CN204392122U - The sinusoidal control circuit of automatic smoothing door permanent magnet linear synchronous motor - Google Patents
The sinusoidal control circuit of automatic smoothing door permanent magnet linear synchronous motor Download PDFInfo
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- CN204392122U CN204392122U CN201520083206.5U CN201520083206U CN204392122U CN 204392122 U CN204392122 U CN 204392122U CN 201520083206 U CN201520083206 U CN 201520083206U CN 204392122 U CN204392122 U CN 204392122U
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- permanent magnet
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- magnet linear
- effect transistor
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Abstract
The utility model relates to the sinusoidal control circuit of a kind of automatic smoothing door permanent magnet linear synchronous motor, stator and mover relative position can be obtained by installing threephase switch type hall position sensor on the stator of permanent magnet linear synchronous motor, adopt a capture-port of frequency multiplier circuit frequency-doubled signal input single-chip microcomputer, detect mover 60 ° electrical degree running times previous relative to stator, detect mover in real time relative to stator current run time by single-chip microcomputer timer internal simultaneously and predict mover and stator current relative position, use Sine Interpolation method, the sinusoidal voltage of mutual deviation 120 ° is provided to drive permanent magnet linear synchronous motor to run to threephase stator coil, suppress permanent magnet linear synchronous motor fluctuation, improve the operational effect of automatic smoothing door.
Description
Technical field
The utility model relates to Motor Control Field, is specifically related to the sinusoidal control circuit of automatic smoothing door permanent magnet linear synchronous motor.
Background technology
Be linear reciprocating motion in automatic smoothing door field by the movement locus of control object, and linear electric motors are not owing to needing complicated mechanical transmission mechanism, easy for installation, production cost is low, operation stroke is unrestricted, and the power that is simultaneously hampered is little, use safety, directly can produce thrust, eliminate intermediate conversion mechanism, without any need for conversion equipment, system inertia is little, acceleration is high, is the ideal power device of automatic smoothing door.
But linear electric motors do not have reducing gear, to compare electric rotating machine, the speed of service is low, the force oscillation that its intrinsic end effect and slot effect cause is comparatively obvious in the performance of this field, if Machine Design is unreasonable, easily cause resonance in running and produce noise, and permanent magnet linear synchronous motor is owing to adopting permanent magnet excitation, under the double action of slot effect and end effect, thrust pad temperature can be produced in air gap between primary and secondary, and in order to reduce thrust pad temperature, the primary current waveform of permanent magnet linear synchronous motor and unloaded counter potential waveform should be made to try one's best close to sinusoidal waveform, adopt the effective measures of sinusoidal control mode.
On the other hand, the sine of permagnetic synchronous motor controls to be unable to do without the detection to rotor position, because linear electric motors directly produce rectilinear motion, and stroke is longer, the position transducer (as optical encoder, resolver etc.) that some electric rotating machines adopt cannot directly adopt on linear electric motors, if increase position probing (as grating scale, magnetic railings ruler etc.) omnidistance, cost is too high; Although linear Hall price is lower slightly, itself be vulnerable to interference, very high to sampling request, practical effect is not good; In recent years, the sinusoidal control method based on position-sensor-free becomes study hotspot, but control algolithm is complicated, is especially used in automatic smoothing door field and there is the problems such as toggle speed is slow.
Utility model content
The purpose of this utility model is to provide a kind of sinusoidal control circuit suppressing automatic smoothing door permanent magnet linear synchronous motor force oscillation.
The utility model is achieved through the following technical solutions: the sinusoidal control circuit of automatic smoothing door permanent magnet linear synchronous motor, comprise threephase switch type hall position sensor, single-chip microcomputer, three-phase H-bridge drive circuit, frequency multiplier circuit, permanent magnet linear synchronous motor stator is provided with threephase switch type hall position sensor, described threephase switch type hall position sensor is provided with 3 output U, V, W, described single-chip microcomputer is provided with I/O port, capture-port, the U of described threephase switch type hall position sensor, V, W output is connected with described frequency multiplier circuit, described frequency multiplier circuit is connected with the capture-port on described single-chip microcomputer, the U of described threephase switch type hall position sensor, V, W output is connected with the I/O port of described single-chip microcomputer, described three-phase H-bridge drive circuit is connected with described single-chip microcomputer, the relative position of stator and mover can be obtained by being provided with threephase switch type hall position sensor on the stator of automatic smoothing door permanent magnet linear synchronous motor, then mover 60 ° electrical degree running times previous relative to stator are detected through frequency multiplier circuit, detect mover in real time relative to stator current run time by single-chip microcomputer timer internal simultaneously, and predict mover and stator current relative position, then Sine Interpolation method is used, the PWM drive waveforms of the three phase sine numerical value of mutual deviation 120 ° of electrical degrees is provided to stator coil, thus make threephase stator coil obtain the sinusoidal drive voltage of mutual deviation 120 °.
