CN205883104U - Multipole moment servo motor controller - Google Patents
Multipole moment servo motor controller Download PDFInfo
- Publication number
- CN205883104U CN205883104U CN201620882118.6U CN201620882118U CN205883104U CN 205883104 U CN205883104 U CN 205883104U CN 201620882118 U CN201620882118 U CN 201620882118U CN 205883104 U CN205883104 U CN 205883104U
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- controller
- derivative
- multipole moment
- pseudo
- inverter
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Abstract
The utility model discloses a multipole moment servo motor controller, including position encoder, position encoder and master controller and proportional plus derivative controller are connected, proportional plus derivative controller is connected with pseudo - derivative feedback controller and speed calculation module, speed calculation module and position encoder are connected, pseudo - derivative feedback controller still is connected with parallelly connected mutually converter subassembly and voltage space vector generator, the converter subassembly still is connected with the dc -to -ac converter, voltage space vector generator is connected with the dc -to -ac converter, the dc -to -ac converter is connected with the three -phase symmetry winding, the master controller is the digital signal processor chip. Can reduce the electromechanical and disturb the influence to torque motors, improve the performance of controlling of controller.
Description
Technical field
This utility model belongs to controller technology field, relates to a kind of multipole moment motor servo controller.
Background technology
For the servo controller of the multipole moment motor that high-efficiency and precision numerically controlled tooth grinding machine directly drives, with traditional " rotation
Turn motor+reducing gear " drive control mode to compare, although eliminate elastic deformation that intermediate transmission mechanism brought,
The impact on system accuracy of the factor such as gap, friction, but also make various electromechanics interference without any intermediate link decay and
It is passed directly on torque motor, adds the difficulty in electric and electronic control.
For the design of current controller, system power feedback uses the current feedback sensing of linear high-accuracy high-resolution
Device.Sampling time and the moment of electric current are set, it addition, be the hardware filtering of compensation current feedback signal, input at given value of current
It is provided with the advanced software compensation of electric current.Motor feedback current is compared with reference current, and errors signal, after PI regulates, is adopted
Export PWM waveform by SVPWM mode, control current of electric and quickly follow instruction current.During low speed, due to winding back emf relatively
Little, the integral action that regulated by PI can the interference of basic neutralisation back-emf, thus total current controling characteristic is good.At a high speed
Time, due to the interference of winding back emf so that applied voltage reduces with the difference of electromotive force, and current changing rate reduces, actual electricity
Obvious amplitude, phase deviation is will appear between stream and given electric current.When motor speed is the highest, actual current is difficult to follow the tracks of and gives
Electric current.
Requiring high accuracy direct torque, speed controlling and the occasion of position control, it is necessary to consider more perturbation and disturb
The uncertain factor impact on control system such as dynamic, otherwise, directly drives based on torque motor and will lose the meaning originally hoped
Justice.
Utility model content
The purpose of this utility model is the shortcoming overcoming above-mentioned prior art, it is provided that a kind of multipole moment motor servo control
Device processed.Can reduce electromechanics disturbs the impact on torque motor, improves the handling of controller.
The purpose of this utility model solves by the following technical programs:
This multipole moment servomotor controller, including position coder, position coder is micro-with main controller and ratio
Sub-controller connects；Proportional plus derivative controller is connected with Pseudo-derivative-feedback controller and speed calculation module；Speed calculation module
It is connected with position coder；Pseudo-derivative-feedback controller also with the rod changer assembly being in parallel mutually and space vector of voltage generator
Connect；Rod changer assembly is also connected with inverter；Space vector of voltage generator is connected with inverter；Inverter and three-phase symmetrical
Winding connects；Described main controller is DSP chip.
Further, feature of the present utility model also resides in:
Wherein rod changer assembly includes Clarke transform device and the park transforms device being in series mutually；Wherein park transforms device with
Pseudo-derivative-feedback controller, Clarke transform device is connected with inverter.
Wherein it is provided with phase current sensing circuit between inverter and Clarke transform device.
Wherein it is connected with current ratio integration control between Pseudo-derivative-feedback controller and space vector of voltage generator in turn
Device processed and Parker's inverse converter.
Wherein it is provided with positioner between main controller and proportional plus derivative controller.
Wherein positioner is robust position controller or insert type positioner.
Wherein three-phase symmetric winding includes current detecting ring, position of magnetic pole detection ring and velocity measuring ring.
