CN203675026U - Alternating-current PMSM (permanent magnet synchronous motor) servo system - Google Patents
Alternating-current PMSM (permanent magnet synchronous motor) servo system Download PDFInfo
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Abstract
The utility model discloses an alternating-current PMSM (permanent magnet synchronous motor) servo system, and the servo system comprises a motor body, a DSP control panel which controls the change of a rotating angle of the motor body, a rotating transformer which is used for detecting the rotating angle of the motor body and inputting the angle into the DSP control panel, a main power circuit, and a conditioning and protection circuit, wherein the main power circuit and the conditioning and protection circuit are disposed at the periphery of the DSP control panel. The system provided by the utility model can control the torque, speed and position states of the motor timely, has a good performance of control in various working states (a steady state and a dynamic state), needs no overlarge energy-converting device for randomly controlling the amplitude of a transient current, can eliminate the fluctuation of the torque when a sine-wave current is used for driving, reduces the loss of current harmonics of the motor, eliminates the fluctuation of the torque, improves the control performance, and improves the utilization rate of a direct-current side voltage of an inverter.
Description
Technical field
The utility model relates to a kind of permanent magnet synchronous motor (PMSM) AC servo system.
Background technology
Motor, as the capital equipment that electric energy is converted to mechanical energy, not only will have higher energy converting between mechanical efficiency, and should be able to be according to the technological requirement of manufacturing machine, controls and regulate rotary speed.Governing system is the important component part of servo system, and its performance is to improving the quality of products, and raising labour productivity and saving electric energy plays conclusive impact.
Governing system is made up of power section, operating part and control section, and the various combination between each several part forms diversified governing system.For a long time, DC motor has been covered its complex structure because its speed adjusting performance is superior, is difficult to the shortcomings such as maintenance, is widely used in engineering.But the inherent defect of direct current machine, has limited it to high rotating speed, high voltage, large capacity future development.Permanent magnet synchronous motor (PMSM) AC servo system has following advantage compared with DC servomechanism: motor brushless and commutator, and reliable operation, care and maintenance is simple; Stator winding heat dissipation is fast; Inertia is little, easily improves the rapidity of system; Be applicable to high speed high-torque operating state; Under equal-wattage, volume and weight is less.
In recent years, along with the continuous appearance of high-power switch device, analog-and digital-application-specific integrated circuit (ASIC), the continuous progress of control theory, and favourable technical conditions and material base have been created in the development that appears as ac speed control technology of high-performance microprocessor, present stage, Alternating Current Governor System not only performance can match in excellence or beauty with Direct Current Governor System, and cost and maintenance lower than Direct Current Governor System, reliability is higher.The production of DC transmission device is both at home and abroad on a declining curve, and the production of AC frequency control apparatus is significantly risen.Along with cheap, the appearance of superior performance permanent magnetic material, the research of permagnetic synchronous motor and application have obtained very fast development, and that permagnetic synchronous motor has is simple in structure, volume is little, lightweight, moment of inertia is little, speed-regulating range width, torque pulsation are little, without exciting current, the advantage such as power factor is high, heating is few.Along with the maturation of magneto technology and perfect, the application of permagnetic synchronous motor is also more and more extensive, from small-sized to large-scale, be driven into high-precision servo system from general control, all adopt magneto as main drive motors from daily electrical equipment to high-grade, precision and advanced sciemtifec and technical sphere.
Due to vector control technology and the directly appearance of moment control technology, and the fast development of large power all-controlled formula power electronic device and high-performance microprocessor, development and the application of AC servo control system more promoted.In AC servo, because motor itself has non-linear and close coupling characteristic, its control method is quite complicated, be difficult to meet the requirement of high performance control system by conventional control method, adopt high speed digital signal processor to be easy to realize complicated vector control algorithm, can effectively solve the close coupling characteristic of motor.
Summary of the invention
The utility model object is: a kind of permanent magnet synchronous motor (PMSM) AC servo system that drives high powered radar antenna to use is provided, especially adopt high speed digital signal processor and field orientation control method to realize high performance digital ac control system, select surface-mount type sine wave AC permagnetic synchronous motor (PMSM).
