CN213937783U

CN213937783U - Permanent magnet synchronous motor control system adopting sensorless double-ring starting technology

Info

Publication number: CN213937783U
Application number: CN202023135857.4U
Authority: CN
Inventors: 魏振; 姚广; 赵武玲; 任祥正; 张楠
Original assignee: Research Institute of Physical and Chemical Engineering of Nuclear Industry
Current assignee: Research Institute of Physical and Chemical Engineering of Nuclear Industry
Priority date: 2020-12-23
Filing date: 2020-12-23
Publication date: 2021-08-10
Anticipated expiration: 2030-12-23

Abstract

The utility model discloses a permanent magnet synchronous motor control system adopting sensorless double-ring starting technology, which comprises a main control mechanism and a permanent magnet synchronous motor driver; the main control mechanism comprises a single alternating current power supply, a diode rectifier bridge, a direct current booster circuit and a three-phase inverter bridge which are sequentially connected, wherein the output end of the three-phase inverter bridge is connected with the permanent magnet synchronous motor; the permanent magnet synchronous motor driver comprises a DSP control board, and a power supply circuit, a communication circuit, a PWM driving circuit and a signal acquisition circuit which are respectively and electrically connected with the DSP control board, wherein the DSP control board of the power supply circuit provides direct current, and the communication circuit realizes communication with an external host. The utility model discloses the start-up technique is simple effective, need not to add any hardware circuit, can effectively replace the monocycle starting mode of motor sensorless, avoids the emergence of phenomena such as impulse current, torque imbalance that exist in its start-up process, realizes the rotational speed electric current dicyclo start-up under the motor sensorless.

Description

Permanent magnet synchronous motor control system adopting sensorless double-ring starting technology

Technical Field

The utility model belongs to PMSM control field, concretely relates to PMSM control system who adopts sensorless dicyclo starting technique.

Background

The permanent magnet synchronous motor has the advantages of high power density, excellent torque performance, easiness in maintenance and the like, and is widely applied to the fields of servo systems, industrial control and the like. At present, a plurality of permanent magnet synchronous motors all adopt a control mode without a position sensor, and although the cost and the installation difficulty of the motor are reduced and the reliability of a system is improved, the control mode without the position sensor has certain limitation.

The sensorless control mode usually adopts a detection method of a sliding mode observer, and the sliding mode observer calculates the rotor position angle by detecting the back electromotive force of the motor, so that the sliding mode observer cannot accurately estimate the rotor position in the static state of the motor, and the motor cannot be started automatically. In order to solve the problem, a mode of V/F (output voltage/frequency) or I/F (current/frequency) is generally adopted, the motor is firstly brought to a certain rotating speed, and after the sliding mode observer can accurately estimate the position and the speed of the rotor at the rotating speed, the rotating speed and the current are switched to a control mode of rotating speed and current. However, no matter what kind of mode is adopted for starting, the switching needs to be carried out by a single current ring to a double-ring control mode of rotating speed and current, and because the current of the motor and the position angle of the rotor before and after the switching have great difference, even if a smooth switching mode is adopted, the phenomena of impact current, torque imbalance and the like in the switching process cannot be avoided, and even the switching failure condition exists. In order to avoid the situation, the control mode based on the pulse vibration high-frequency voltage injection method is firstly adopted by some methods to complete the double-loop starting of the motor, and the mode is switched to the mode based on the sliding mode observer after a certain rotating speed is reached.

SUMMERY OF THE UTILITY MODEL

The utility model relates to a overcome the shortcoming that exists among the prior art and propose, its purpose provides an adopt permanent magnet synchronous machine control system of sensorless dicyclo starting technique.

The utility model discloses a realize through following technical scheme:

a permanent magnet synchronous motor control system adopting a sensorless double-ring starting technology comprises a main control mechanism and a permanent magnet synchronous motor driver; the main control mechanism comprises a single alternating current power supply, a diode rectifier bridge, a direct current booster circuit and a three-phase inverter bridge which are sequentially connected, wherein the output end of the three-phase inverter bridge is connected with the permanent magnet synchronous motor; the permanent magnet synchronous motor driver comprises a DSP control board, and a power supply circuit, a communication circuit, a PWM driving circuit and a signal acquisition circuit which are respectively and electrically connected with the DSP control board, wherein the DSP control board of the power supply circuit provides direct current, and the communication circuit realizes communication with an external host.