As preferably, first field effect transistor source electrode of described three-phase H-bridge drive circuit and the second field effect transistor drain electrode composition U output are held with the U of permanent magnet linear synchronous motor and are connected, described three-phase H-bridge drive circuit the 3rd field effect transistor source electrode and the 4th field effect transistor drain electrode composition V output are held with the V of permanent magnet linear synchronous motor and are connected, described three-phase H-bridge drive circuit the 5th field effect transistor source electrode and the 6th field effect transistor drain electrode composition W output are held with the W of permanent magnet linear synchronous motor and are connected, the drain electrode of the first field effect transistor of described three-phase H-bridge drive circuit, the drain electrode of the 3rd field effect transistor, the drain electrode of the 5th field effect transistor is connected with power supply, the source electrode of the second field effect transistor of described three-phase H-bridge drive circuit, the source electrode of the 4th field effect transistor, the source ground of the 6th field effect transistor, first of described three-phase H-bridge drive circuit, two, three, four, five, the grid of six field effect transistor connects single-chip microcomputer, adopt three-phase H-bridge drive circuit can ensure that the bipolar power supply of the stator winding of permanent magnet linear synchronous motor is powered, sometimes can provide forward current, sometimes can provide reverse current.
As preferably, described threephase switch type hall position sensor is evenly distributed on stator relative to a pair mover magnetic pole length with mutual deviation 120 ° of electrical degrees, ensure that threephase switch type hall position sensor can better spreading out of hall signal.
As preferably, described frequency multiplier circuit comprises the first not gate, second not gate, 3rd not gate, first XOR gate, second XOR gate, described first not gate, the output of the second not gate is connected with the input of described first XOR gate, described first XOR gate, the output of the 3rd not gate is connected with the input of described second XOR gate, the output of described second XOR gate is connected with the capture-port of described single-chip microcomputer, U output on described threephase switch type hall position sensor is connected with the input of described 3rd not gate, V output on described threephase switch type hall position sensor is connected with the input of described second not gate, W output on described threephase switch type hall position sensor is connected with the input of described first not gate, mover 60 ° electrical degree running times previous relative to stator can be detected more easily by a treble capture-port being input to single-chip microcomputer after frequently signal of trebling circuit.
As preferably, the lower brachium pontis PWM drive waveforms of U, V, W three-phase H-bridge drive circuit with corresponding on brachium pontis identical, but polarity is contrary, by this three-phase H-bridge drive circuit, the PWM drive waveforms of the three phase sine numerical value of mutual deviation 120 ° of electrical degrees is provided to stator coil, thus makes threephase stator coil obtain the sinusoidal drive voltage of mutual deviation 120 °.
Usefulness of the present utility model is: 1) adopt circuit of the present invention, use Sine Interpolation control method can obtain the saddle-shape synthesis sine terminal voltage of mutual deviation 120 ° of electrical degrees at U, V, W three-phase coil of permanent magnet linear synchronous motor, drive can obviously suppress linear motor pushing force to fluctuate compared to traditional square wave, reduce the running noises of automatic smoothing door, be conducive to improving automatic smoothing door performance; 2) three-phase H-bridge drive circuit is adopted can to ensure that the bipolar power supply of the stator winding of permanent magnet linear synchronous motor is powered; 3) mover 60 ° electrical degree running times previous relative to stator can more easily be detected by frequency multiplier circuit.
Accompanying drawing explanation
Fig. 1 is sinusoidal control circuit figure of the present utility model.
Fig. 2 is threephase switch type hall position sensor of the present utility model input and frequency multiplier circuit figure.
Fig. 3 is that threephase switch type hall position sensor of the present utility model inputs and oscillogram after frequency multiplication.
Fig. 4 is permanent magnet linear synchronous motor U, V, W three-phase H-bridge drive circuit figure of the present utility model.