The purpose of this utility model is achieved in that permanent magnet synchronous motor (PMSM) AC servo system, comprises motor body: comprise armature winding, permanent magnet excitation iron core processed; DSP control board: its input connects the output of resolver, and the motor body angle value of resolver input is changed into after digital quantity by analog quantity, input in its built-in Park inverse transformation algorithm and calculate, the configuration output of calculating, driving for controlling the sampling of field orientation control, communication, electric current of motor body; Resolver: its input connects the position ring of motor body, and detect the angle of motor body rotation, its output connects SPI or the multichannel buffer processing of DSP by four road DA conversion chips; The voltage signal of current regulator output is modulated and connected to DSP output pulse width, be converted to threephase switch signal PWM1-PWM3 by PARK inverse transformation and space vector generation unit and drive inverter, inverter exports the armature winding of motor body to, produces thereby control armature winding the circular magnetic field rotating; Main power circuit: direct current survey, current detection circuit, overvoltage discharge loop, protective circuit and the drive circuit, the inverter that comprise controlled rectification; Aforementioned direct current is surveyed and the United Nations General Assembly's electric capacity carries out filtering; Current detection circuit: comprise bus current testing circuit and phase current testing circuit, bus current testing circuit is for the overcurrent protection of DC side; Phase current testing circuit is for current of electric closed-loop control, and it adopts Hall current sensor to detect electric current, and the detection signal of this detection electric current adds and has direct current biasing; The output of drive circuit connects IPM by optocoupler, the driving signal of its generation is realized isolation by optocoupler, comprise following part: hardware protection: GAL forms by programmable logic device, carry out exclusive disjunction realization by each driving signal and guard signal; Light-coupled isolation: adopt U14, realize the isolation of numeral and power signal; Six tunnels are anti-phase: adopt U15(74LS04) to realize six tunnels anti-phase to inverter.
The configuration output that the sampling that the utility model is realized field orientation control algolithm, communication, electric current by DSP is calculated, driven; And because the detection of electrical signal is the important step that governing system realizes high performance control, thereby be provided with current detection circuit, the double effects that reach protection, detects, and in this circuit, because phase current is AC signal, it is also AC signal that Hall element secondary detects ohmically voltage, and the AD sampled voltage scope of DSP is 0-3V, therefore specially add direct current biasing to detection signal, make to detect ohmically voltage in the sample range of DSP; Simulation is controlled and is had the following advantages: antijamming capability is strong, can not cause fatal misoperation because of the impact of peak noise; Control signal is continuous, fast response time; Signal easily reads, measurement etc.But analog controller also has the following disadvantages: parameter is difficult for adjusting, adaptive ability is poor, be difficult to realize high accuracy and complicated control strategy, integrated level is not high, hardware is complicated, versatility is poor etc.; Digitial controller take DSP (digital signal processor) as core can be realized the irrealizable high complexity of analogue system and high-precision control algolithm, has that hardware circuit is simple, good reliability, integrated level are high, be easy to transplant, adaptive ability is strong, acquisition speed is fast, be easy to realize monitoring, failure diagnosis and the advantage such as recovery certainly.The utility model adopts the TMS320F2812 of TI company to realize control algolithm; TMS320F2812 is 32 fixed-point mathematics processors that can carry out floating-point operation; arithmetic speed reaches 150MIPS; on sheet, RAM reaches 18k*16bit; in sheet, Flash reaches 128k*16bit; can reach 1M*16bit by expansion RAM; support 45 external interrupt; can extended SPI, the serial communication peripheral hardware such as SCI, eCAN, McBSP; there are 128 protection passwords; two 12, road of Electric Machine Control peripheral hardware task manager He16 high-precision AD ALT-CH alternate channels, are very beneficial for high complexity, the realization of high accuracy control strategy.
The utility model has the advantages that: torque, speed and the location status that can in time control motor, the utility model has good control performance under various operating states (stable state and dynamic), and do not need the energy converter of excessive bulk can optionally control the amplitude of transient current, and when driving, can eliminate application sine-wave current the fluctuation of torque, reduce motor current harmonic loss, eliminate torque ripple, improve control system performance, improve DC side voltage of converter utilance.
