RU2098917C1 - Valve-type motor digital control system - Google Patents

Abstract

FIELD: control systems for commutatorless DC motors. SUBSTANCE: control system has digital position, current, and voltage sensors, digital period meter, single-phase phase shifter, multiphase amplitude regulator, three read-only storage devices, logic inverter, microcomputer with microprocessor unit; microcomputer is made for implementing compiled algorithms. This eliminates motor inverter control voltage unbalance due to elimination of subharmonic and DC component under steady state conditions. EFFECT: reduced fluctuations of motor torque. 10 dwg

Description

 The invention relates to electrical engineering, in particular to control systems of brushless DC motors (valve motors).

 Known analog control system of a valve motor containing an analog rotor position sensor, a reference voltage source, modulator, demodulator, phase-sensitive rectifier, power amplifier, frequency converter in voltage / 1 /.

 The disadvantages of this system are that subharmonics and a constant component are formed in the output voltage of the inverter of the valve motor, and there is also an asymmetry of the main harmonics, which is due to the difference in phase angles in the voltage output of the analog rotor position sensor, as well as demodulator errors and, in addition, the disadvantage is the low accuracy of optimization of the regulatory parameters, which determines the value of the efficiency of the valve motor.

 Known digital engine control system containing a microcomputer with a microprocessor, digital position, current and voltage sensors, the system also contains an analog-to-digital converter, a digital compensation compensation regulator / 2 /.

 The well-known digital engine control system has the following disadvantages: there is no possibility of reducing the number of phases in stationary mode from three to one in a digital position sensor; the system does not allow the possibility to rationally make a choice for the closed loop of the control parameter of the amplitude or phase of the output voltage of the inverter of the valve motor to ensure its maximum efficiency in all operating modes.

 The technical result to which the invention is directed is the possibility to exclude in stationary subharmonics, the constant component and the asymmetry of the main harmonics of the three phases of the voltage of the inverter of the valve motor, as a result of which the pulsations of the rotation moment of the valve motor, and therefore its vibration activity, are significantly reduced, which is especially it is important if it is used in autonomous objects, and its energy characteristics are improved, the efficiency of the valve motor is increased la. In addition, it is possible to increase the efficiency of the valve motor by optimizing the regulatory parameters (amplitudes of the fundamental harmonic of the inverter voltage and the electric angle between the voltage of the inverter and the EMF of the valve motor).

 The technical result is achieved due to the fact that the digital control system of the valve motor, containing a microcomputer with a microprocessor, digital position, current and voltage sensors, is equipped with a digital period meter, a single-phase phase regulator, multiphase amplitude controllers, three read-only memory devices and a logical inverter, while the microcomputer is configured to implement the developed algorithms to ensure a technical result.

 Figure 1 shows a diagram of a digital control system of a valve motor; in FIG. 2 calculation algorithm when starting the valve motor; figure 3 timing diagrams at startup (starting); on 4,5,6 calculation algorithm during acceleration of the valve motor; on figa, b timing diagrams illustrating the operation of a digital period meter and timing diagrams of voltages (codes) during acceleration; in FIG. 8 algorithm for calculating in stationary mode the valve motor; 9 and 10, a calculation algorithm for regenerative braking of a valve motor.

 The digital valve motor control system contains (Fig. 1) a digital position sensor 1 (DAC), including a rotor position sensor (DPR) 2 and a digital comparator 3 (KC), a digital current sensor 4 (DTC), including a current sensor 5 (DT) made in the form of a shunt, and an analog-to-digital Converter 6 (ADC), a digital voltage sensor 7 (DAC), including a voltage sensor 8 (DN), and an analog-to-digital converter 9 (ADC), a digital period meter 10 (UIP), made on a programmable timer, single-phase regulator of 11 phases (ORF), multiphase regulator of 12 am litudy (MPA) are also provided on programmable timer, read only memories 13, 14 and 15 (ROM) of the microcomputer 16 to the microprocessor (MP), the logic inverter 17 (LEE).

