CN206807331U - A kind of helm control circuit for multichannel brushless electric machine - Google Patents
A kind of helm control circuit for multichannel brushless electric machine Download PDFInfo
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- CN206807331U CN206807331U CN201720715904.1U CN201720715904U CN206807331U CN 206807331 U CN206807331 U CN 206807331U CN 201720715904 U CN201720715904 U CN 201720715904U CN 206807331 U CN206807331 U CN 206807331U
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Abstract
It the utility model is related to Motor Control Field, and in particular to a kind of helm control circuit for multichannel brushless electric machine.Helm control circuit provided by the utility model for multichannel brushless electric machine between dsp chip and drive circuit by increasing by a CPLD control chips, allow the CPLD control chips to undertake and receive motor hall signal, and produce the intelligence for the PWM ripple signals for controlling each rotor drive circuit, efficiently solve existing four road electric steering engine control occasion, during using a dsp chip as control chip, due to collection step-out occurs when the limitation of DSP performances causes controlled motor rotating speed more than 2000rpm/min, motor steering fails, the problem of causing motor speed to be limited.
Description
Technical field
It the utility model is related to Motor Control Field, and in particular to a kind of servos control electricity for multichannel brushless electric machine
Road.
Background technology
In the occasion using four road electric steering engines, because electric steering engine is based on brushless electric machine control, and brushless electric machine is to use Hall
Sensor replaces old-fashioned brush, and to rotor commutation control, this just needs the Hall sensor feedback of controller reception brushless electric machine
Motor rotor position signal；In conventional art as shown in Figure 1, one dsp chip of generally use is as control chip, still
The CAP units of traditional dsp chip only have the collection of the tunnels of Liang Zu six, in view of resource constraint, can only be using DSP four group of 12 road I/0
Port carries out signal acquisition with 1ms timing terminal speed, the substantial amounts of resources of DSP is occupied, nonetheless, due to hall signal
Reading rate be 1ms each, motor can be also caused using such scheme when rotating speed is more than 2000rpm/min, hall signal
Step-out is gathered, so as to cause motor steering to fail, steering wheel operation is out of control；Therefore, individually four road electric steering engines are entered using dsp chip
Row control, it is necessary to strictly limit steering wheel rotating speed in below 2000rpm/min, and actually brshless DC motor according at a high speed
Bearing, theoretical rotational speed may be up to hundreds of thousands per minute and turn, therefore, for needing while controlling the occasion of multichannel motor, only with
DSP, which is controlled, is unable to reach control requirement.
Utility model content
Goal of the invention of the present utility model is：Occasion is controlled for existing four road electric steering engine, is made using a dsp chip
For control chip when, due to DSP performances limitation cause controlled motor rotating speed more than 2000rpm/min when collection step-out occurs,
Motor steering fails, the problem of causing motor speed be limited, there is provided the multichannel that a kind of uncontrolled device performance of motor speed limits
Circuit for controlling motor.
To achieve the above object, the utility model provides following technical scheme：
A kind of helm control circuit for multichannel brushless electric machine, the multichannel brushless electric machine are four controlled motors, often
Three Hall sensors are provided with platform controlled motor；
Including,
Dsp chip, the controlled signal input of dsp chip is connected with host computer, for receiving control signal；Meanwhile DSP
The signal input part of chip is connected with the potentiometer in each controlled motor, is believed for potentiometer in real-time reception controlled motor
Number；The dsp chip also includes four road PWM wave output terminals and four road direction control signal output ends；The PWM wave output terminals,
Control signal input of the direction control signal output end with CPLD control chips is connected；
CPLD control chips, it also includes 12 signal input parts, 12 signal input parts respectively with four by
Control 12 Hall sensors connection in motor；CPLD control chips also include 24 signal output parts, and described 20
Four signal output parts are divided into four groups, and every group of signal output part exports 6 pwm signals to drive circuit, for control one by
Control motor.
Further, including simultaneously the secondary power supply electricity being connected with dsp chip, CPLD control chips and drive circuit
Road, the secondary power supply circuit are used to provide suitable voltage for dsp chip, CPLD control chips and drive circuit.
Further, the drive circuit of every controlled motor includes, three driving chips and a three phase full bridge circuit；
Three output ends of the three phase full bridge circuit are connected with three coils of the controlled three phase electric machine respectively；
Three driving chips are respectively the first driving chip, the second driving chip, the 3rd driving chip, each driving chip
It is connected with the two-way PWM control wave output terminals of CPLD control chips, for controlling a bridge arm in three phase full bridge circuit respectively
On two power tubes up and down.