In the technical scheme, an alternating current fuse is connected in series between a live wire end of the single alternating current power supply and the diode rectifier bridge, and a smoothing reactor is connected in series between a zero line end of the single alternating current power supply and the diode rectifier bridge.

In the above technical solution, a bus capacitor is connected in series between two output terminals of the dc boost circuit.

In the above technical solution, a dc fuse is connected in series between an output terminal of the dc boost circuit and an input terminal of the three-phase inverter bridge.

In the above technical solution, the diode rectifier bridge is composed of four diodes D1-D4, the diodes of the upper arm are D1 and D3, and the diodes of the lower arm are D2 and D4, wherein the anode of the diode D1 is connected with the cathode of the diode D2 to form one arm, and the anode of the diode D3 is connected with the cathode of the diode D4 to form one arm.

In the above technical solution, the dc boost circuit includes a MOS transistor T1, and an inductor BTL and a diode BTD connected to a drain thereof, respectively, another end of the inductor BTL is connected to the voltage input terminal, a cathode of the diode BTD is connected to the voltage output terminal, a source of the MOS transistor T1 is grounded, and a gate driving signal of the MOS transistor T1 is generated by the PWM driving circuit.

In the technical scheme, the three-phase inverter bridge comprises an internal circuit and an external circuit, the internal circuit comprises six insulated bipolar transistors Q1-Q6, an upper bridge arm comprises Q1, Q3 and Q5, a lower bridge arm comprises Q2, Q4 and Q6, an emitter of Q1 is connected with a collector of Q2 to form a bridge arm, an emitter of Q3 is connected with a collector of Q4 to form a bridge arm, and an emitter of Q5 is connected with a collector of Q6 to form a bridge arm.

In the above technical solution, the PWM driving circuit drives the MOS transistor of the dc boost circuit.

In the technical scheme, the signal acquisition circuit receives the signal output by the external sensor and converts the signal into 0-3V.

In the above technical scheme, the communication circuit includes an isolation chip and a communication chip electrically connected to each other, the other end of the communication chip is connected to the communication interface, and the other end of the isolation chip is connected to the DSP control board.

The utility model has the advantages that:

the utility model provides an adopt PMSM control system of sensorless dicyclo starting technique, sensorless dicyclo starting technique algorithm is simple effective, need not to add any hardware circuit, can effectively replace the monocycle starting mode of motor sensorless, avoids the emergence of phenomena such as impulse current, torque imbalance that exist in its start-up process, realizes the rotational speed electric current dicyclo of motor sensorless and starts.

Drawings

Fig. 1 is a schematic structural diagram of a permanent magnet synchronous motor control system adopting the sensorless dual-ring starting technology of the present invention;

fig. 2 is a circuit diagram of a diode rectifier bridge in a permanent magnet synchronous motor control system adopting the sensorless double-ring starting technology of the present invention;

fig. 3 is a circuit diagram of a dc boost circuit in a pmsm control system using the sensorless dual-ring start technique of the present invention;

fig. 4 is an internal circuit diagram of a three-phase inverter bridge in a permanent magnet synchronous motor control system adopting the sensorless dual-ring starting technology of the present invention;

fig. 5 is a peripheral circuit diagram of a three-phase inverter bridge in a permanent magnet synchronous motor control system adopting the sensorless dual-ring starting technology of the present invention;

fig. 6 is a circuit diagram of a PWM driving circuit in a permanent magnet synchronous motor control system adopting the sensorless dual-ring start technology of the present invention;

fig. 7 is a circuit diagram of a signal acquisition circuit in a permanent magnet synchronous motor control system adopting the sensorless dual-ring starting technology of the present invention;

fig. 8 is a circuit diagram of a communication circuit in a pmsm control system using the sensorless dual-ring start technology.