 Microcomputer 16 is connected to read-only memory 13, 14 and 15. Input 4 of microcomputer 16 is connected to a digital position sensor 1, and input / output 5/1 to output and input 4 of a digital period meter 10; the output 4 of the microcomputer 16 is connected to the output 1 of the single-phase phase controller 11, the input 2 of which is connected to the output of the digital position sensor 1, and the output of the single-phase controller 11 of the phase is connected to the input 6 of the microcomputer 16, the output 5 of which is connected to the input of the multiphase amplitude controller 12, one of the outputs of which are connected to the input of the logical inverter 17, and the input 1 for controlling semiconductors with inverter 18 devices connected through a filter 19 to a valve motor 20, the power circuits of which are connected to the minus of the source of current (not shown), the input 2 of the control of semiconductor devices of the inverter 18 is connected to the output of the logical inverter 17, the power circuits of which are connected to the plus of the DC source, the input-output 6/1 of the microcomputer 16 is connected to the input-output 1/6 of the digital sensor 4 current, its input-output 7/1 with input-output 1/7 of the digital voltage sensor 7, and its inputs 8, 9 and 10, respectively, with the outputs of read-only memory devices 13, 14 and 15, the inputs of which are connected to outputs 1, 2 and 3 microcomputers 16, to the inputs 1, 2 and 3 of which an operator panel is connected (not shown), input One of the digital current sensor 4 and one of the outputs 1 of the digital voltage sensor 7 are connected, to the input 1 of the digital current sensor 4 and the other input 2 of the digital voltage sensor 7, the inputs of the DC power source of the inverter 18 are connected.

The digital period meter 10 is executed on a programmable timer operating in mode 0. A single-phase controller 11 of the phase is also performed on a programmable timer [3] operating in mode 1. The multiphase amplitude controller 12 operates in mode 0. The logic inverter 17 is configured according to [4] devices 13, 4 and 15 - [5] and the microcomputer 16 - [6] In this case, the read-only memory 13 contains a program of control commands, and the read-only memory 14 and 15 contains parameter data in which there are address and data fields of optimal of the amplitudes of the first harmonics of the inverter output voltages and their optimal phase angles with respect to the EMF of the valve motor 20 for different values of the inverter voltage period and the load resistance moment of the valve motor 20. Limit (maximum values) of the ordinates of the pulse modeling functions are recorded in these constant memory devices 14 and 15 control of the inverter transistors 18 to each of the periods T _w PWM constituting the inverter voltage period T 18, in which the introduced Parts Required for data related coherent system: the modeling function commutating voltage pulse width modulator. In addition, the values of the coefficients of the PID control function are entered into the permanent storage devices 14 and 15; arbitrary torques in amplitude of the first harmonic of the output voltage of the inverter 18 or in the phase angle of the voltage of the inverter 18 and the EMF of the valve motor 20; the values of the control (limit) voltages of the inverter 18 transistors for different positions of the rotor of the valve motor 20 when starting, characterized by the codes of the digital sensor 1 of the position of the rotor of the rotor motor 20 corresponding to each phase. The limit values correspond to the maximum amplitude of the 1st harmonic of the voltage of the inverter 20.

 Digital control system of the valve motor 20 operates as follows.

) из формулы на фиг.2, в которой K_d отношение минимального в эксплуатации значения напряжения постоянного тока (U_d) к текущему (любое между минимальным и максимальным) значению его. Для первого цикла вычислений, как уже указывалось, (

). На этом заканчивается первый цикл вычислений микропроцессора микроЭВМ 16 и начинается второй цикл. После окончания первого цикла одновременно с первым генерируемым в цифровой системе импульсом U_ш с периодом T_ш в момент прохождения переднего фронта его по команде из постоянного запоминающего устройства 13 "Запись" (сигнал U_{МРА ЗП0 ,1,2}на входе на фиг.3) заносятся в счетчике его каналов три разных числа, соответствующие разным значениям