Fig. 5 is that after permanent magnet linear synchronous motor U, V, W three-phase PWM value sineization of the present utility model, curve chart---abscissa is electrical degree.
Fig. 6 is that oscillogram---abscissa is electrical degree in permanent magnet linear synchronous motor U, V, W threephase stator coil-end voltage of the present utility model equivalence.
Embodiment
Below in conjunction with accompanying drawing and embodiment, the utility model is further described.
See Fig. 1 to Fig. 6, comprise the steps:
Step one, according to the given speed of service V(t0 of automatic smoothing door subsequent time), obtain by " speed-PWM " mapping table the PWM needing to be supplied to U, V, W three-phase drive circuit under square wave type of drive, be expressed as F-PWM;
Step 2, the U of threephase switch type hall position sensor, V, W output outgoing position signal HuoEr-U, HuoEr-V, HuoEr-W is simultaneously input to the I/O port S1 on single-chip microcomputer after filtering after shaping, S2, in S3 and frequency multiplier circuit, received signal frequency multiplication is formed treble frequency signal HALL-CAP by frequency multiplier circuit, be input to the capture-port of single-chip microcomputer, make mover for stator often mobile 60 ° of electrical degrees, single-chip microcomputer is just more prone to capture rising edge or trailing edge, and run SIN-N running time required for 60 ° of electrical degrees by trapped inside port acquisition mover,
Step 3, single-chip microcomputer will read the position signalling that threephase switch type hall position sensor outputs to single-chip processor i/o port after often catching a rising edge or trailing edge, after mover often runs 360 ° of electrical degrees, on S1, S2, S3 port, circulation obtains 6 different mover original position level signal value successively, binary numeral is respectively 001,101,100,110,010,011, and representing the current residing initial electrical degree position of mover is respectively 0 °, 60 °, 120 °, 180 °, 240 °, 300 °;
Step 4, after single-chip microcomputer often captures a rising edge or trailing edge, starts the inner timer units of single-chip microcomputer immediately and starts to detect in real time the time SIN-K that after this mover run;
Step 5, according to mover front a time 60 ° of running times and current run time can predict mover relative to previous 60 ° after the relative electrical degree of process;
θ = ( SIN-K × 60 ) / SIN-N；
θ: mover current the electrical degree of process;
SIN-N: the running time of mover front 60 ° of electrical degree;
SIN-K: mover current run time;
Step 6, obtains the current electrical degree position of mover according to the mover original position signal obtained on single-chip processor i/o port S1, S2, S3:
When original position is 0 °, the current residing electrical degree of mover is: β=0+θ;
When original position is 60 °, the current residing electrical degree of mover is: β=60+θ;
When original position is 300 °, the current residing electrical degree of mover is: β=300+θ;
Step 7, by the current residing electrical degree position of mover, under being combined in square wave type of drive, need the PWM being supplied to drive circuit to calculate respectively PWM value that subsequent time need be supplied to U, V, W three-phase H-bridge drive circuit, wherein:
In U phase, brachium pontis PWM value is: PWM-U
=[1/2+F-PWM × SIN (β)/2] × T-MAT;
In V phase, brachium pontis PWM value is: PWM-V
=[1/2+F-PWM × SIN (β-120)/2] × T-MAT;
In W phase, brachium pontis PWM value is: PWM-W=[1/2+F-PWM × SIN (β+120)/2] × T-MAT;
F-PWM: the PWM value being supplied to three-phase drive circuit needed under square wave control mode;
T-MAT: Single Chip Microcomputer (SCM) PWM period register matching value;
Step 8, is assigned to Single Chip Microcomputer (SCM) PWM duty ratio matching unit respectively by PWM-U, PWM-V, PWM-W, produce the upper brachium pontis PWM drive waveforms Spwm-U of U, V, W three-phase H-bridge drive circuit
+, Spwm-V
+, Spwm-W
+; The lower brachium pontis PWM drive waveforms Spwm-U of U, V, W three-phase H-bridge drive circuit
-, Spwm-V
-, Spwm-W
-identical with brachium pontis in respective side, but polarity is contrary.
Through above-mentioned steps, after mover runs 360 ° of electrical degrees, equivalent terminal voltage Vin-U as shown in Figure 6, Vin-V, Vin-W can be obtained in the threephase stator coil-end of linear electric motors.