Wherein:

1 single-phase alternating current power supply 2 diode rectifier bridge

3 DC booster circuit 4 three-phase inverter bridge

5 bus capacitor 6 DSP control panel

7 smoothing reactor 8 AC fuse

9 DC fuse 10 power supply circuit

11 communication circuit 12 PWM drive circuit

13 signal acquisition circuit 14 PWM drive module

15 optical coupler 16 three-phase inverter bridge module

17 output terminal 18 operational amplifier

The isolation chip 19 isolates the chip 20 communication chip.

For a person skilled in the art, other relevant figures can be obtained from the above figures without inventive effort.

Detailed Description

In order to make the technical solution of the present invention better understood by those skilled in the art, the technical solution of the permanent magnet synchronous motor control system using the sensorless dual ring start technology of the present invention is further described below by referring to the drawings of the specification and the specific implementation.

As shown in fig. 1, a permanent magnet synchronous motor control system using a sensorless dual-ring start technology includes a main control mechanism and a permanent magnet synchronous motor driver;

the main control mechanism comprises a single alternating current power supply 1, a diode rectifier bridge 2, a direct current booster circuit 3 and a three-phase inverter bridge 4 which are sequentially connected, wherein the output end of the three-phase inverter bridge 4 is connected with the permanent magnet synchronous motor, and an alternating current fuse 8 and a smoothing reactor 9 are arranged between the single alternating current power supply 1 and the diode rectifier bridge 2;

the diode rectifier bridge 2 converts single-phase alternating current of the single-phase alternating current power supply 1 into direct current, the smoothing reactor 7 prevents current overcurrent during capacitor charging, and the direct current voltage is lower by 280V due to single-phase alternating current rectification, so that the direct current voltage is increased to 500V by the direct current booster circuit 3, the bus capacitor 5 is used for stabilizing the direct current voltage, and the three-phase inverter bridge 4 is used for outputting three-phase alternating current voltage.

The specific circuit connection of the main control mechanism is as follows: the L end of a single-phase alternating current power supply 1 is connected with one end of an alternating current fuse 8, the N end is connected with one end of a smoothing reactor 7, one end of the alternating current fuse 8 is connected with the 1 end of a diode rectifier bridge 2, the other end of the smoothing reactor 7 is connected with the 2 end of the diode rectifier bridge 2, the 3 ends and the 4 ends of the diode rectifier bridge 2 are respectively connected with the 1 end and the 2 end of a direct current booster circuit 3, the 3 end of the direct current booster circuit 3 is connected with the positive electrode of a bus capacitor 5 and one end of a direct current fuse 9, the 4 end of the direct current booster circuit 3 is connected with the negative electrode of the bus capacitor 5 and the 2 end of a three-phase inverter bridge 4, and the other end of the direct current fuse 9 is connected with the 1 end of the three-phase inverter bridge 4. The 3, 4 and 5 ends of the three-phase inverter bridge 4 are respectively connected with A, B, C of the permanent magnet synchronous motor.

The permanent magnet synchronous motor driver comprises a DSP control board 6, and a power supply circuit 10, a communication circuit 11, a PWM (pulse-width modulation) drive circuit 12 and a signal acquisition circuit 13 which are respectively electrically connected with the DSP control board, wherein the DSP control board 6 of the power supply circuit 10 provides direct current, the PWM drive circuit 12 drives an MOS (metal oxide semiconductor) tube of the direct current booster circuit 3, and the communication circuit 11 realizes communication with an external host.

The permanent magnet synchronous motor driver is composed of a DSP control board 6, a power supply circuit 10, a communication circuit 11, a PWM (pulse width modulation) drive circuit 12 and a signal acquisition circuit 13, wherein the DSP control board 6 is a control core of the system and is used for acquiring voltage and current signals, outputting PWM signals (pulse width modulation), controlling algorithms of a motor, realizing functions of protection, communication and the like, the communication circuit 11 is mainly used for communicating with an external host, and the PWM drive circuit 12 is used for driving an MOS (metal oxide semiconductor) tube of the direct current booster circuit 3. The power supply circuit 10 provides direct current for the DSP control board 6, the power supply adopts a multi-output power supply of Mean Well, the model is QP-200F, and the power supply can simultaneously output power supplies of +24V, +/-15V, +5V and the like without designing power supply conversion, so that the complexity of the circuit is greatly saved.