Further, the dsp chip include be sequentially connected AD conversion module, filtration module, PID computing modules and
PWM ripple generation modules；
Wherein, the signal input part of the AD conversion module and dsp chip connects, for by the potentiometer in controlled motor
Signal, which is converted to, to be transferred to filtration module after data signal and carries out FIR filtering, and PID computing modules accept filter module transmission simultaneously
Position signalling and upper transmission control signal, and carry out integral separating PID calculating according to both；The PWM ripples generate mould
Root tuber generates PWM ripples according to the result of calculation of PID computing modules and exported；
The PID computing modules generate commutation control signal according to result of calculation simultaneously and exported to CPLD chips.
Further, it is provided with optocoupler between the CPLD control chips and drive circuit.
Further, optocoupler is set between the dsp chip and the CPLD control chips.
Preferably, CPLD control chips use EPM570T100I5N.
Preferably, the driving chip is half-bridge driver IR2108S.
Preferably, the power tube is IRF540NS.
Compared with prior art, the beneficial effects of the utility model are：It is provided by the utility model to be used for the brushless electricity of multichannel
The helm control circuit of machine allows the CPLD to control core by increasing by a CPLD control chips between dsp chip and drive circuit
Piece, which undertakes, receives motor hall signal, and produces the intelligence for the PWM ripple signals for controlling each rotor drive circuit, efficiently solves
Existing four road electric steering engine control occasion, during using a dsp chip as control chip, due to DSP performances limit cause it is controlled
Occur collection step-out when motor speed is more than 2000rpm/min, motor steering failure, the problem of causing motor speed to be limited.
Brief description of the drawings
Fig. 1 is multi-motor control circuit structure block diagram in the prior art.
Fig. 2 is the multi-motor control circuit structure block diagram based on CPLD provided in the utility model.
Fig. 3 is dsp chip structure principle chart in the utility model.
Fig. 4 is CPLD and driving chip, full-bridge circuit connection diagram in the utility model.
Fig. 5 a to Fig. 5 f are the change of Hall level and resultant magnetic field in one swing circle of rotor.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describing, it is clear that described embodiment is only the utility model part of the embodiment, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment obtained, belong to the scope of the utility model protection.
It is well known that in three-phase brushless dc motor three Hall sensors H1, H2, H3 be respectively separated 120 degree it is equal
Even to be arranged on below machine winding, corresponding with tri- winding initial positions of AX, BY, CZ, the output signal of Hall sensor is number
Word signal, when external magnetic field direction is timing, export as just, and the polarity in magnetic field often converts once, output signal just occurs one
Secondary saltus step.To make illustrative ease, the number of pole-pairs of rotor elects 1 as.It is assumed that the initial position of rotor is located at 0 °, now H1 is located at rotor
Interpolar center line on, its output level can this position occur saltus step：If the N poles of rotor are close to it, output level
1 is jumped to by 0, conversely, output level jumps to 0 from 1, and H2=0, H3=1.
If it is powered to winding AX and BY, and current direction is A → X → Y → B, determines that energization winding is each using the right-hand rule
The magnetic direction of self-forming produces turning moment as illustrated, then there is angle in the direction of resultant magnetic field and the direction of rotor field,
Drive rotor rotates counterclockwise.The angle for making rotor turn over is θ, as 60 ° of 0 °≤θ ＜, three Hall sensors
Output level is H1=1, H2=0, H3=1.
If keeping the "on" position constant, rotor is eventually parked on the straight line where winding resultant magnetic field.Make rotor
Continuous rotation, the "on" position of winding must change with the change of rotor-position.In a swing circle of rotor, three
Saltus step occurs for saltus step six times altogether of the level of Hall sensor, i.e., the level for just having a Hall sensor every 60 °, and winding leads to
Electricity condition changes therewith, and resultant magnetic field does not stop to rotate with turning moment drive rotor caused by rotor field；Thus, motor
Controlled operation be one " change of winding "on" position " → " change of winding resultant magnetic field direction " → " rotor rotation " → " Hall
The closed loop control process of sensor output level change " → " change of winding "on" position ".
Detailed, in a swing circle, saltus step process such as Fig. 5 a to Fig. 5 f of three Hall sensor output levels
It is shown：
Before rotor goes to Fig. 5 b positions by Fig. 5 a counterclockwise, the resultant magnetic field of stator remains constant, until rotor
Fig. 5 b positions are turned to, stator resultant magnetic field just changes to Fig. 5 b positions simultaneously.It can be seen that stator resultant magnetic field is a kind of step-type
Rotating excitation field, each stepping angle are 60 °.Meanwhile power tube completes a change of current when rotor often turns over 60 ° of electrical angles.Thus
The logic state of three-phase brushless dc motor can be drawn as shown in Table 1 and Table 2：
The three-phase brushless dc motor logic state (rotate counterclockwise) of table 1
The three-phase brushless dc motor logic state (turning clockwise) of table 2
In upper table, "+" represents that winding current direction is A → X, B → Y or C → Z；"-" represent winding current direction be X →
A, Y → B or Z → C；" 0 " represents winding no power.During rotate counterclockwise, winding power-up sequence is：AB→AC→BC→BA→CA
→CB→AB；When turning clockwise, winding power-up sequence is：BC→AC→AB→CB→CA→BA→BC.