Protection range of the present utility model includes but not limited to above execution mode; protection range of the present utility model is as the criterion with claims, and any replacement that those skilled in the art will find apparent that, distortion, improvement made this technology all falls into protection range of the present utility model.
Claims (5)
1. the sinusoidal control circuit of automatic smoothing door permanent magnet linear synchronous motor, it is characterized in that: comprise threephase switch type hall position sensor, single-chip microcomputer, three-phase H-bridge drive circuit, frequency multiplier circuit, permanent magnet linear synchronous motor stator is provided with threephase switch type hall position sensor, described threephase switch type hall position sensor is provided with 3 output U, V, W, described single-chip microcomputer is provided with I/O port, capture-port, the U of described threephase switch type hall position sensor, V, W output is connected with described frequency multiplier circuit, described frequency multiplier circuit is connected with the capture-port on described single-chip microcomputer, the U of described threephase switch type hall position sensor, V, W output is connected with the I/O port of described single-chip microcomputer, described three-phase H-bridge drive circuit is connected with described single-chip microcomputer.
2. the sinusoidal control circuit of automatic smoothing door permanent magnet linear synchronous motor according to claim 1, it is characterized in that: in described three-phase H-bridge drive circuit, first field effect transistor source electrode of described three-phase H-bridge drive circuit and the second field effect transistor drain electrode composition U output are held with the U of permanent magnet linear synchronous motor and are connected, described three-phase H-bridge drive circuit the 3rd field effect transistor source electrode and the 4th field effect transistor drain electrode composition V output are held with the V of permanent magnet linear synchronous motor and are connected, described three-phase H-bridge drive circuit the 5th field effect transistor source electrode and the 6th field effect transistor drain electrode composition W output are held with the W of permanent magnet linear synchronous motor and are connected, the drain electrode of the first field effect transistor of described three-phase H-bridge drive circuit, the drain electrode of the 3rd field effect transistor, the drain electrode of the 5th field effect transistor is connected with power supply, the source electrode of the second field effect transistor of described three-phase H-bridge drive circuit, the source electrode of the 4th field effect transistor, the source ground of the 6th field effect transistor, first of described three-phase H-bridge drive circuit, two, three, four, five, the grid of six field effect transistor connects single-chip microcomputer.
3. the sinusoidal control circuit of automatic smoothing door permanent magnet linear synchronous motor according to claim 1, is characterized in that: described threephase switch type hall position sensor is evenly distributed on stator with mutual deviation 120 ° of electrical degrees relative to a pair mover magnetic pole length.
4. the sinusoidal control circuit of automatic smoothing door permanent magnet linear synchronous motor according to claim 1, it is characterized in that: described frequency multiplier circuit comprises the first not gate, second not gate, 3rd not gate, first XOR gate, second XOR gate, described first not gate, the output of the second not gate is connected with the input of described first XOR gate, described first XOR gate, the output of the 3rd not gate is connected with the input of described second XOR gate, the output of described second XOR gate is connected with the capture-port of described single-chip microcomputer, U output on described threephase switch type hall position sensor is connected with the input of described 3rd not gate, V output on described threephase switch type hall position sensor is connected with the input of described second not gate, W output on described threephase switch type hall position sensor is connected with the input of described first not gate.
5. the sinusoidal control circuit of automatic smoothing door permanent magnet linear synchronous motor according to claim 2, is characterized in that: the lower brachium pontis PWM drive waveforms of U, V, W three-phase H-bridge drive circuit with corresponding on brachium pontis identical, but polarity is contrary.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520083206.5U CN204392122U (en) | 2015-02-06 | 2015-02-06 | The sinusoidal control circuit of automatic smoothing door permanent magnet linear synchronous motor |
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| CN201520083206.5U CN204392122U (en) | 2015-02-06 | 2015-02-06 | The sinusoidal control circuit of automatic smoothing door permanent magnet linear synchronous motor |
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| CN204392122U true CN204392122U (en) | 2015-06-10 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114432722A (en) * | 2021-02-02 | 2022-05-06 | 上海品致测控技术有限公司 | Control method and system of rotary evaporator |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114432722A (en) * | 2021-02-02 | 2022-05-06 | 上海品致测控技术有限公司 | Control method and system of rotary evaporator |
| CN114432722B (en) * | 2021-02-02 | 2023-08-11 | 上海品致测控技术有限公司 | Control method and system of rotary evaporator |
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