As shown in fig. 2, the diode rectifier bridge 2 is composed of four diodes D1-D4, the diodes of the upper arm are D1 and D3, the diodes of the lower arm are D2 and D4, wherein the anode of the diode D1 is connected with the cathode of the diode D2 to form one arm, and the anode of the diode D3 is connected with the cathode of the diode D4 to form one arm.

As shown in fig. 3, the specific circuit connections of the dc boost circuit 3 are: the Invdc signal is connected with one end of an inductor BTL, the other end of the inductor BTL is connected with the drain electrode of a MOS tube T1 and the anode of a diode BTD, the source electrode of a MOS tube T1 is connected with GND, the grid driving signal of a MOS tube T1 is generated by the PWM driving circuit 12, and the cathode of the diode BTD is connected with an output Outvdc signal.

As shown in fig. 4, the three-phase inverter bridge 4 includes six IGBTs (insulated bipolar transistors) (Q1 to Q6), an upper arm includes Q1, Q3, and Q5, and a lower arm includes Q2, Q4, and Q6, wherein an emitter of Q1 is connected to a collector of Q2 to form one arm, an emitter of Q3 is connected to a collector of Q4 to form one arm, and an emitter of Q5 is connected to a collector of Q6 to form one arm.

The three-phase inverter bridge 3 adopts a Mitsubishi 4 th generation Intelligent Power Module (IPM) PS21964, integrates a power chip, a driving circuit and a protection circuit into the same module, has small module volume and large rated capacity, is easy to be applied to the frequency conversion control of a low-power motor, has simple peripheral circuits, does not need optical couplers or transformer isolation, can directly connect the PWM signal of a DSP to the power module, is convenient to apply, and has the peripheral circuits shown in figure 5, and the specific connection relationship is as follows:

+15V is connected to the resistor U7R1, the capacitor U7C9, and the pin 8 of the three-phase inverter bridge IPM module 16, the other end of the resistor U7R1 is connected to the anode of the diode U7D1, the cathode of the diode U7D1, the cathode of the diode U7Z1, the anode of the capacitor U7C1, and the capacitor U7C4 are connected to the pin 2 of the three-phase inverter bridge IPM module 16, and the anode of the diode U7Z1, the cathode of the capacitor U7C1, and the other end of the capacitor U7C4 are connected to the pin 23 of the three-phase inverter bridge IPM module 16 and the pin 1 of the output voltage terminal 17. +15V is connected to the resistor U7R2, the other end of the resistor U7R2 is connected to the anode of the diode U7D2, the cathode of the diode U7D2, the cathode of the diode U7Z2, the anode of the capacitor U7C2, and the capacitor U7C5 are connected to pin 3 of the three-phase inverter bridge IPM module 16, and the anode of the diode U7Z2, the cathode of the capacitor U7C2, and the other end of the capacitor U7C5 are connected to pin 22 of the three-phase inverter bridge IPM module 16 and pin 2 of the output voltage terminal 17. +15V is connected to the resistor U7R3, the other end of the resistor U7R3 is connected to the anode of the diode U7D3, the cathode of the diode U7D3, the cathode of the diode U7Z3, the anode of the capacitor U7C3, and the capacitor U7C6 are connected to the 4-pin of the three-phase inverter bridge IPM module 16, and the anode of the diode U7Z3, the cathode of the capacitor U7C3, and the other end of the capacitor U7C6 are connected to the 21-pin of the three-phase inverter bridge IPM module 16 and the 3-pin of the output voltage terminal 17. +15V is connected to the positive electrode of the capacitor U7C8, the cathode of the capacitor U7C7, the cathode of the diode U7Z4, and the pin 13 of the three-phase inverter bridge IPM module 16, the negative electrode of the capacitor U7C8, the anode of the diode U7Z4, the other end of the capacitor U7C7, and the

pins

16 and 17 of the three-phase inverter bridge IPM module 16 are connected to GND, VCC is connected to the resistor U7R4, the other end of the resistor U7R4 is connected to the PRO port and the pin 14 of the three-phase inverter bridge IPM module 16, the positive electrode of the capacitor U7C11 is connected to the pin 24 and the VDC + port of the three-phase inverter bridge IPM module 16, and the negative electrode of the capacitor U7C11 is connected to the pin 20 and the IPM port of the three-phase inverter bridge IPM module 16.