С засылкой этих чисел одновременно начинается их отсчет в трех каналах многофазного регулятора 12 амплитуды, функции которого выполняет, как уже указывалось, программируемый интервальный таймер, работающий в режиме "0" с постоянным сигналом высокого уровня на входах разрешения отсчета P₀, P₁, O₂. Согласно изложенному до и во время отсчета на выходах трех каналов Вых₀, Вых₁, Вых₂ многофазного регулятора 12 амплитуды не будет сигналов. Когда же отсчет указанных чисел закончится, а это произойдет в разное время, поскольку числа неодинаковые, на выходах многофазного регулятора 12 амплитуды будут появляться сигналы U_{МРАвыхA}, U_{МРАвыхB}, U_{МРАвыхC}, открывающие транзисторы 22, а на выходах логических инверторов 17, на входе которых также поданы выходные сигналы многофазного регулятора 12 амплитуды, будут получены сигналы U_{ли выхA}, U_{ли выхB}, U_{ли выхC}находящиеся в противофвзе с сигналами на выходе многофазного регулятора 12 амплитуды и закрывающие в разное время транзистора 23. Теперь одновременно будет открыты три транзистора 22 инвертора 18, на выходе инвертора 18 появится напряжение, ротор вентильного двигателя 20 начнет поворачиваться. После прохождения заднего фронта U_ш начнется второй цикл измерений и вычислений по тому же алгоритму, приведенному на фиг.2. Работа по указанному алгоритму продолжается до тех пор, пока T>T_пр. Когда измеренный период окажется в пределах T_пр > T > T_оп(1 + δ) где δ заданная величина, тогда наступит второй этап пуска разгон, характеризуемый существенным изменением частоты вращения вентильного двигателя 20 и осуществляемый по алгоритму, приведенному на фиг.4, который в существенной мере унифицирован с алгоритмом (фиг.8) на этапе стабилизации частоты вращения.Consider the process of starting the valve motor 20 with the actuator 21. The multiphase amplitude controller 12, according to the action of the programmable timer in mode 0, has a low level of output signals in three channels, since the counting is not performed (there are no numbers in its counters). Therefore, the transistors 22 (T ₂ , T ₄ , T ₆ ) of the inverter 18, controlled directly from the multiphase amplitude controller 12, are closed, the inverter 18 is de-energized, and voltage is not supplied to the valve motor 20. The control process begins by measuring half the period T of the voltage of the inverter 18, which is proportional to the rotation period of the valve motor 20. The signal from the digital position sensor 1 in the form of a digital single-digit code is fed to a digital period meter 10 and to a single-phase phase controller 11. Simultaneously from the three outputs (phases A, B, C) of the digital position sensor 1, signals representing a three-digit code are fed to the inputs of the microcomputer 16. Since the valve motor 20 is stationary, the period T ∞ is greater than its limit value (T _CR ), which can measure 10 period digital meter. Based on this, the digital control system determines that the valve motor 20 is in the first start-up phase of the start-up phase, the algorithm of which is shown in figure 2. Using the three-digit code at the inputs of the microcomputer 16 and the recorded table in the read-only memory 14, the microprocessor of the microcomputer 16 finds the control voltage of three phases (relative values), which are further necessary for calculation. Transistors 22 are selected controlled directly from the multiphase amplitude regulator 12, since the voltage at its outputs has a low level (0) at the beginning of each period T _w and until the end of the countdown, after which a high level appears. Given that in transistors 23 (T ₁ , T ₃ , T ₅ ), each period T _w should begin with their open state to provide a positive half-wave of the phase EMF of inverter 18 (phase A), these transistors 23 can be controlled from the multiphase amplitude controller 12 only through logical inverters 17. It should be noted that when starting, the phase shift between the EMF of the inverter 18 and its component, which compensates the EMF of the valve motor 20, is T / 4, since such a phase shift is installed between the rotor position sensor 2 and the EMF of the valve motor 20. it significantly reduces its torque. In order to increase it when starting, it is necessary to reduce the indicated phase shift to T / 12 by correspondingly changing the phase shift of the control voltage of the transistors 22, 23 of the inverter 18 relative to the voltage of the rotor position sensor 2. This correction was taken into account when compiling a table of read-only memory 14. Next, the following operations will be performed in a digital system. At the command of the read-only memory 13, the digital current sensor 4 measures the current 1 of the inverter 18 consumption. Moreover, the current of the first measurement and calculation cycle is close to or equal to zero. After reading the readings of the digital current sensor 4, the microprocessor microcomputer 16 calculates the relative value of the deviation of the current 1 ^x from the reference value of 1 _op . Obviously, in the first cycle, 1 ^x is equal to one. The processor commands from the read-only memory 13 determines the relative deviation of the amplitude of the first harmonic of the output voltage of the inverter 18 (voltage of the valve motor 20) from the steady-state value corresponding to 1 _op from the formula ΔU $\genfrac{}{}{0ex}{}{\text{x}}{\text{m1}}$ = f (ΔI ^x ) where f (ΔI ^x ) is a known PID control function, the constant coefficients of which for various modes are included in the read-only memory 14. In the first calculation cycle, the initial value U $\genfrac{}{}{0ex}{}{\text{x}}{\text{m1}}$ as well as the initial values of other quantities is equal to zero. Given that each period of pulse-width modulation begins with a pause, the microprocessor of the microcomputer 16 calculates the relative duration of the closed state of the transistors 22 of the phases A, B, C (