Embodiment 1：As shown in Fig. 2 the present embodiment provides a kind of helm control circuit for multichannel brushless electric machine, including
Four controlled motors, three Hall sensors are provided with every controlled motor；Also include,
Dsp chip, the controlled signal input of dsp chip is connected with host computer, for receiving control signal；Meanwhile DSP
The signal input part of chip is connected with the potentiometer in each controlled motor, is believed for potentiometer in real-time reception controlled motor
Number；The dsp chip also includes four road PWM wave output terminals and four road direction control signal output ends；The PWM wave output terminals,
Control signal input of the direction control signal output end with CPLD control chips is connected.
Specifically, as shown in figure 3, the dsp chip includes AD conversion module, the filtration module being sequentially connected, PID is calculated
Module and PWM ripple generation modules；Wherein, the signal input part of the AD conversion module and dsp chip connects, for will be controlled
Potentiometer signal in motor is transferred to filtration module progress FIR filtering after being converted to data signal, and PID computing modules connect simultaneously
The position signalling of filtration module transmission and the control signal of upper transmission are received, and integral separating PID calculating is carried out according to both；Institute
PWM ripples generation module is stated to generate PWM ripples according to the result of calculation of PID computing modules and export；The PID computing modules while root
Commutation control signal is generated according to result of calculation and is exported to CPLD chips.
System also includes, CPLD control chips, specifically, CPLD control chips also include 12 signal input parts, should
12 signal input parts are connected with 12 Hall sensors in four controlled motors respectively；CPLD control chips also include
24 signal output parts, 24 signal output parts are divided into four groups, and every group of signal output part exports 6 PWM letters
Number to drive circuit, for controlling a controlled motor.
As shown in figure 4, the drive circuit of every controlled motor includes, three driving chips and a three phase full bridge electricity
Road；Wherein, three driving chips are respectively the first driving chip, the second driving chip, the 3rd driving chip, each driving chip
It is connected with the two-way PWM control wave output terminals of CPLD control chips, for controlling a bridge arm in three phase full bridge circuit respectively
On two power tubes up and down；Three output ends of the three phase full bridge circuit, three coils with the controlled three phase electric machine respectively
Connection；
It should be noted that for loop of power circuit and small-signal control loop are separated, the pwm signal of CPLD control chips output
Into before driving chip, CPLD control chips receive PWM controls from the first control signal input, the second control signal input
Before signal and direction control signal DIR processed, CPLD control chips are required to be isolated before receiving hall signal, isolate
TLP2116 chips and TLP117 chips are respectively adopted in circuit to realize.
In the present embodiment, CPLD control chips are from the EPM570T100I5N of the series of altera corp MAX II, the device
Operating temperature range is -40 DEG C~+100 DEG C, packaged type TQFP-100, and there are 570 logic units, equivalent macroelement in inside
Number is 440, and supply voltage is 2.5V or 3.3V；Driving chip selects the half-bridge driven chip IR2108S of IR companies, the chip
It is a high voltage, high-speed power MOSFET and IGBT driving chip, supply voltage is 10V~20V, and input voltage can be
3.3V, 5V or 15V, the voltage for being applied to MOSFET drain electrodes (d) reach as high as 600V；Power tube is IRF540NS, rDS (ON)=
0.04 Ω, VGS=10V.
And control circuit control controlled motor rotate counterclockwise that the present embodiment provides and when turning clockwise, three Halls
Sensor H1, H2, H3 hall signal, six power tubes Q1, Q2, Q3, Q4, Q5, Q6 turn-on sequence, the control letter of power tube
PWM6~PWM1 of number P6~P1 and CPLD outputs logical relation such as following table：
The logical relation of each signal when the motor of table 3 rotates
When simultaneously turning off a certain two power tubes of bridge arm, by CPLD output two pwm signal level values of the group otherwise
Identical, if for example, simultaneously turn off Q5 and Q6, i.e. P6P5=00, then PWM6PWM5=01 or PWM6PWM5=10, this is by driving
What chip I R2108S input/output relation determined, used in upper table pwm signal value for 10 mode.In addition, when DSP is provided
PWM=0 when, winding no power, turn off the mode of full-bridge have it is a variety of, only to change when pwm signal level is jumped to 0 by 1
The on off state of one power tube, the upper tube (Q1, Q3 or Q5) turned on bridge arm during PWM=1 is closed, i.e., corresponding PWM letters
Number value be changed into 01 from 11.