Accompanying drawing explanation
Fig. 1 is the structure principle chart of control system.
Fig. 2 is the utility model structured flowchart.
Fig. 3 is power-switching circuit.
Fig. 4 is static random access memory expander graphs.
Tu5Shi tetra-road DA conversion chip circuit diagrams.
Fig. 6 is modulate circuit figure.
Fig. 7 is inverter and photoelectric coupled circuit.
Fig. 8 is control system for permanent-magnet synchronous motor block diagram.
The overall flow figure of Fig. 9 systems soft ware.
Figure 10 is the flow chart that system regulates speed error.
Figure 11 is the flow chart that system regulates current error.
Figure 12 is the three-phase voltage source that independently phase place 120 is spent, thereby produces the magnetic field of rotation.
In Figure 13 power switch course of reaction, additional dextrorotation map of current will be produced.
Figure 14 determines 8 voltage vector-diagrams according on off state.
Specific embodiments
As shown in Fig. 1-14, the utility model permanent magnet synchronous motor (PMSM) AC servo system comprises motor body: comprise armature winding, permanent magnet excitation iron core processed; DSP control board: its input connects the output of resolver, and the motor body angle value of resolver input is changed into after digital quantity by analog quantity, input in its built-in Park inverse transformation algorithm and calculate, the configuration output of calculating, driving for controlling the sampling of field orientation control, communication, electric current of motor body; Resolver: its input connects the position ring of motor body, and detect the angle of motor body rotation, its output connects SPI or the multichannel buffer processing of DSP by four road DA conversion chips; The voltage signal of current regulator output is modulated and connected to DSP output pulse width, be converted to threephase switch signal PWM1-PWM3 by PARK inverse transformation and space vector generation unit and drive inverter, inverter exports the armature winding of motor body to, produces thereby control armature winding the circular magnetic field rotating; Main power circuit: direct current survey, current detection circuit, overvoltage discharge loop, protective circuit and the drive circuit, the inverter that comprise controlled rectification; Aforementioned direct current is surveyed and the United Nations General Assembly's electric capacity carries out filtering; Current detection circuit: comprise bus current testing circuit and phase current testing circuit, bus current testing circuit is for the overcurrent protection of DC side; Phase current testing circuit is for current of electric closed-loop control, and it adopts Hall current sensor to detect electric current, and the detection signal of this detection electric current adds and has direct current biasing; The output of drive circuit connects IPM by optocoupler, the driving signal of its generation is realized isolation by optocoupler, comprise following part: hardware protection: GAL forms by programmable logic device, carry out exclusive disjunction realization by each driving signal and guard signal; Light-coupled isolation: adopt U14, realize the isolation of numeral and power signal; Six tunnels are anti-phase: adopt U15(74LS04) to realize six tunnels anti-phase to inverter.
The key issue of full digital PWM frequency converter is how to obtain PWM control switch signal in good time.Under normal circumstances, there are two kinds of control algolithms that obtain PWM ripple, i.e. traditional subharmonic PWM (sine pulse width modulation (PWM)) mode and recently the current space vector method PWM mode of proposition.No matter, from reducing motor current harmonic loss, eliminate torque ripple, improve control system aspect of performance, or from DC side voltage of converter utilance aspect, Space current vector control PWM method all has obvious advantage.
Application high speed digital signal processor (DSP), can make system towards highly reliable, high-performance and totally digitilized aspect development easy to maintenance, adopting TMS320F2812 fixed-point dsp is main control chip, complete electric current loop, speed ring, the algorithm of position ring is realized and is controlled.System is mainly made up of DSP control board, motor body, resolver, main power circuit, conditioning and protective circuit.
DSP control board is the core of system, the configuration output that the sampling that mainly realizes control algolithm, communication, electric current is calculated, driven.Because the major part on DSP control board is all high-frequency signal, so the design of PCB will be paid special attention to the layout of device and the anti-interference of whole control board.