) from the formula of FIG. 2, in which K _{d is the} ratio of the minimum in operation value of the DC voltage (U _d ) to the current value (any between minimum and maximum). For the first cycle of calculations, as already indicated, (

) This ends the first cycle of calculations of the microprocessor of the microcomputer 16 and the second cycle begins. After the end of the first cycle, simultaneously with the first pulse U _w generated in the digital system with a period T _w at the moment of the leading edge passing it by command from the read-only memory 13 (Record U _{MPA ZP0 , 1.2} signal in Fig. 3) three different numbers corresponding to different values are entered in the counter of its channels

With the input of these numbers, they simultaneously begin counting in three channels of the multiphase amplitude controller 12, the functions of which are performed, as already indicated, by a programmable interval timer operating in the "0" mode with a constant high-level signal at the reference resolution inputs P ₀ , P ₁ , O ₂ . According to the foregoing, before and during the countdown, there will be no signals at the outputs of the three channels Output ₀ , Output ₁ , Output _{2 of the} multiphase amplitude controller 12. When the countdown of the indicated numbers ends, and this will happen at different times, since the numbers are not the same, the signals U _{MPAvy A} , U _MPAvyB , U _MPAvyC will open at the outputs of the multiphase amplitude controller 12, opening transistors 22, and at the outputs of logic inverters 17, at the input of which also fed the output signals of the multiphase regulator 12, the amplitude will be obtained _{if vyhA} signals U, U _{vyhB whether, if} U _vyhC protivofvze are in the signals at the output of the amplitude of the multiphase regulator 12 and closing at different time transistor 23. Teper will simultaneously open the three transistors 22, inverter 18, the inverter output voltage 18 appears, valve motor rotor 20 begins to rotate. After passing the trailing edge U _W , the second cycle of measurements and calculations will begin according to the same algorithm shown in figure 2. Work on the indicated algorithm continues until T> T, _etc. When the measured period is in the range T _ol >T> T _op (1 + δ) where δ is the specified value, then the second stage of the start-up acceleration will begin, characterized by a significant change in the rotational speed of the valve motor 20 and carried out according to the algorithm shown in figure 4, which substantially unified with the algorithm (Fig. 8) at the stage of stabilization of the rotational speed.

Если оно выполняется, что имеет место при относительно большом T, то кроме вычислений отклонения регулируемой величины ΔI^x и используемой в качестве регулирующего параметра в замкнутом контуре амплитуды U $\genfrac{}{}{0ex}{}{\text{x}}{\text{m1}}$ по приведенным формулам микропроцессор микроЭВМ 16 определяет из постоянного запоминающего устройства 15 оптимальный электрический угол θ между ЭДС инвертора 18 и ее составляющий, компенсирующей противоЭДС вентильного двигателя 20, для найденного T и заданного M_с, рассчитывают временной сдвиг фаз t_θ и время задержки t₃ фазной ЭДС инвертора 18 относительно напряжения датчика 2 положения ротора, в свою очередь сдвинутого по фазе на T/4 противоЭДС вентильного двигателя 20, которые определяются по формулам на фиг. 4. Код t₃ закладывается в счетчик канала 0 однофазного регулятора 11 фазы (фаза A). Для образования первого импульса широтно-импульсной (с периодом T_ш) ЭДС фазы A инвертора 18 и соответствующих номеров и, следовательно, параметров импульсов широтно-импульсной модуляции ЭДС фаз B и C сначала микропроцессоров микроЭВМ 16 определяются из постоянного запоминающего устройства 14 относительно величины ординат предельных синусоидальных напряжений управления транзисторами 22 с объединенными коллекторами U_{УП A,B,C}. Для обеспечения симметрии напряжения управления в постоянном запоминающем устройстве 14 должны быть заложены значения трех синусоид