Wherein main controller have 16 general purpose timers, 16 pulsewidth modulation passages, programmable PWM dead zone function and
Incremental optical-electricity encoder interface circuit.
Wherein main controller also has power drive protection terminal input pin and analog-digital converter.
The beneficial effects of the utility model are: using DSP chip as main controller, this chip has by force
Big calculation function, and quickly digital processing capabilities.It is capable of high accuracy direct torque, speed controlling and position control
System；And use microelectronic component to instead of machinery originally and electromechanical structure, make controller obtain higher performance, reduce
Cost, reduces the volume of torque motor；And eliminate the interference of original various electromechanics.Employing space vector of voltage occurs
Device output pulse width modulation waveform, preferably controls current of electric and quickly follows instruction current.
Further, use park transforms device and Clarke transform device, as converter assembly, phase current is converted to dq
In rotating coordinate system, facilitate the comparison of phase current and reference input electric current.
Further, phase current sensing circuit is used for extracting stator feedback phase current.
Further, ideal controlled quentity controlled variable is sent out by pi controller and Parker's inverse converter by space vector of voltage
Raw device output pulse width modulated signal, thus drive inverter, obtain the actual current controlling directly to drive multipole moment motor.
Accompanying drawing explanation
Fig. 1 is circuit theory diagrams of the present utility model.
Wherein: 1 is main controller；2 is positioner；3 is proportional plus derivative controller；4 is Pseudo-derivative-feedback controller；5
For current ratio integral controller；6 is Parker's inverse converter；7 is space vector of voltage generator；8 is inverter；9 is three-phase
Symmetric winding；10 is Clarke transform device；11 is park transforms device；12 is position coder；13 is speed calculation module.
Detailed description of the invention
Below in conjunction with the accompanying drawings this utility model is described in further detail:
This utility model provides a kind of multipole moment motor servo controller, as it is shown in figure 1, include main controller 1, master control
Device 1 is DSP chip；Main controller 1 is connected with proportional plus derivative controller 3 by positioner 2, position control
Device 2 is robust position controller or insert type positioner；Main controller 1 is also connected with position coder 12；Proportion differential control
Device 3 processed is also connected with Pseudo-derivative-feedback controller 4 and speed calculation module 13, and speed calculation module 13 is with position coder 12 even
Connect；Pseudo-derivative-feedback controller 4 is connected with rod changer assembly, and Pseudo-derivative-feedback controller 4 is by current ratio integral controller 5
Being connected with space vector of voltage generator 7 with Parker's inverse converter 6, space vector of voltage generator 7 is connected with inverter 8；Its
Middle rod changer assembly is arranged in parallel with current ratio integral controller 5, Parker's inverse converter 6 and space vector of voltage generator 7；
Wherein rod changer assembly includes clarke changer 10 and the park transforms device 11 being in series mutually；Wherein park transforms device 11 is micro-with puppet
Dividing feedback controller 4, Clarke transform device 10 is connected with inverter 8；It is additionally provided with between inverter 8 and Clarke transform device 10
Phase current sensing circuit；Inverter 8 is connected with three-phase symmetric winding 9, and wherein three-phase symmetric winding 9 includes current detecting ring, magnetic
Position, pole detection ring and velocity measuring ring.
Wherein DSP chip has powerful calculation function, and it have employed Harvard bus structures, streamline
Technology, has hardware multiplier and some special instructions flexibly, makes chip have very quickly digital processing capabilities.This reality
With novel preferred TI family chip, this chip has the module required for motor drives, and its arithmetic speed is up to 30MIPS, instruction
Cycle is 33ns.DSP chip also has 2 16 general purpose timers, 8 16 pulsewidth modulation passages, can compile
The PWM dead zone function of journey, incremental optical-electricity encoder interface circuit, power drive protection terminal input pin and analog digital conversion
Device；And DSP chip can directly export 6 road pulse-width signals.