1.TMS320F2812 needs the IO digital power of four-way power supply: 3.3V, the analog power of 3.3V, the DSP core digital power of 1.8V and the analog power of 1.8V altogether.Utilize special conversion chip can realize easily the multiple-way supply of DSP, digitally and in analog connect with magnetic bead, disturb and inhibition noise for isolating.
2.IS61LV25616 is the high-speed asynchronous CMOS static random access memory of 256k*16bit, adopts single 3.3V power supply, and the IS61LV25616 read-write cycle is 8ns.The dominant frequency of dsp chip is 150MHz, so XINTF (outside expansion) register to DSP is configured to match with the external equipment of low speed, TMS320F2812 has 5 independently extending spaces, and native system is only expanded second space.
3.TLV5614 is the 12Wei tetra-road DA conversion chips of 2.7V-5V power supply, has four line serial line interfaces, can be easily realizes the transmission of data with the SPI of DSP or MCBSP (multichannel buffer processing).The reference voltage of TLV5614 is offered to TLV5614 by three end adjustable shunt reference source TL43 of good thermal stability.
4. main power circuit is mainly by controlled rectification, inverter, overvoltage discharge loop, protective circuit composition.
In order to guarantee the level and smooth of DC bus-bar voltage, need to be incorporated to large electric capacity in direct current survey and carry out filtering, select the noninductive CBB Capacitance parallel connection of the low-frequency electrochemical capacitor of large capacity and high voltagehigh frequency.
There is a large amount of electrochemical capacitors in power circuit, in the time powering on, if there is no enough residual voltages, will produce very large impulse current, therefore needs to add soft starting.Soft start implementation method: seal in high-power current-limiting resistance in main power circuit, starting resistor is slowly raise, after voltage is increased to a certain degree, excise current-limiting resistance by relay.
In the time of motor braking, mechanical energy feeds back to DC bus end fast, and rectification circuit is single-phase not control rectifying circuit, motor electric energy can not be returned to electrical network, so capacitance voltage sharply raises, jeopardize the safety that is connected in parallel on DC bus side device, therefore add bleed-off circuit.Bleed-off circuit is made up of power resistor and relay, when DC bus side voltage is elevated to after certain value, drives relay open-minded, and DC bus side voltage discharges by discharge loop.
5. the detection of electrical signal is the important step that governing system realizes high performance control, and current detecting is divided into two parts: wherein DC bus current detects for overcurrent protection, guarantees the safe operation of system; Phase current detects for current of electric closed-loop control, and its precision and real-time will directly affect the control effect of whole system, and native system adopts Hall current sensor to detect electric current.Phase current is AC signal, it is also AC signal (having bipolarity) that Hall element secondary detects ohmically voltage, and the AD sampled voltage scope of DSP is 0-3V(unipolarity), so need to add direct current biasing to detection signal, make to detect ohmically voltage in the sample range of DSP.
Because motor is high-frequency pulse voltage power supply, current signal can a large amount of High-frequency Interference of superposition.Can pass through RC filter circuit filtering high-frequency interferencing signal, for improving filter effect, the cut-off frequency of filter is a little more than the operating frequency of motor.Reference voltage is provided by rheostat, adopts precision resistance to realize current sample.
6. be subject to the interference of forceful electric power IPM due to control circuit, so drive signal can not directly enter the drive end of IPM, need to add buffer circuit.Native system is because switching frequency is higher, so selection is quick, two-way HCPL2631 optocoupler is realized isolation.Drive circuit has three part compositions, and Part I is the hardware protection being made up of programmable logic device GAL, carries out exclusive disjunction realize by each driving signal and guard signal; Part II is light-coupled isolation part U14, realizes the isolation of numeral and power signal; Part III is by U15(74LS04) to realize six tunnels anti-phase.Drive circuit not only should be able to be realized hardware protection, also should make to power on and the course of work in the pwm signal of DSP and IPM drive signal to match.In the time that DSP powers on, what on PWM pin, export is high level, at this moment there is no guard signal; PWM remains unchanged after GAL; after optocoupler, entirely become low level, then guarantee through No. six inverters that six roads drive and be high level, thus the safety of IPM and motor while guaranteeing to power on.
Digital AC governing system, not only will have reliable and stable hardware system, also should have the support that realizes control strategy efficient software, and TMS320F2812 supports C language and other high-level language, and readable and portable strong, native system adopts C language compilation.