, сдвинутых по фазе на 120 эл.град. в течение периода T_пр через десятую долю, или единицу или десяток микросекунд. Далее рассчитываются по приведенным на фиг. 4 формулам относительные длительности закрытого состояния транзисторов 22

Очевидно эти величины для транзисторов 23 с объединенными эмиттерами, обозначаемые

, представляет относительные длительности их открытого состояния. Следовательно справедливо равенство

Управление для определения

приведено на фиг. 4. Когда завершится отсчет числа t₃, заложенного в счетчик канала 0 фазы A однофазного регулятора 11 фазы (см. передний фронт сигнала U_{ОРФвыхA} на фиг. 7б), спустя некоторое время при прохождении переднего фронта первого сигнала широтно-импульсной модуляции (U_ш) производится по команде "Запись" (сигнала U_{МРА вых A,B,C}) закладка трех разных кодов

в счетчике трех каналов многофазного регулятора 12 амплитуды и немедленно после этого начинается отсчет заложенных чисел. Тем самым осуществляется в момент t_г первое управление от выходов U_{МРА вых A,B,C} транзисторами 22 по алгоритму на фиг. 4. Одновременно от выходов логических инверторов 17 напряжениями U_{ли вых A,B,C} осуществляется управление транзисторами 22. Непосредственно после закладки чисел в счетчике многофазного регулятора 12 амплитуды начинается второй цикл измерений и вычислений микропроцессора микроЭВМ 16 по алгоритму на фиг. 4 с предварительным выполнением операций по алгоритму на фиг. 2. На фиг. 7б показаны временные диаграммы сигналов цифрового датчика 1 положения, однофазного регулятора 11 фазы, многофазного регулятора 12 амплитуды, первой гармоники напряжения (U_A1) инвертора 18 и его составляющей, компенсирующей ЭДС двигателя (-l_A). В случае невыполнения неравенства производных на фиг. 4, что возможно при относительно большой частоте вращения вентильного двигателя 20 (малый T), в замкнутом контуре используется как регулирующий параметр электрический угол θ, к изменению которого более чувствительна система регулирования. Определение пропорционального углу q времени t_θ производится микропроцессором микроЭВМ 16 с помощью также уравнения ПИД регулирования по относительной величине отклонения измеренного тока 1 от опорного значения согласно алгоритму на фиг. 4; микропроцессором микроЭВМ 16 также определяется время задержки t₃ и код его закладывается в счетчик канала 0 однофазного регулятора 11 фазы (фаза A). Отсчет кода начинается по команде в момент прохождения переднего фронта сигнала цифрового датчика 1 положения (фаза A), поступающего на вход "Разрешение отсчета" (P₀) однофазного регулятора 11 фазы. Затем по команде из постоянного запоминающего устройства 14 находится оптимальная амплитуда U $\genfrac{}{}{0ex}{}{\text{x}}{\text{m1}}$ , единая для трех фаз, а из постоянного запоминающего устройства 15 раздельно для каждой из фаз A, B, C определяются относительные величины ординат синусоидальных предельных напряжений управления транзисторами 22, 23 (

). Далее микропроцессор микроЭВМ 16 вычисляет относительные длительности закрытого состояния транзисторов 22 (а значит открытого состояния транзисторов 23) по формулам на фиг. 4, полученным для случая, когда U $\genfrac{}{}{0ex}{}{\text{x}}{\text{m1}}$ не зависит от ΔI^x, а определяется по команде из постоянного запоминающего устройства 14. В момент прохождения переднего фронта импульса напряжения U_ш, следующего непосредственно за окончанием отсчета числа (кода) t₃ в канале 0 однофазного регулятора 11 фазы (фаза A), закладываются коды

