CN203708164U - Chopper variable-value control device - Google Patents
Chopper variable-value control device Download PDFInfo
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Abstract
本实用新型公开了一种用于控制电机恒速旋转的斩波器变值控制装置,包含用于输入电机的设定转速输入部,为电机的电机驱动器提供电压的电压源部,用于调节电压的调节部,采集电机实际转速的采集部,实时显示电机的实际转速的显示部,用于存储设定转速的数值和实际转速的数值的存储部,以及分别与输入部、电压源部、调节部、采集部、显示部以及存储部连接的控制部,采集部将电机的实际转速反馈到控制部,控制部基于设定转速和实际转速控制电压加法器调节电机驱动器的电压,从而稳定电机的转速。本实用新型中的斩波器变值控制装置结构简单,成本低,调速精度高,稳速效果好。
The utility model discloses a chopper variable value control device for controlling the constant-speed rotation of a motor, which comprises a set speed input part for inputting the motor, a voltage source part for providing voltage for a motor driver of the motor, and used for adjusting The voltage adjustment part, the acquisition part for collecting the actual speed of the motor, the display part for real-time display of the actual speed of the motor, the storage part for storing the value of the set speed and the value of the actual speed, and the input part, the voltage source part, the The control unit connected to the adjustment unit, the acquisition unit, the display unit and the storage unit, the acquisition unit feeds back the actual speed of the motor to the control unit, and the control unit adjusts the voltage of the motor driver based on the set speed and the actual speed control voltage adder, thereby stabilizing the motor speed. The variable value control device of the chopper in the utility model has the advantages of simple structure, low cost, high speed regulating precision and good speed stabilizing effect.
Description
技术领域technical field
本实用新型涉及斩波器,具体是涉及一种用于控制电机恒速旋转的斩波器变值控制装置。The utility model relates to a chopper, in particular to a variable value control device for a chopper used to control a motor to rotate at a constant speed.
背景技术Background technique
随着微电子技术、电力电子技术等技术的迅猛发展,使得采用电子换相原理工作的无刷直流电机得到了长足的发展。而许多小型的直流无刷电动机在应用时往往需要更精确的速度控制,尤其在高速运行的场合,对信号的反馈和处理速度要求更为严格。这种情况下,单纯的按照需要的速度给定理论上的电压来控制电机并不能满足要求,电机特性也得不到充分发挥,因此需要一套完整的系统来控制电机的旋转,即斩波器。With the rapid development of microelectronics technology, power electronics technology and other technologies, brushless DC motors using the principle of electronic commutation have been greatly developed. However, many small brushless DC motors often require more precise speed control, especially in high-speed applications, where the requirements for signal feedback and processing speed are more stringent. In this case, simply giving the theoretical voltage to control the motor according to the required speed cannot meet the requirements, and the characteristics of the motor cannot be fully utilized. Therefore, a complete system is needed to control the rotation of the motor, that is, chopping device.
在现有技术中,实现电机恒速旋转主要是通过变频调速和可控硅移相调速实现的。变频调速是根据电机转速与工作电源的频率成正比的关系,利用电力半导体器件的通断作用来改变电机工作电源的频率,从而达到改变电机转速的目的。可控硅移相调速是通过改变可控硅的导通角来改变电机端电压实现调速的,当导通角小于180°时,可控硅处于非全导通状态,导通角越小,电压越小,转速越低。In the prior art, the realization of the constant speed rotation of the motor is mainly achieved through frequency conversion speed regulation and thyristor phase shifting speed regulation. Frequency conversion speed regulation is based on the proportional relationship between the motor speed and the frequency of the working power supply, and uses the on-off function of the power semiconductor device to change the frequency of the motor's working power supply, thereby achieving the purpose of changing the motor speed. Thyristor phase-shift speed regulation is achieved by changing the conduction angle of the thyristor to change the motor terminal voltage to achieve speed regulation. When the conduction angle is less than 180°, the thyristor is in a non-full conduction state. Smaller, the smaller the voltage, the lower the speed.
但是,上述的方案中,可控硅调速会产生大量的谐波,高频干扰无法消除,而变频调速虽然没有高频干扰,但造价昂贵,大幅度提高了生产研究的成本。所以,现有技术缺乏一种用于控制电机恒速旋转的斩波器变值控制装置。However, in the above scheme, the SCR speed control will generate a large number of harmonics, and the high-frequency interference cannot be eliminated, while the frequency conversion speed control has no high-frequency interference, but the cost is expensive, which greatly increases the cost of production research. Therefore, the prior art lacks a chopper variable value control device for controlling the motor to rotate at a constant speed.