The utility model implementation method is as follows:
In synchronous machine servo system control, ring is that the voltage signal of current regulator output is converted to threephase switch signal by pulse duration modulation method by PWM, drive inverter, thereby the armature winding of controlling motor produces the circular magnetic field of rotation, and therefore PWM technology is the important component part of Alternating Current Governor System.DSP control board is mainly realized the configuration output that the sampling of control algolithm, communication, electric current is calculated, driven.Because the major part on DSP control board is all high-frequency signal, so the design of PCB will be paid special attention to the layout of device and the anti-interference of whole control board.
The SPI of the output of resolver by DA conversion chip and DSP or MCBSP (multichannel buffer processing) realize the DSP that transfers to of data.Realize field orientation control algolithm by DSP: space vector pulse width control (SVPWM) is to propose for the circular magnetic field of rotation, its basic thought is that permagnetic synchronous motor and PWM control inverter are done as a whole, rotor adopts permanent magnet excitation, synchronous machine SERVO CONTROL is that the voltage signal of current regulator output is passed through PARK inverse transformation and space vector generation unit by pulse duration modulation method (interior ring control) by PWM, be converted to threephase switch signal PWM1-PWM3 and drive inverter, thereby the armature winding of control motor produces the circular magnetic field of rotation.Be DSP by selecting the different switching modes of inverter, make motor stator winding produce circular rotating magnetic field.The object of Electric Machine Control is to produce circular rotating magnetic field, thereby produces constant electromagnetic torque, so SVPWM control technology is relatively suitable for Electric Machine Control.For permagnetic synchronous motor, the rotor of motor is permanent magnet, thus relatively little on the impact of stator, and also common coordinate system can be selected the direction of permanent magnetism magnetic linkage, can greatly simplify the analysis of system, so Permanent-magnet Synchronous-motor Speed Servo System adopts vector control strategy.
The performance quality of governing system depends on accuracy and the rapidity of outer shroud (inverter) speed, and the performance of outer shroud performance depends on the performance of interior ring.Therefore permagnetic synchronous motor has advantages of simple in structure, low in energy consumption.
The core of vector control thought is by the three-phase current of motor, voltage, and magnetic linkage transforms in the two-phase rotating coordinate system with field orientation from three phase static coordinate system, thereby realizes the decoupling zero between stator, rotor.Vector control need to be carried out coordinate transform, accurate surveying rotor flux size and locus, and operand is large.The essence of vector control is: take the Mathematical Modeling set up from motor actual physical model as basis, through a series of coordinate transform, original Transformation of Mathematical Model is become to the equivalent tow phase model (dq0 model) in public rotating coordinate system, then by dependent vector in common coordinate system system is carried out to independent control, finally utilize coordinate inverse transformation to obtain the controlled quentity controlled variable in three phase static coordinate system, thereby realize the control to motor.Common coordinate system in vector is normally based upon on the position of a certain magnetic field (stator field, rotor field or air-gap field) vector, the common coordinate system of namely being determined by this magnetic vector, therefore vector control is also referred to as field orientation control (Field_Oriented Control is called for short FOC).The common coordinate system of vector control determines with rotor field-oriented conventionally, thereby vector control also can be called rotor field-oriented control.
Field orientation control algolithm: torque, speed and the location status that can in time control motor, this control algolithm has good control performance under various operating states (stable state and dynamic), and does not need the energy converter of excessive bulk can optionally control the amplitude of transient current.Lower mask body is introduced algorithm.
Vector control is actually motor stator currents vector phase and amplitude control.After the excitation flux linkage with magnet and straight, quadrature axis inductance are determined, the space vector iS of stator current is just depended in the torque of motor, and the size of iS and phase place depend on id and iq, that is to say that control id and iq just can control the torque of motor.Id and iq that certain rotating speed and certain torque are corresponding certain, by the control to id and iq, make actual id and iq trace command value and, just realized the control of electromotor velocity.