в счетчики каналов 0, 1, 2 многофазного регулятора 12 амплитуды и непосредственно после закладки начинается отсчет этих чисел, а микропроцессор микроЭВМ 16 начинает следующий цикл вычислений, а также измерений. После окончания отсчета на выходах указанных каналов образуются в разное время три напряжения высокого уровня разной длительности, которые обуславливают требуемые токи в базах транзисторов 22 и одновременно низкие (нулевые) уровни напряжений на выходах логического инвертора 17 и, следовательно, запирание в разное время транзисторов 23. Если при измерении уменьшающего периода T окажется, что он стал меньше T_оп(1+δ) где δ ≪ 1 это значит, что второй этап пуска разгон вентильного двигателя 20 завершен и начинается этап стабилизации его частоты вращения, который осуществляется в соответствии с алгоритмом, приведенным на фиг.8 (начало), а также алгоритмом на фиг.4 и 2 (продолжение и окончание). Для повышения качества энергии инвертора 18 предлагается обеспечить цифровой системой кратное трем отношение t_оп/T_ш постпредством введения корректировки заданного периода T_оп на малую величину δ, составляющую (в зависимости от требуемой точности и отношения T_оп/T_ти, где T_ти период тактовых импульсов) единицы или десятые, сотые доли процентов (от T_оп), а также периода T_ш на значительно большую величину g (десятки процентов). Естественно, на этом этапе стабилизируемой величиной является период напряжения инвертора 18, как известно пропорциональный периоду вращения вентильного двигателя 20 (T=1/P-T_вр, где P число пар полюсов вентильного двигателя 20). Регулирующими параметрами остаются относительная амплитуда первой гармоники напряжения инвертора 18 и фаза его относительно фазы противоЭДС вентильного двигателя 20. Для замкнутого контура системы стабилизации автоматически из постоянного запоминающего устройства 14 или 15 выбирается тот регулирующий параметр, который обеспечивает большее относительное изменение вращающего момента, а второй оптимальный регулирующий параметр находится цифровой системой в постоянном запоминающем устройстве 15 или 14. Регулирующий параметр, принятый для замкнутого контура, определяется как функция отклонения стабилизируемой величины (T) от заданного значения в пределах T_оп(1±δ) с помощью известной функции ПИД регулирования ΔU $\genfrac{}{}{0ex}{}{\text{x}}{\text{m1}}$ = f(ΔT^x) или Δt_θ= f(ΔT^x) Остальные операции вычислений и закладки найденных чисел в счетчике программируемых интегральных таймеров однофазного регулятора 11 фазы, многофазного регулятора 12 амплитуды такие же, как при разгоне, и предусмотрены в указанном алгоритме на фиг.8.As already indicated, the T / 2 half-cycle is measured by a digital period meter 10, the functions of which are performed by one channel of a programmable interval timer, also operating in the “0” mode. The input P ₀ (reference resolution) of this channel during the measured half-wave of each T is supplied from the digital position sensor 1 (phase B) with a high level voltage U of the _DAC . According to the “Record” command (signal U _TsIPZP in Fig. 7a) previously supplied to the output of the digital period meter 10, the load (first machine cycle) and then the reboot (subsequent cycles) of the number corresponding to T _pr and equal to the nearest smaller integer number of periods are performed T _ty clock pulses, placed in T _{pr / 2} , and then by the timer command "Read" (U _UCHRCH signal) reading microcomputer 16 of this decrement number. Next, the microprocessor of the microcomputer 16 according to the program of read-only memory 13 calculates T. Timing diagrams of these signals during operation of the digital period meter 10 are also shown in FIG. 7a. The period from the control of transistors 22, 23 according to the algorithm in FIG. 2, which continues (see t _g in FIG. 7b) and during acceleration, to control according to the algorithm in FIG. 4 will occur after the following operations are provided for by these algorithms. The digital system determines the fulfillment of the condition by the known period T specified by the operator, the resistance moment M _s and the data recorded in the read-only memory 15