实用新型内容Utility model content
为了解决上述问题,本实用新型的目的在于提供一种用于控制电机恒速旋转的斩波器变值控制装置。In order to solve the above problems, the purpose of this utility model is to provide a chopper variable value control device for controlling the motor to rotate at a constant speed.
为了达到上述目的,本实用新型提供了一种用于控制电机恒速旋转的斩波器变值控制装置,具有这样的特征:包括:输入部,用于输入电机的设定转速,电压源部,用于为电机的电机驱动器提供电压,调节部,包含由2路DAC输出组成的电压加法器,用于调节电压,采集部,包含由电机带动同速旋转的光电编码器和采集光电编码器的输出脉冲数量的脉冲计数器,显示部,用于实时显示电机的实际转速的数值,存储部,用于存储设定转速的数值和实际转速的数值,以及控制部,分别与输入部、电压源部、调节部、采集部、显示部以及存储部连接,基于输出的脉冲数量控制显示部显示电机的实际转速,基于设定转速和实际转速控制电压加法器调节电机驱动器的电压。In order to achieve the above purpose, the utility model provides a chopper variable value control device for controlling the motor to rotate at a constant speed, which has such characteristics: it includes: an input part for inputting the set speed of the motor, a voltage source part , used to provide voltage for the motor driver of the motor, the adjustment part, including a voltage adder composed of 2 DAC outputs, used to adjust the voltage, the acquisition part, including the photoelectric encoder and the acquisition photoelectric encoder driven by the motor to rotate at the same speed The pulse counter of the number of output pulses, the display part is used to display the value of the actual speed of the motor in real time, the storage part is used to store the value of the set speed and the value of the actual speed, and the control part is respectively connected with the input part and the voltage source The control unit, the adjustment unit, the acquisition unit, the display unit and the storage unit are connected, and the display unit is controlled to display the actual speed of the motor based on the number of output pulses, and the voltage adder is controlled to adjust the voltage of the motor driver based on the set speed and the actual speed.
在本实用新型提供的斩波器变值控制装置中,还可以具有这样的特征:其中,控制部包含控制电压加法器的单片机。In the variable value control device of the chopper provided by the utility model, it may also have such a feature: wherein, the control part includes a single-chip microcomputer for controlling the voltage adder.
在本实用新型提供的斩波器变值控制装置中,还可以具有这样的特征:其中,显示部为用于显示电机实际转速以及电压加法器的数字输入量变化的上位机。In the variable value control device of the chopper provided by the utility model, it may also have such a feature: wherein, the display unit is a host computer for displaying the actual rotation speed of the motor and the change of the digital input quantity of the voltage adder.
在本实用新型提供的斩波器变值控制装置中,还可以具有这样的特征:其中,显示部为8段LED数码管。In the variable value control device of the chopper provided by the utility model, it may also have such a feature: wherein, the display part is an 8-segment LED digital tube.
实用新型的作用与效果Function and effect of utility model
根据本实用新型所涉及的用于控制电机恒速旋转的斩波器变值控制装置,包含用于输入电机的设定转速的输入部,为电机的电机驱动器提供电压的电压源部,用于调节电压的调节部,采集电机实际转速的采集部,以及分别与输入部、电压源部、调节部、以及采集部相连接的控制部,采集部将电机的实际转速反馈到控制部,控制部基于设定转速和实际转速控制电压加法器调节电机驱动器的电压,从而稳定电机的转速。本实用新型中的斩波器变值控制装置结构简单,成本低,调速精度高,稳速效果好。According to the chopper variable value control device for controlling the constant-speed rotation of the motor involved in the utility model, it includes an input part for inputting the set speed of the motor, and a voltage source part for providing voltage to the motor driver of the motor, for The regulating part for adjusting the voltage, the collecting part for collecting the actual rotational speed of the motor, and the control part respectively connected with the input part, the voltage source part, the regulating part, and the collecting part, the collecting part feeds back the actual rotating speed of the motor to the control part, and the control part Based on the set speed and the actual speed, the control voltage adder adjusts the voltage of the motor driver, thereby stabilizing the speed of the motor. The variable value control device of the chopper in the utility model has the advantages of simple structure, low cost, high speed regulating precision and good speed stabilizing effect.
附图说明Description of drawings
图1为本实用新型的实施例中斩波器变值控制装置的框图;以及Fig. 1 is the block diagram of chopper variable value control device in the embodiment of the present utility model; And
图2为本实用新型的实施例中斩波器变值控制装置的结构框图。Fig. 2 is a structural block diagram of a chopper variable value control device in an embodiment of the present invention.