The electric current that detects motor armature winding due to reality is three-phase alternating current iw, iu and iv, therefore, the command value of three-phase current and must by conversion below from obtain
In above formula, motor rotor position signal is provided by the speed, the position transducer that are positioned on the unsupported end axle of motor.By current regulator, can make the actual input current iw of motor, iu and iv and given electric current and consistent, thereby realize the control of the torque of motor.
Steady operation and the transient operation of above-mentioned Current Vector Control to motor is all suitable for.And and be all independent control separately, therefore, realized the decoupling zero of current of electric, be convenient to realize advanced control strategy.
In whole control algolithm, space vector module is used for producing stator voltage.Applied Digital signal processor control IPM module, for stator provides three-phase current, produces the switch solution of every group of switch by anti-Park conversion.
On stator, load the three-phase voltage source that independently phase place 120 is spent, thereby produce the magnetic field of rotation.
In the three-phase system of standard, by three phase sine voltage-drop loading to motor each mutually in, produce three-phase current, current expression is:
In order to calculate the voltage (being respectively VAN, VBN, VCN) for central point according to source voltage (VOA, VOB, VOC), supposing the system is symmetrical, has:
Therefore:
In static power bridge, should not adopt sinusoidal voltage, replace but adjust DC bus-bar voltage with 6 power semiconductor switch controls, object is to produce rotating magnetic field in order to re-establish sinusoidal current in winding, considers the response characteristic of phase place, in power switch course of reaction, will produce additional sinusoidal current, as figure below, power semiconductor is controlled by (a, b, c) and their complement signal.
In this configuration, only have 8 kinds of on off states, the magnitude of voltage of loading is actually voltage midpoint after relative adjustment, specifically sees the following form:
In field orientation control algolithm, control variables represents under rotating coordinate system, and directly the current phasor of controlling torque is converted into reference voltage vector through Park inverse transformation.Reference voltage is also at (α, β) under coordinate system, describe, in order to describe three-phase voltage (VAN, VBN, VCN) and the relation of reference voltage vector, three-phase voltage also projects in (α, β) coordinate system, it is as follows that Clarke transformation equation is described the equation of three-phase voltage under (α, β) coordinate system:
Owing to only having 8 kinds of power switch states, Vs α and the value of Vs β under (α, β) coordinate system are also limited, see the following form:
Determine 8 voltage vectors according on off state, and 8 kinds of operating states in corresponding application, adjust the sequential of each adjacent vector, be similar to the reference stator voltage of expectation.
In order to know which variable of concrete application, need to know the corresponding sector of reference voltage vector, for determining sector, a kind of simple method is the Va of computing reference voltage vector under (a, b, c), the projection of Vb and Vc, Va, the projection value of Vb and Vc is given by following formula.
Above formula has provided three-phase alternating voltage output valve, is namely finally calculated by SVPWM control algolithm, is loaded into the control voltage on threephase motor through inverter, has so just realized field orientation control algolithm.
Software implement scheme:
1. task manager A
T1 drives the time base of signal for generation of comparing unit PWM1_PWM6, and carries out electric current loop adjusting in its cycle interruption; Read the value of resolver after AD conversion and carry out rotating speed calculating; PDPINT1 connects the guard signal on conditioning plate, blocks and drives when breaking down.
2. task manager B
T3 cycle interruption is calculated for the calculating of M velocimetry and the adjusting of rotating speed.
3.AD conversion
Select ADCINA0 and two passages of ADCINB0 input as biphase current sampled signal, through sampling method, the each conversion of each passage four times.
4. Serial Peripheral Interface (SPI) (SPI)
Adopt serial peripheral equipment interface SPI and DA conversion chip TLV5614 to carry out transfer of data, realize number and touch conversion.
5. serial communication interface (SCI)
For the communication between DSP and host computer.
6. general purpose I/O port
General purpose I/O port GPIO13, GPIO14, GPIO15 detection position signal U, V, W signal are for initial alignment.
7. the interruption of system
The cycle interruption of timer T1 is for the calculating of electric current loop adjusting and SVPWM; The cycle interruption of T3 is for the calculating of M velocimetry and the adjusting of rotating speed; PDPINT1 interrupts for overcurrent, overtemperature protection; SCI interrupts for the transfer of data between DSP and host computer.
