of sensorless brushless DC motor | |
| TWI424665B (en) | Inverter device, motor drive module and refrigeration equipment | |
| CN103078570A (en) | Torque pulsation restraining system and method of permanent magnet brushless direct current motor | |
| CN203457094U (en) | System for controlling AC servo permanent magnet synchronous motor | |
| CN109873578A (en) | The control method of electric tool and electric tool | |
| CN109743001A (en) | A kind of refrigerator direct current is without sensing compressor variable frequency controller and control method | |
| CN203151429U (en) | Sensorless control device for permanent magnet synchronous motor | |
| CN103427730A (en) | Permanent magnet brushless direct current motor torque ripple suppression system and method | |
| CN103647493B (en) | A kind of infinite method for estimating rotating speed of H of permagnetic synchronous motor | |
| CN104767457A (en) | Self-adapting method of parameters in running process of direct current frequency conversion compressor | |
| CN106533294B (en) | A kind of permanent magnet synchronous motor field weakening control method based on line voltage modulation | |
| CN102684578A (en) | Direct control system for torque of electric motor | |
| CN207427014U (en) | A kind of integral control circuit of brshless DC motor | |
| CN105634363A (en) | High-input power factor control method for single-phase to three-phase inverter motor drive system | |
| CN102355186B (en) | Brake control method for permanent magnet synchronous motor | |
| CN209342878U (en) | A kind of permanent magnet synchronous motor MTPA parameter automatic calibration system | |
| CN102386839B (en) | Synchronous motor vector controller based on reactive power observer and control method | |
| Li et al. | Phase back EMF space vector oriented control of brushless DC motor for torque ripple minimization |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term |
Granted publication date: 20140226 |
|
| CX01 | Expiry of patent term |