图中,100.斩波器变值控制装置,1.输入部,2.电压源部,3.调节部,4.采集部,5.显示部,6.存储部,7.控制部,8.电机,9.电机驱动器,10.带轮组,11.键盘,12.底座,31.电压加法器,41.光电编码器,42.脉冲计数器,51.PC机,52.LED数码管,71.单片机。In the figure, 100. chopper variable value control device, 1. input part, 2. voltage source part, 3. regulation part, 4. acquisition part, 5. display part, 6. storage part, 7. control part, 8 .Motor, 9. Motor driver, 10. Wheel set, 11. Keyboard, 12. Base, 31. Voltage adder, 41. Photoelectric encoder, 42. Pulse counter, 51. PC, 52. LED digital tube, 71. Microcontroller.
具体实施方式Detailed ways
为了使本实用新型实现的技术手段、创作特征、达成目的与功效易于明白了解,以下结合实施例和附图对本实用新型作具体阐述。In order to make the technical means, creative features, goals and effects achieved by the utility model easy to understand, the utility model will be described in detail below in conjunction with the embodiments and accompanying drawings.
实施例Example
图1为本实用新型的实施例中斩波器变值控制装置的框图。Fig. 1 is a block diagram of a chopper variable value control device in an embodiment of the present invention.
如图1所示,本实施例中的斩波器变值控制装置100,包括:输入部1,电压源部2,调节部3,采集部4,显示部5,存储部6,控制部7。As shown in Figure 1, the chopper variable value control device 100 in this embodiment includes: an input unit 1, a voltage source unit 2, an adjustment unit 3, an acquisition unit 4, a display unit 5, a storage unit 6, and a control unit 7 .
调节部3包含由2路DAC输出组成的电压加法器31,采集部4包含光电编码器41和脉冲计数器42,控制部7包含单片机71,显示部5包含PC机51和8段LED数码管52。The adjustment part 3 includes a voltage adder 31 composed of 2 DAC outputs, the acquisition part 4 includes a photoelectric encoder 41 and a pulse counter 42, the control part 7 includes a single-chip microcomputer 71, and the display part 5 includes a PC 51 and an 8-segment LED digital tube 52 .
控制部7分别与输入部1、电压源部2、调节部3、采集部4、显示部5以及存储部6相连接,控制部基于输出的脉冲数量控制显示部5显示电机8的实际转速,基于设定转速和实际转速控制电压加法器31调节电机驱动器的电压。The control unit 7 is connected to the input unit 1, the voltage source unit 2, the adjustment unit 3, the acquisition unit 4, the display unit 5 and the storage unit 6 respectively, and the control unit controls the display unit 5 to display the actual rotational speed of the motor 8 based on the number of output pulses. The voltage adder 31 is controlled to adjust the voltage of the motor driver based on the set rotational speed and the actual rotational speed.
本实施例中,采用C8051F060单片机作为整个斩波器变值控制装置100的核心,在实时计算并控制电机8转速的同时,还可以控制其他的外围器件。输入部1采用4x4的键盘11与单片机71的输入端口连接用于输入电机8的设定转速。电压源部2向电机8的电机驱动器9提供电压,存储部6用于存储设定转速的数值和实际转速的数值。In this embodiment, a C8051F060 single-chip microcomputer is used as the core of the entire chopper variable value control device 100, which can control other peripheral devices while calculating and controlling the speed of the motor 8 in real time. The input unit 1 adopts a 4x4 keyboard 11 connected to the input port of the single-chip microcomputer 71 for inputting the set speed of the motor 8 . The voltage source part 2 provides voltage to the motor driver 9 of the motor 8, and the storage part 6 is used for storing the value of the set rotational speed and the numerical value of the actual rotational speed.
电机驱动器9是通过模拟电压实现对电机8转速的调节的,该模拟电压可通过单片机71的DA转换获得。由于单片机71的每路DA转换根据参考电压得到的最高输出电压仅为2.43V,而电机数据手册指出电机在最高速旋转时至少需要4.5V的调速电压,所以调节部3需同时利用两路DAC输出做加法电路组成电压加法器31用于控制电机驱动器9的电压。The motor driver 9 realizes the adjustment of the rotation speed of the motor 8 through an analog voltage, and the analog voltage can be obtained through DA conversion of the single-chip microcomputer 71 . Since the maximum output voltage obtained by each DA conversion of the single chip microcomputer 71 according to the reference voltage is only 2.43V, and the motor data sheet indicates that the motor needs at least a 4.5V speed regulation voltage when the motor rotates at the highest speed, the adjustment part 3 needs to use two circuits at the same time. The DAC output is used as an adding circuit to form a voltage adder 31 for controlling the voltage of the motor driver 9 .