As shown in fig. 6, the PWM driving circuit 12 includes a PWM driving module 14 with a model number KP101, the PWM driving module 14 converts a PWM signal of the DSP control board into positive and negative driving signals to drive the MOS transistor in the dc boost circuit 3, and the specific connection manner is as follows:

the BTPWM signal port is connected with a resistor U4R1 and a capacitor U4C1, the other ends of the resistor U4R1 and the capacitor U4C1 are connected with a pin 2 of the PWM driving module 14, GND is connected with a pin 3 of the PWM driving module 14, +15V is connected with a pin 4 of the PWM driving module 14 and a pin 4 of the capacitor U4C3, GND is connected with a pin 5 of the PWM driving module 14 and a negative end of the capacitor U4C3, a pin 12 of the PWM driving module 14 is connected with a cathode of a zener diode U4Z1, an anode of the zener diode U4Z1 is connected with an anode of a diode U4D1, a cathode of the diode U4D1 is connected with an anode of a diode U4D2, a cathode of the diode U4D2 is connected with an Inc power supply port, a resistor U4R5 is connected with a pin 15 of the PWM driving module 14, the other end of the resistor U4R5, the other ends with a resistor U4R6, a resistor U4R7, a GTR 356, a resistor U4R 3514 and another end of the PWM driving module 3614, the other end of the resistor U4R7 is connected to pin 17 of the PWM driver module 14 and to the ETPWM port. The resistor U4R3 is connected with 18 pins of the PWM signal driving module 14, the other end of the resistor U4R3 is connected with the resistor U4R4 and 1 pin of the optical coupler 15, and the resistor U4R4 is connected with 13 pins of the PWM

signal driving module

14 and 2 pins of the optical coupler 15. The resistor U4R2 is connected with the pin 3 of the optical coupler 15 and the port PRO1, the other end of the resistor U4R2 is connected with +5V, and the pin 4 of the optical coupler 15 is connected with GND.

As shown in fig. 7, the signal acquisition circuit is mainly used for detecting signals such as motor temperature, bus dc voltage, etc., and since these signals have been converted into analog quantities of 0 to 5V by external sensors, the signals of 0 to 5V only need to be converted into 0 to 3V, and the specific connection relationship is as follows:

the signal Input output from the signal conditioning circuit (external sensor) is connected to the resistors R1 and R2, the other end of the resistor R2 is connected to GND, and the other end of the resistor R1 is connected to the resistor R3, the capacitor C1, and the positive terminal of the operational amplifier 18. The other ends of the resistor R3 and the capacitor C1 are connected to GND. The negative terminal of the operational amplifier 18 is connected to the output terminal thereof, the output terminal of the operational amplifier 18 is connected to the resistor R4, and the other terminal of the resistor R4 is connected to the capacitor C2, the negative electrode of the diode D4, and the positive electrode of the diode D5. The other end of the capacitor C2 and the anode of the diode D4 are connected to GND, and the cathode of the diode D5 is connected to + 3.3V.

As shown in fig. 8, the specific connection relationship of the communication circuit is as follows:

GPIO14 and GPIO13 of the DSP control board 6 are respectively connected with INA and OUTA of the isolation chip 19, VCCA and GNDA of the isolation chip 19 are respectively connected with +3.3V and GND, and OUTB and INB of the isolation chip 19 are respectively connected with SCITX and SCIRX ends of the communication chip 20. VCCA and GNDA of the isolation chip 19 are connected to +3.3V and GND, respectively, and VCCB and GNDB of the isolation chip 19 are connected to +3.3V and DGND, respectively. The Tx +, Tx-, Rx +, Rx-ends of the communication chip 20 are respectively connected with the communication interface.

The utility model discloses under the sensorless dicyclo starting technique, PMSM can realize the dicyclo start of rotational speed electric current, accomplishes the angle switch automatically, and it does not have any electric current impact, rotational speed fluctuation in the switching process, and the motor operation is very steady.