If it is fulfilled, which takes place at a relatively large T, then, in addition to calculating the deviation of the controlled variable ΔI ^x and used as a control parameter in the closed loop, the amplitude U $\genfrac{}{}{0ex}{}{\text{x}}{\text{m1}}$ according to the above formulas, the microprocessor of the microcomputer 16 determines from the read-only memory 15 the optimal electric angle θ between the EMF of the inverter 18 and its component, which compensates the counter-EMF of the valve motor 20, for the found T and the given M _s , the phase shift t _θ and the delay time t ₃ phase are calculated The EMF of the inverter 18 relative to the voltage of the rotor position sensor 2, which in turn is phase-shifted by T / 4 of the counter-EMF of the valve motor 20, which are determined by the formulas in FIG. 4. The code t _{3 is} embedded in the channel counter 0 of the single-phase phase 11 controller (phase A). For the formation of the first pulse of the pulse-width (with period T _W ) EMF of phase A of the inverter 18 and the corresponding numbers and, therefore, the parameters of the pulses of the pulse-width-width modulation EMFs of phases B and C, the microprocessors 16 of the microcomputer 16 are first determined from the read-only memory 14 with respect to sinusoidal voltage control transistors 22 with combined collectors U _{UP A, B, C.} To ensure symmetry of the control voltage in the read-only memory 14, the values of three sinusoids must be stored

phase shifted by 120 degrees during the period T _CR through the tenth, or unit or tens of microseconds. Next, they are calculated as shown in FIG. 4 formulas the relative duration of the closed state of the transistors 22

Obviously, these values are for transistors 23 with combined emitters, denoted by

represents the relative durations of their open state. Therefore, the equality

Management to determine

shown in FIG. 4. When the countdown of the number t ₃ embedded in the channel 0 phase A channel counter of the single-phase phase 11 controller (see the leading edge of the signal U _{ORFout A} in Fig. 7b) _ends , after some time when the leading edge of the first pulse-width modulation signal (U _w ) is performed by the command "Record" (signal U _{MPA output A, B, C} ) bookmark of three different codes

in the counter of the three channels of the multiphase amplitude controller 12 and immediately after that, the countdown of the stored numbers begins. Thereby it performed at the time t _z from the first control output U _{O MPA A, B, C} transistors 22 according to the algorithm of FIG. 4. Simultaneously, the outputs from the logic inverter 17, the voltages U _{O if A, B, C} is carried transistor control 22. Directly after the laying of the numbers in the counter multiphase amplitude controller 12 begins the second cycle of measurements and calculations of the microcomputer 16 according to the algorithm of the microprocessor of FIG. 4 with preliminary execution of operations according to the algorithm in FIG. 2. In FIG. 7b shows the timing diagrams of the signals of a digital position sensor 1, a single-phase phase controller 11, a multi-phase amplitude controller 12, the first voltage harmonic (U _A1 ) of the inverter 18 and its component compensating the motor EMF (-l _A ). In case of inequality of the derivatives in FIG. 4, which is possible at a relatively high rotational speed of the valve motor 20 (small T), in a closed loop, the electric angle θ is used as a control parameter, to the change of which the control system is more sensitive. The proportional angle q of the time t _{θ is} determined by the microprocessor of the microcomputer 16 using the PID control equation for the relative deviation of the measured current 1 from the reference value according to the algorithm in FIG. 4; the microprocessor of the microcomputer 16 also determines the delay time t ₃ and its code is stored in the channel counter 0 of the single-phase phase 11 controller (phase A). The countdown of the code starts at the command at the moment of the leading edge of the signal of the digital position sensor 1 (phase A) passing to the input "Resolution" (P ₀ ) of the single-phase phase 11 controller. Then, on a command from read-only memory 14, the optimal amplitude U $\genfrac{}{}{0ex}{}{\text{x}}{\text{m1}}$ , common for three phases, and from the permanent storage device 15 separately for each of the phases A, B, C, the relative values of the ordinates of the sinusoidal limit voltage control transistors 22, 23 (