由电机8带动同速旋转的光电编码器41和采集光电编码器41的输出脉冲的脉冲计数器42组成反馈单元,为了有效降低测速误差,采用分辨率为1000的光电编码器41对电机8进行测速,以保证实时测量电机8的转速,以便做出后续控制。显示部5包括4位8段段LED数码管52和PC机51,可以实时显示电机8的实际转速。The photoelectric encoder 41 driven by the motor 8 to rotate at the same speed and the pulse counter 42 to collect the output pulses of the photoelectric encoder 41 form a feedback unit. In order to effectively reduce the speed measurement error, the photoelectric encoder 41 with a resolution of 1000 is used to measure the speed of the motor 8 , to ensure real-time measurement of the rotational speed of the motor 8 for subsequent control. The display unit 5 includes a 4-digit 8-segment LED digital tube 52 and a PC 51, which can display the actual rotational speed of the motor 8 in real time.
图2为本实用新型的实施例中斩波器变值恒速控制装置的结构框图。Fig. 2 is a structural block diagram of a variable-value constant-speed control device for a chopper in an embodiment of the present invention.
如图2所示,电机驱动器9、键盘11、电压加法器31、脉冲计数器42、8段LED数码管52、以及单片机71都安装在底座12上,电机8和光电编码器41设置在底座12的反面,电机8和光电编码器41的转轴都贯穿底座12分别套装带轮组10的两个带轮,带轮之间通过同步带传动,PC机51与单片机71连接。As shown in Figure 2, the motor driver 9, the keyboard 11, the voltage adder 31, the pulse counter 42, the 8-segment LED digital tube 52, and the single-chip microcomputer 71 are all installed on the base 12, and the motor 8 and the photoelectric encoder 41 are arranged on the base 12 On the opposite side, the rotating shaft of motor 8 and photoelectric encoder 41 all runs through two pulleys of base 12 suit pulley group 10 respectively, is driven by synchronous belt between the pulleys, and PC 51 is connected with single-chip microcomputer 71.
斩波器变值控制装置100上电初始化时,会给出电机8的额定转速,如果需要改变额定转速,可以随时通过与单片机71输入端口相连的键盘11来输入电机8的设定数值。在额定转速或设定转速已知的情况下,单片机71会根据电机8的转速与驱动电压的关系来确定电机8的驱动电压,由于此过程通过单片机71的DA转换实现,因此确定输出电压即确定DAC的数字输入量。When the chopper variable value control device 100 is powered on and initialized, the rated speed of the motor 8 will be given. If the rated speed needs to be changed, the set value of the motor 8 can be input at any time through the keyboard 11 connected to the input port of the single chip microcomputer 71 . When the rated speed or set speed is known, the single-chip microcomputer 71 will determine the driving voltage of the motor 8 according to the relationship between the speed of the motor 8 and the driving voltage. Since this process is realized by the DA conversion of the single-chip microcomputer 71, the output voltage is determined as follows: Determines the digital input to the DAC.
由于光电编码器41与电机8通过带轮组10传动,组成带轮组的两个带轮直径相同,因此系统上电后,电机8带动光电编码器41同速旋转,光电编码器41通过光电转换将电机输出轴上的几何位移量转化成一系列脉冲进行输出。图中未显示的码盘与光电编码器41同轴旋转,码盘在转动时经过光耦的U型槽,由于所用码盘是将圆盘10等分后通光孔与遮光板相间分布的,因此根据光耦的输出脉冲计算得到的转速为电机8转速的5倍,从而实现倍频,既可以使光耦在电机8低速运转时便可以输出高速旋转的脉冲,又能保证输出脉冲的精度不会因电机8高速旋转而降低。脉冲计数器42实时读取光电编码器41的输出脉冲数量并反馈给单片机71,单片机71每隔一段单位时间对反馈的脉冲数量进行处理,从而计算出电机8的实际转速传送给8段LED数码管52显示,电机8的实际转速和电压加法器31的数字输入量变化通过RS232通信由PC机51显示。与此同时,单片机71根据实际转速与设定转速的差值调节DAC的数字输入量来调节电机驱动器9的电压,从而将电机8的转速保持在稳定状态。Since the photoelectric encoder 41 and the motor 8 are driven through the pulley set 10, and the diameters of the two pulleys that make up the pulley set are the same, after the system is powered on, the motor 8 drives the photoelectric encoder 41 to rotate at the same speed, and the photoelectric encoder 41 passes through the photoelectric encoder. Conversion converts the geometric displacement on the output shaft of the motor into a series of pulses for output. The code disc not shown in the figure rotates coaxially with the photoelectric encoder 41, and the code disc passes through the U-shaped groove of the optocoupler when it rotates. , so the speed calculated according to the output pulse of the optocoupler is 5 times of the speed of the motor 8, so as to achieve frequency multiplication, which can not only enable the optocoupler to output high-speed rotating pulses when the motor 8 is running at a low speed, but also ensure the output pulse The precision will not be reduced due to the high-speed rotation of the motor 8. The pulse counter 42 reads the output pulse quantity of the photoelectric encoder 41 in real time and feeds it back to the single-chip microcomputer 71. The single-chip microcomputer 71 processes the feedback pulse quantity at intervals of a unit time, thereby calculating the actual speed of the motor 8 and sending it to the 8-segment LED digital tube 52 shows that the actual rotational speed of the motor 8 and the digital input quantity change of the voltage adder 31 are displayed by the PC 51 through RS232 communication. At the same time, the single-chip microcomputer 71 adjusts the digital input value of the DAC to adjust the voltage of the motor driver 9 according to the difference between the actual rotation speed and the set rotation speed, thereby maintaining the rotation speed of the motor 8 in a stable state.