It should be noted that the system it is natural also include simultaneously with dsp chip, CPLD control chips and driving electricity
The secondary power supply circuit of road connection, the secondary power supply circuit are used to carry for dsp chip, CPLD control chips and drive circuit
For suitable voltage.
Claims (9)
1. a kind of helm control circuit for multichannel brushless electric machine, the multichannel brushless electric machine is four controlled motors, every
Three Hall sensors are provided with controlled motor；
It is characterised in that it includes dsp chip, CPLD control chips and drive circuit；
The controlled signal input of the dsp chip is connected with host computer, for receiving control signal；Meanwhile the letter of dsp chip
Number input is connected with the potentiometer in each controlled motor, for potentiometer signal in real-time reception controlled motor；The DSP
Chip also includes four road PWM wave output terminals and four road direction control signal output ends；The PWM wave output terminals, direction controlling letter
Number control signal input of the output end with CPLD control chips is connected；
The CPLD control chips also include 12 signal input parts, 12 signal input parts respectively with four controlled electricity
12 Hall sensors connection in machine；CPLD control chips also include 24 signal output parts, described 24
Signal output part is divided into four groups, and every group of signal output part output 6 pwm signals to drive circuit, every group of signal is responsible for control one
Platform controlled motor.
2. control circuit as claimed in claim 1, it is characterised in that including simultaneously with dsp chip, CPLD control chips and
The secondary power supply circuit of drive circuit connection, it is dsp chip, CPLD control chips and driving that the secondary power supply circuit, which is used for,
Circuit provides suitable voltage.
3. control circuit as claimed in claim 1, it is characterised in that the drive circuit of every controlled motor includes, three drives
Dynamic chip and a three phase full bridge circuit；
Three output ends of the three phase full bridge circuit are connected with three coils of the controlled three phase electric machine respectively；
Three driving chips are respectively the first driving chip, the second driving chip, the 3rd driving chip, each driving chip with
The two-way PWM control wave output terminal connections of CPLD control chips, for controlling respectively in three phase full bridge circuit on a bridge arm
Upper and lower two power tubes.
4. control circuit as claimed in claim 1, it is characterised in that the dsp chip includes the AD conversion mould being sequentially connected
Block, filtration module, PID computing modules and PWM ripple generation modules；
Wherein, the signal input part of the AD conversion module and dsp chip connects, for by the potentiometer signal in controlled motor
The position that filtration module carries out FIR filtering, PID computing modules while the module transmission that accepts filter is transferred to after being converted to data signal
Confidence number and the control signal of upper transmission, and carry out integral separating PID calculating according to both；The PWM ripples generation module root
PWM ripples are generated according to the result of calculation of PID computing modules and are exported；
The PID computing modules generate commutation control signal according to result of calculation simultaneously and exported to CPLD chips.
5. control circuit as claimed in claim 1, it is characterised in that set between the CPLD control chips and drive circuit
There is optocoupler.
6. control circuit as claimed in claim 1, it is characterised in that between the dsp chip and the CPLD control chips
Optocoupler is set.
7. control circuit as claimed in claim 1, it is characterised in that CPLD control chips use EPM570T100I5N.
8. control circuit as claimed in claim 3, it is characterised in that the driving chip is half-bridge driver IR2108S.
9. control circuit as claimed in claim 3, it is characterised in that the power tube is IRF540NS.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720715904.1U CN206807331U (en) | 2017-06-20 | 2017-06-20 | A kind of helm control circuit for multichannel brushless electric machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720715904.1U CN206807331U (en) | 2017-06-20 | 2017-06-20 | A kind of helm control circuit for multichannel brushless electric machine |
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| Publication Number | Publication Date |
|---|---|
| CN206807331U true CN206807331U (en) | 2017-12-26 |
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ID=60747899
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720715904.1U Expired - Fee Related CN206807331U (en) | 2017-06-20 | 2017-06-20 | A kind of helm control circuit for multichannel brushless electric machine |
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| CN (1) | CN206807331U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107241032A (en) * | 2017-06-20 | 2017-10-10 | 四川建筑职业技术学院 | Multi-channel electric steering gear control system based on brushless electric machine |
| CN111007778A (en) * | 2019-12-24 | 2020-04-14 | 陕西航天时代导航设备有限公司 | Dual-redundancy detection and control system for unmanned aerial vehicle |
-
2017
- 2017-06-20 CN CN201720715904.1U patent/CN206807331U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107241032A (en) * | 2017-06-20 | 2017-10-10 | 四川建筑职业技术学院 | Multi-channel electric steering gear control system based on brushless electric machine |
| CN111007778A (en) * | 2019-12-24 | 2020-04-14 | 陕西航天时代导航设备有限公司 | Dual-redundancy detection and control system for unmanned aerial vehicle |
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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: 20171226 Termination date: 20210620 |