As it is shown in figure 1, circuit operation logic of the present utility model is: assigned position angle instruction by main control computer 1With position
Put the actual angle θ of encoder 12 feedbackγRelatively；Then it is calculated speed by positioner 2 and proportional plus derivative controller 3
Degree reference inputMotor speed ω is detected by speed calculation module 13rReference rotation velocity with inputAccording to rotating speed with
The relation of torque, is calculated the reference input i of stator current by Pseudo-derivative-feedback controller 4sqref。
Stator feedback phase current iA、iBIt is extracted by phase current sensing circuit, then by Clarke transform device 10
Convert them to isα、isβIn stator two phase coordinate system, then by park transforms device 11, by isα、isβBe converted to isd、isqArrive
In d, q rotating coordinate system.Fed-back current signals i in d, q rotating coordinate systemsd、isqReference input i with themsdref、isqref
Compare；Then preferable controlled quentity controlled variable u is obtained by current ratio integral controller 5sdref、usqref, by Parker's inverse transformation
Device 6 inverse transformation obtains usαref、usβref, and by usαref、usβrefDeliver to space vector of voltage generator 7, and output pulse width modulation
Signal, thus drive inverter 8 to obtain the actual current controlling directly to drive multipole moment motor.The speed of three-phase symmetric winding 9
Degree detection ring produces stator current reference value, and position of magnetic pole detection ring produces speed reference set-point, and current detecting ring obtains reality
Border control signal；Thus constitute vector controlled three closed loop system that a position, speed and electric current are complete.Foundation servosystem drives
The kinetic character of dynamic load campaign, appropriate design three closed-loop regulator parameter, take special control strategy, make servosystem
Meet the requirement of technical specification.
Claims (9)
1. a multipole moment servomotor controller, it is characterised in that include position coder (12), position coder (12)
It is connected with main controller (1) and proportional plus derivative controller (3)；Proportional plus derivative controller (3) and Pseudo-derivative-feedback controller (4) and speed
Degree computing module (13) connects；Speed calculation module (13) is connected with position coder (12)；Pseudo-derivative-feedback controller (4) is also
It is connected with the rod changer assembly being in parallel mutually and space vector of voltage generator (7)；Rod changer assembly is also with inverter (8) even
Connect；Space vector of voltage generator (7) is connected with inverter (8)；Inverter (8) is connected with three-phase symmetric winding (9)；
Described main controller (1) is DSP chip.
Multipole moment servomotor controller the most according to claim 1, it is characterised in that described rod changer assembly includes
The Clarke transform device (10) being in series mutually and park transforms device (11)；Wherein park transforms device (11) controls with Pseudo-derivative-feedback
Device (4), Clarke transform device (10) is connected with inverter (8).
Multipole moment servomotor controller the most according to claim 2, it is characterised in that described inverter (8) with gram
Clarke changer is provided with phase current sensing circuit between (10).
Multipole moment servomotor controller the most according to claim 1, it is characterised in that described Pseudo-derivative-feedback controls
Current ratio integral controller (5) and Parker's inverse converter it is connected with in turn between device (4) and space vector of voltage generator (7)
(6)。
Multipole moment servomotor controller the most according to claim 1, it is characterised in that described main controller (1) with than
Positioner (2) it is provided with between example derivative controller (3).
Multipole moment servomotor controller the most according to claim 5, it is characterised in that described positioner (2)
For robust position controller or insert type positioner.
Multipole moment servomotor controller the most according to claim 1, it is characterised in that described three-phase symmetric winding
(9) current detecting ring, position of magnetic pole detection ring and velocity measuring ring are included.
8. according to the multipole moment servomotor controller described in claim 1-7 any one, it is characterised in that described master control
Device (1) has 16 general purpose timers, 16 pulsewidth modulation passages, programmable PWM dead zone function and increment photoelectric and compiles
Code device interface circuit.
Multipole moment servomotor controller the most according to claim 8, it is characterised in that described main controller (1) also has
There are power drive protection terminal input pin and analog-digital converter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620882118.6U CN205883104U (en) | 2016-08-15 | 2016-08-15 | Multipole moment servo motor controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620882118.6U CN205883104U (en) | 2016-08-15 | 2016-08-15 | Multipole moment servo motor controller |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205883104U true CN205883104U (en) | 2017-01-11 |
Family
ID=57704196
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620882118.6U Expired - Fee Related CN205883104U (en) | 2016-08-15 | 2016-08-15 | Multipole moment servo motor controller |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205883104U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111130409A (en) * | 2019-12-24 | 2020-05-08 | 重庆大学 | Ultra-low speed high-precision positioning control method of frameless torque motor |
-
2016
- 2016-08-15 CN CN201620882118.6U patent/CN205883104U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111130409A (en) * | 2019-12-24 | 2020-05-08 | 重庆大学 | Ultra-low speed high-precision positioning control method of frameless torque motor |
| CN111130409B (en) * | 2019-12-24 | 2022-08-19 | 重庆大学 | Ultra-low speed high-precision positioning control method of frameless torque motor |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170111 Termination date: 20170815 |