实施例的作用与效果Function and effect of embodiment
根据本实施例提供的用于控制电机恒速旋转的斩波器变值控制装置,包含用于输入电机的设定转速的输入部,为电机的电机驱动器提供电压的电压源部,用于调节电压的调节部,采集电机实际转速的采集部,以及分别与输入部、电压源部、调节部、以及采集部连接的控制部,采集部将电机的实际转速反馈到控制部,控制部基于设定转速和实际转速控制电压加法器调节电机驱动器的电压,从而稳定电机的转速。本实用新型中的斩波器变值控制装置结构简单,成本低,调速精度高,稳速效果好。The chopper variable value control device for controlling the constant-speed rotation of the motor provided according to this embodiment includes an input part for inputting the set speed of the motor, and a voltage source part for providing voltage to the motor driver of the motor for adjusting The voltage regulation part, the collection part that collects the actual speed of the motor, and the control part connected to the input part, the voltage source part, the regulation part, and the collection part respectively, the collection part feeds back the actual speed of the motor to the control part, and the control part The constant speed and actual speed control voltage adder adjusts the voltage of the motor driver, thereby stabilizing the speed of the motor. The variable value control device of the chopper in the utility model has the advantages of simple structure, low cost, high speed regulating precision and good speed stabilizing effect.
光电编码器与电机通过同步带连接,二者同速旋转,利用高分辨率的光电编码器测速,有效降低测速误差。The photoelectric encoder and the motor are connected through a synchronous belt, and the two rotate at the same speed. The high-resolution photoelectric encoder is used to measure the speed, which effectively reduces the speed measurement error.
本实施例中采用同步带实现电机和光电编码器之间的传动,有效地滤除掉部分因为电机抖动而造成的测量误差,为进一步提高测量精度提供基础条件。In this embodiment, a synchronous belt is used to realize the transmission between the motor and the photoelectric encoder, which effectively filters out part of the measurement error caused by the vibration of the motor, and provides a basic condition for further improving the measurement accuracy.
本实施例中引入与光电编码器同轴旋转的码盘,方便在保证系统精度的前提下实现电机转速的倍频,有效减小了电机高速运转时因为抖动剧烈而引入的误差。In this embodiment, a code disc that rotates coaxially with the photoelectric encoder is introduced to facilitate the multiplication of the motor speed while ensuring the system accuracy, and effectively reduce the error caused by severe vibration when the motor is running at high speed.
本实施例中的输入部可以通过键盘任意设置电机的额定转速,实现了无级调速,改善了抽头调速只能档位调速的不足。The input unit in this embodiment can arbitrarily set the rated rotational speed of the motor through the keyboard, realizing stepless speed regulation, and improving the deficiency that tap speed regulation can only be speed regulation by gear.
本实施例中对电机的调速过程可以通过RS232通信在上位机显示出来,使用户能够更加直观地观察系统的调试过程。In this embodiment, the speed regulation process of the motor can be displayed on the host computer through RS232 communication, so that the user can observe the debugging process of the system more intuitively.
当然本实用新型所涉及的斩波器变值恒速控制装置并不仅仅限定于在本实施例中的结构。Of course, the variable-value constant-speed control device of the chopper involved in the present invention is not limited to the structure in this embodiment.
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