The function that native system software is realized has: rotating speed calculating and adjusting, Current calculation and adjusting, SVPWM calculate and drive generation, and upper machine communication etc.
The calculating of rotating speed and adjusting
PID adjuster is a kind of system compensation method of control theory extensive use, and conventional Digital PID Algorithm has two kinds of position model and increment types.The output of Position Form PID adjuster is relevant with state in the past, and operand is large, need to be cumulative to error, easily cause the accumulation of error, the performance that impact is controlled; An increment type PID adjuster output increment, is not subject to the impact of chip from misoperation, and only relevant with nearest sampled value several times, is difficult for causing the accumulation of error, easily obtains and better controls effect.Native system adopts increment type PID adjuster, and speed regulator is output as quadrature axis given value of current value.
Electric current regulates and space vector pulse width modulation is calculated
The calculating of electric current loop is to carry out in the cycle interruption of timer T1, and be 0.1ms interrupt cycle.The work that T1 will do in interrupting is: the calculating of current sample and conversion, current regulator and electric current regulate and space vector pulse width modulation is calculated.
AD sampling is undertaken by inquiry mode, adopts over-sampling method, and each signal is changed sampling four times at every turn, and sorting unit is arranged 8 passages, then to sampled value weighted average.Because three phase windings of motor are star-like connections, three-phase current has symmetry, therefore only biphase current is sampled.
Claims (1)
1. permanent magnet synchronous motor (PMSM) AC servo system, is characterized in that, comprising:
Motor body: comprise armature winding, permanent magnet excitation iron core processed;
DSP control board: its input connects the output of resolver, and the motor body angle value of resolver input is changed into after digital quantity by analog quantity, input its built-in Park inverse transformation algorithm and calculate, the configuration output of calculating, driving for controlling the sampling of field orientation control, communication, electric current of motor body;
Resolver: its input connects the position ring of motor body, and detect the angle of motor body rotation, its output connects SPI or the multichannel buffer processing of DSP by four road DA conversion chips; The voltage signal of current regulator output is modulated and connected to DSP output pulse width, be converted to threephase switch signal PWM1-PWM3 by PARK inverse transformation and space vector generation unit and drive inverter, inverter exports the armature winding of motor body to, produces thereby control armature winding the circular magnetic field rotating;
Main power circuit: direct current survey, current detection circuit, overvoltage discharge loop, protective circuit and the drive circuit, the inverter that comprise controlled rectification;
Aforementioned direct current is surveyed and the United Nations General Assembly's electric capacity carries out filtering;
Current detection circuit: comprise bus current testing circuit and phase current testing circuit, bus current testing circuit is for the overcurrent protection of DC side; Phase current testing circuit is for current of electric closed-loop control, and it adopts Hall current sensor to detect electric current, and the detection signal of this detection electric current adds and has direct current biasing;
The output of drive circuit connects IPM by optocoupler, and the driving signal of its generation is realized isolation by optocoupler, comprises following part:
Hardware protection: GAL forms by programmable logic device, carries out exclusive disjunction realization by each driving signal and guard signal;
Light-coupled isolation: adopt U14, realize the isolation of numeral and power signal;
Six tunnels are anti-phase: adopt U15(74LS04), realize six tunnels anti-phase to inverter.
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| CN201320694840.3U CN203675026U (en) | 2013-11-06 | 2013-11-06 | Alternating-current PMSM (permanent magnet synchronous motor) servo system |
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| CN201320694840.3U CN203675026U (en) | 2013-11-06 | 2013-11-06 | Alternating-current PMSM (permanent magnet synchronous motor) servo system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105577060A (en) * | 2016-01-08 | 2016-05-11 | 清华大学 | Alternating current motor driving control system and control method capable of lowering direct current side capacitance |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105577060A (en) * | 2016-01-08 | 2016-05-11 | 清华大学 | Alternating current motor driving control system and control method capable of lowering direct current side capacitance |
| CN105577060B (en) * | 2016-01-08 | 2018-01-23 | 清华大学 | A kind of AC Motor Driver Control System and control method for reducing DC bus capacitor |
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