The applicant states that the above description is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and those skilled in the art should understand that any changes or substitutions easily conceivable by those skilled in the art within the technical scope of the present invention are within the protection scope and the disclosure scope of the present invention.

Claims

1. The utility model provides an adopt permanent magnet synchronous machine control system of sensorless dicyclo starting technique which characterized in that: the system comprises a main control mechanism and a permanent magnet synchronous motor driver; the main control mechanism comprises a single alternating current power supply (1), a diode rectifier bridge (2), a direct current booster circuit (3) and a three-phase inverter bridge (4) which are sequentially connected, and the output end of the three-phase inverter bridge (4) is connected with the permanent magnet synchronous motor; the permanent magnet synchronous motor driver comprises a DSP control board (6), and a power supply circuit (10), a communication circuit (11), a PWM (pulse-width modulation) driving circuit (12) and a signal acquisition circuit (13) which are respectively electrically connected with the DSP control board, wherein the power supply circuit (10) and the DSP control board (6) provide direct current, and the communication circuit (11) realizes communication with an external host.

2. The PMSM control system adopting the sensorless dual-ring start-up technology according to claim 1, wherein: an alternating current fuse (8) is connected in series between the live wire end of the single alternating current power supply (1) and the diode rectifier bridge (2), and a smoothing reactor (7) is connected in series between the zero wire end of the single alternating current power supply and the diode rectifier bridge (2).

3. The PMSM control system adopting the sensorless dual-ring start-up technology according to claim 1, wherein: and a bus capacitor (5) is connected between the two output ends of the direct current booster circuit (3) in series.

4. The PMSM control system adopting the sensorless dual-ring start-up technology according to claim 1, wherein: and a direct current fuse (9) is connected in series between one output end of the direct current booster circuit (3) and one input end of the three-phase inverter bridge (4).

5. The PMSM control system adopting the sensorless dual-ring start-up technology according to claim 1, wherein: the diode rectifier bridge (2) is composed of four diodes D1-D4, the diodes of an upper bridge arm are D1 and D3, the diodes of a lower bridge arm are D2 and D4, the anode of the diode D1 is connected with the cathode of the diode D2 to form a bridge arm, and the anode of the diode D3 is connected with the cathode of the diode D4 to form a bridge arm.

6. The PMSM control system adopting the sensorless dual-ring start-up technology according to claim 1, wherein: the direct current booster circuit (3) comprises an MOS transistor T1, an inductor BTL and a diode BTD, wherein the inductor BTL and the diode BTD are respectively connected with the drain electrode of the MOS transistor T1, the other end of the inductor BTL is connected with a voltage input end, the cathode of the diode BTD is connected with a voltage output end, the source electrode of the MOS transistor T1 is grounded, and a grid driving signal of the MOS transistor T1 is generated by a PWM driving circuit (12).

7. The PMSM control system adopting the sensorless dual-ring start-up technology according to claim 1, wherein: the three-phase inverter bridge (4) comprises an internal circuit and an external circuit, wherein the internal circuit consists of six insulated bipolar transistors Q1-Q6, an upper bridge arm consists of Q1, Q3 and Q5, a lower bridge arm consists of Q2, Q4 and Q6, an emitter of Q1 is connected with a collector of Q2 to form a bridge arm, an emitter of Q3 is connected with a collector of Q4 to form a bridge arm, and an emitter of Q5 is connected with a collector of Q6 to form a bridge arm.

8. The PMSM control system adopting the sensorless dual-ring start-up technology according to claim 1, wherein: the PWM driving circuit (12) drives an MOS tube of the direct current booster circuit (3).

9. The PMSM control system adopting the sensorless dual-ring start-up technology according to claim 1, wherein: the signal acquisition circuit (13) receives signals output by an external sensor and converts the signals into 0-3V.

10. The PMSM control system adopting the sensorless dual-ring start-up technology according to claim 1, wherein: the communication circuit (11) comprises an isolation chip (19) and a communication chip (20) which are electrically connected with each other, the other end of the communication chip (20) is connected with a communication interface, and the other end of the isolation chip (19) is connected with the DSP control board (6).