CN204967686U - Brushless DC motor position tracking controller based on fuzzy control - Google Patents
Brushless DC motor position tracking controller based on fuzzy control Download PDFInfo
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- CN204967686U CN204967686U CN201520777523.7U CN201520777523U CN204967686U CN 204967686 U CN204967686 U CN 204967686U CN 201520777523 U CN201520777523 U CN 201520777523U CN 204967686 U CN204967686 U CN 204967686U
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Abstract
The utility model discloses a brushless DC motor position tracking controller based on fuzzy control, this controller is by fuzzy position control ware, speed adjustor, the fader, DC Brushless motor and position sensor constitute, 120 mechanical angles of three position sensor mutual deviation are installed inside the motor, fuzzy position control ware, speed adjustor, the fader, DC Brushless motor and position sensor connect the whole brushless DC motor controller that constitutes based on fuzzy control according to electric return circuit mode. The utility model discloses the circuit is simple, and low cost is anti -interference, and the servo characteristic of sound attitude is good, through realize fuzzy control algorithm, the effectual problem that tracking accuracy is not high of solving the conventional control algorithm inside DSP.
Description
Technical field
The utility model relates to electronic equipment, especially a kind of Brushless DC Motor Position tracking control unit based on fuzzy control.
Background technology
DC brushless motor had both possessed the series of advantages such as the structure of alternating current machine is simple, reliable, easy to maintenance, the operational efficiency possessing again direct current machine is high, without the plurality of advantages such as excitation loss and good speed adjustment features, therefore its range of application is extremely extensive, throughout every field such as national defence, Aero-Space, medicine equipment, household electrical appliance, robots.
Summary of the invention
The purpose of this utility model is: propose a kind of Brushless DC Motor Position tracking control unit based on fuzzy control, this controller carries out Position Tracking Control to brshless DC motor, by realizing FUZZY ALGORITHMS FOR CONTROL in DSP inside, the problem that the tracking accuracy of effective solution traditional control algorithm is not high
Anti-interference, control method is simple.
Technical solution of the present utility model is: should be made up of ambiguous location adjuster, speed regulator, fader, DC brushless motor and position transducer based on the brushless direct current motor controller of fuzzy control, three position transducer mutual deviations, 120 ° of mechanical angles are installed on motor internal, ambiguous location adjuster, speed regulator, fader, DC brushless motor are connected according to electric circuit type with position transducer, the overall brushless direct current motor controller formed based on fuzzy control; The hardware circuit of described controller is connected to form according to circuit mode by drive circuit, optical coupling isolation circuit, current sensor, position transducer, display and control circuit, general purpose I/O, DSP and peripheral circuit thereof; The pwm signal that drive circuit is responsible for producing carries out power amplification, and in order to produce the drive singal of brushless direct-current, the field effectiveness pipe selected is 2N7224; The power signal that optical coupling isolation circuit is used for digital signal and the drive motors exported by DSP is isolated, and the buffer circuit model selected is ACPL061L; Current sensor is in order to detect three-phase current, and testing circuit computing model used is AD844, and the ADC of current signal on DSP of detection is converted to digital signal; Position transducer, in order to obtain the phase place of drive singal, the ADC of this signal on DSP is converted to digital signal; DSP and peripheral circuit thereof, according to the digital signal of current sensor and position transducer, in conjunction with FUZZY ALGORITHMS FOR CONTROL, realize the generation of pwm control signal, and then realize the control to brshless DC motor; Its physical circuit connects as follows: the pin 47,44,45,48,51,53 of DSPTMS320C2801 is respectively through after optical coupling isolator ACPL061L isolation, T1, T4, T2, T5, T3, T6 of connecting drive circuit carry out drive amplification, A after amplification, B, C three-phase signal Direct driver DC brushless motor; Current sensor signal obtains signal, by 23 on DSP, 22,21 pins carry out ADC conversion, obtain the digital signal of current sensor; Position transducer carries out ADC conversion by 20,19,18 pins of DSP, obtains the digital signal of position transducer; The pin 43,79,83,91,92,95,99,100,1,8,9 of DSP connects 5,6,7,8,9,10,11,12,13,14 pins of display HJ1602A respectively, the pin 63,64,67,70,71,72 of DSP controls to export, for system expands use later as general purpose I/O; DSP, according to the digital signal of current sensor and position transducer, in conjunction with FUZZY ALGORITHMS FOR CONTROL, realizes the generation of pwm control signal, and then realizes the control to brshless DC motor.
The course of work of its fuzzy control is: by given position signal U
awith feedback position signalling U
bthe deviation signal produced, obtains the reference value U of speed through ambiguous location adjuster
g, obtain current rotating speed U according to the differential of position transducer
s, Negotiation speed adjuster calculates the reference value of speed preset, and the output being converted to adjuster by fader goes to regulate PWM ripple duty ratio, and then controls conducting and the shutoff of power switch pipe, realizes the Position Tracking Control to brshless DC motor.
The beneficial effects of the utility model are:
1, making full use of fuzzy control (FuzzyControl) affects insensitive on system parameter variations and external disturbance, do not need very accurate Mathematical Modeling, and there is Reduced Decoupling, the simple feature of algorithm in implementation procedure, realize the Brushless DC Motor Position tracking control unit of fuzzy control;
2, contrast conventional brush-less electric machine controller to compare, this fuzzy controller: overshoot is little, is better than 0.15%; Regulating time is short, is better than 0.05 second; Tracking accuracy is high, and worst error is better than 0.05%;
3, adopt the Brushless DC Motor Position tracking control unit of fuzzy control with low cost, circuit is simple, and sound state servo characteristic is good;
4, compound fuzzy controller is adopted, choose displacement error, error change amount inputs as system, pwm control signal exports as system, fuzzy controller to the difference of performance impact, adopts fuzzy rule to carry out parameter adjustment, when deviation is larger to improve the response speed of system according to displacement error and error change amount, accelerate response process, and PID control technology is adopted when deviation is less, eliminate static receiver error, improve control precision.
Accompanying drawing explanation
Fig. 1 is the Brushless DC Motor Position tracking control unit frame construction drawing based on fuzzy control of the present utility model.
Fig. 2 is the hardware circuit diagram of Fig. 1.
Fig. 3 is the circuit diagram of the drive circuit of Fig. 2.
Fig. 4 is the circuit diagram of the current detection circuit of Fig. 2.
Fig. 5 is the scheme of installation of the position transducer of Fig. 1.
Embodiment
Below in conjunction with accompanying drawing, technical solution of the present utility model is described further.
As Figure 1-5, should be made up of ambiguous location adjuster, speed regulator, fader, DC brushless motor and position transducer based on the brushless direct current motor controller of fuzzy control, three position transducer mutual deviations, 120 ° of mechanical angles are installed on motor internal, ambiguous location adjuster, speed regulator, fader, DC brushless motor are connected according to electric circuit type with position transducer, the overall brushless direct current motor controller formed based on fuzzy control; The hardware circuit of described controller is connected to form according to circuit mode by drive circuit, optical coupling isolation circuit, current sensor, position transducer, display and control circuit, general purpose I/O, DSP and peripheral circuit thereof; The pwm signal that drive circuit is responsible for producing carries out power amplification, and in order to produce the drive singal of brushless direct-current, the field effectiveness pipe selected is 2N7224; The power signal that optical coupling isolation circuit is used for digital signal and the drive motors exported by DSP is isolated, and the buffer circuit model selected is ACPL061L; Current sensor is in order to detect three-phase current, and testing circuit computing model used is AD844, and the ADC of current signal on DSP of detection is converted to digital signal; Position transducer, in order to obtain the phase place of drive singal, the ADC of this signal on DSP is converted to digital signal; DSP and peripheral circuit thereof, according to the digital signal of current sensor and position transducer, in conjunction with FUZZY ALGORITHMS FOR CONTROL, realize the generation of pwm control signal, and then realize the control to brshless DC motor; Its physical circuit connects as follows: the pin 47,44,45,48,51,53 of DSPTMS320C2801 is respectively through after optical coupling isolator ACPL061L isolation, T1, T4, T2, T5, T3, T6 of connecting drive circuit carry out drive amplification, A after amplification, B, C three-phase signal Direct driver DC brushless motor; Current sensor signal obtains signal, by 23 on DSP, 22,21 pins carry out ADC conversion, obtain the digital signal of current sensor; Position transducer carries out ADC conversion by 20,19,18 pins of DSP, obtains the digital signal of position transducer; The pin 43,79,83,91,92,95,99,100,1,8,9 of DSP connects 5,6,7,8,9,10,11,12,13,14 pins of display HJ1602A respectively, the pin 63,64,67,70,71,72 of DSP controls to export, for system expands use later as general purpose I/O; DSP, according to the digital signal of current sensor and position transducer, in conjunction with FUZZY ALGORITHMS FOR CONTROL, realizes the generation of pwm control signal, and then realizes the control to brshless DC motor.
The course of work of its fuzzy control is: by given position signal U
awith feedback position signalling U
bthe deviation signal produced, obtains the reference value U of speed through ambiguous location adjuster
g, obtain current rotating speed U according to the differential of position transducer
s, Negotiation speed adjuster calculates the reference value of speed preset, and the output being converted to adjuster by fader goes to regulate PWM ripple duty ratio, and then controls conducting and the shutoff of power switch pipe, realizes the Position Tracking Control to brshless DC motor.
Above-mentioned fuzzy controller regularly carries out work, and fuzzy logic inference method adopts Mamdani minimax rationalistic method, and the fuzzy rule value of error E and error change amount EC is quantified as look-up table, and fuzzy reasoning table is as follows:
According to fuzzy reasoning table, push-pull picklingline calculates U
g=(E ╳ EC) K draws the reference value (K is weight coefficient) of speed; The measured value U of speed
sthe positional information S in two moment is obtained according to position transducer
i+1, S
idifference obtain, Us=S
i+1-S
i, the measured value Us for speed adopts 3 exponential smoothings, to improve the stability of speed; Speed regulator, calculates controlled quentity controlled variable carry out controlling (namely PID controls) according to the error proportion of utilization of speed, integration, difference gauge; Fader, be PWM control information by the Parameter Switch after adjustment, and produce and control the drive singal of direct current machine, the schematic diagram of its drive circuit as shown in Figure 3, T1, T2, T3, T4, T5, T6 are pwm control signal, and A, B, C are the brushless electrical equipment drive singal produced; Position transducer, adopt Hall type Mageneto-sensitive type position transducer, position transducer is installed on motor internal, and three transducers respectively represent three-phase position signal, and mutual deviation 120 ° of mechanical angles are installed.
Claims (1)
1. based on the Brushless DC Motor Position tracking control unit of fuzzy control, it is characterized in that: this controller is made up of ambiguous location adjuster, speed regulator, fader, DC brushless motor and position transducer, three position transducer mutual deviations, 120 ° of mechanical angles are installed on motor internal, and ambiguous location adjuster, speed regulator, fader, DC brushless motor are connected according to electric circuit type with position transducer; The hardware circuit of described controller is connected to form according to circuit mode by drive circuit, optical coupling isolation circuit, current sensor, position transducer, display and control circuit, general purpose I/O, DSP and peripheral circuit thereof; The pwm signal that drive circuit is responsible for producing carries out power amplification, and in order to produce the drive singal of brushless direct-current, the field effectiveness pipe selected is 2N7224; The power signal that optical coupling isolation circuit is used for digital signal and the drive motors exported by DSP is isolated, and the buffer circuit model selected is ACPL061L; Current sensor is in order to detect three-phase current, and testing circuit computing model used is AD844, and the ADC of current signal on DSP of detection is converted to digital signal; Position transducer, in order to obtain the phase place of drive singal, the ADC of this signal on DSP is converted to digital signal; DSP and peripheral circuit thereof, according to the digital signal of current sensor and position transducer, in conjunction with FUZZY ALGORITHMS FOR CONTROL, realize the generation of pwm control signal, and then realize the control to brshless DC motor; Its physical circuit connects as follows: the pin 47,44,45,48,51,53 of DSPTMS320C2801 is respectively through after optical coupling isolator ACPL061L isolation, T1, T4, T2, T5, T3, T6 of connecting drive circuit carry out drive amplification, A after amplification, B, C three-phase signal Direct driver DC brushless motor; Current sensor signal obtains signal, by 23 on DSP, 22,21 pins carry out ADC conversion, obtain the digital signal of current sensor; Position transducer carries out ADC conversion by 20,19,18 pins of DSP, obtains the digital signal of position transducer; The pin 43,79,83,91,92,95,99,100,1,8,9 of DSP connects 5,6,7,8,9,10,11,12,13,14 pins of display HJ1602A respectively, the pin 63,64,67,70,71,72 of DSP controls to export, for system expands use later as general purpose I/O; DSP, according to the digital signal of current sensor and position transducer, in conjunction with FUZZY ALGORITHMS FOR CONTROL, realizes the generation of pwm control signal, and then realizes the control to brshless DC motor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520777523.7U CN204967686U (en) | 2015-10-09 | 2015-10-09 | Brushless DC motor position tracking controller based on fuzzy control |
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|---|---|---|---|
| CN201520777523.7U CN204967686U (en) | 2015-10-09 | 2015-10-09 | Brushless DC motor position tracking controller based on fuzzy control |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105186940A (en) * | 2015-10-09 | 2015-12-23 | 淮安市白湖电子科技有限公司 | Brushless DC motor position tracking controller based on fuzzy control |
| CN108445794A (en) * | 2018-02-28 | 2018-08-24 | 辽宁科技大学 | A kind of induction machine pincers clamping controller system and control method |
-
2015
- 2015-10-09 CN CN201520777523.7U patent/CN204967686U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105186940A (en) * | 2015-10-09 | 2015-12-23 | 淮安市白湖电子科技有限公司 | Brushless DC motor position tracking controller based on fuzzy control |
| CN108445794A (en) * | 2018-02-28 | 2018-08-24 | 辽宁科技大学 | A kind of induction machine pincers clamping controller system and control method |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160113 Termination date: 20181009 |
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| CF01 | Termination of patent right due to non-payment of annual fee |