) Next, the microcomputer microprocessor 16 calculates the relative duration of the closed state of the transistors 22 (and therefore the open state of the transistors 23) according to the formulas in FIG. 4 obtained for the case when U $\genfrac{}{}{0ex}{}{\text{x}}{\text{m1}}$ does not depend on ΔI ^x , but is determined by a command from a read-only memory 14. At the moment of the leading edge of the voltage pulse U _w , immediately following the end of the counting of the number (code) t ₃ in channel 0 of the single-phase phase 11 controller (phase A), codes

in the channel counters 0, 1, 2 of the multiphase amplitude controller 12 and immediately after the bookmark, the counting of these numbers starts, and the microprocessor microcomputer 16 starts the next cycle of calculations and measurements. After the counting ends, at the outputs of these channels, three high-level voltages of different durations are generated at different times, which determine the required currents in the bases of transistors 22 and at the same time low (zero) voltage levels at the outputs of the logical inverter 17 and, therefore, locking transistors 23 at different times. If when measuring the reducing period T would be that it has become smaller T _op (1 + δ) where δ «1, this means that the second stage valve acceleration starter motor 20 is completed and begins its stabilization step frequency vr scheniya which is carried out in accordance with the algorithm in Figure 8 (top), and the algorithm in Figure 4 and 2 (continued and concluded). To improve the quality of the energy of the inverter 18, it is proposed to provide the digital system with a multiple of three ratios t _op / T _{w by} introducing the adjustment of a given period T _op by a small value δ, which is (depending on the required accuracy and the ratio T _op / T _ty , where T _is the clock period pulses) units or tenths, hundredths of a percent (of T _op ), as well as the period T _w by a significantly larger value of g (tens of percent). Naturally, at this stage, the stabilized value is the voltage period of the inverter 18, as is known proportional to the rotation period of the valve motor 20 (T = 1 / PT _BP , where P is the number of pole pairs of the valve motor 20). Regulating parameters remain the relative amplitude of the first harmonic of the voltage of the inverter 18 and its phase relative to the counter-EMF phase of the valve motor 20. For the closed loop of the stabilization system, the control parameter that provides a larger relative change in torque and the second optimal control the parameter is located by the digital system in the read-only memory 15 or 14. The control parameter adopted for closed loop, is defined as a function of the deviation of the stabilized value (T) from the set value within T _op (1 ± δ) using the well-known PID control function ΔU $\genfrac{}{}{0ex}{}{\text{x}}{\text{m1}}$ = f (ΔT ^x ) or Δt _θ = f (ΔT ^x ) The rest of the operations of calculating and bookmarking the numbers found in the counter of the programmable integral timers of the single-phase controller 11 of the phase, multi-phase controller 12 of the amplitude are the same as during acceleration, and are provided in the indicated algorithm in FIG. .8.

где P число пар полюсов. По известной величине

при T T_нач (в начале торможения) и формуле в алгоритме на фиг. 5 микропроцессор микроЭВМ 16 вычисляет временной сдвиг фаз

а затем время задержки t₃, которое при торможении превышает четверть периода T, вследствие отставание отставания первой гармоники выходного напряжения инвертора 18 от ЭДС вентильного двигателя 20. Считывается показание на выходе цифрового датчика 4 тока и вычисляется относительная величина разности измеренного и опорного значения тока вентильного двигателя 20. В связи с изменением направления тока 1 вентильного двигателя 20 в генераторном режиме, являющегося выходным током инвертора 18, работающего в выпрямительном режиме, следует принять отклонение 1 от 1_оп равным ΔI′ = - ΔI = I - I_оп при этом I > I_оп. Дальнейшие операции вычисление U $\genfrac{}{}{0ex}{}{\text{x}}{\text{m1}}$ определение из постоянного запоминающего устройства 14 для трех фаз предельного напряжения управления

вычисление

и закладка в счетчики многофазного регулятора 12 амплитуды этих чисел производятся по формулам и указаниям, приведенным в алгоритме на фиг.9,10.When reducing a given rotation speed of the valve motor 20 and a corresponding increase in the predetermined period T _op (1-δ) compared with the measured value of its T, regenerative braking of the valve motor 20 is carried out according to the algorithm shown in Fig.9. This process also takes place in the event of an overload on the shaft of the valve motor 20, therefore, an increase in the current consumption of the inverter 18. For braking, the valve motor 20 is switched to the generator mode, the inverter 18 to the rectifier mode, and if the inverter 18 is powered from a DC network, and from the AC network through a rectifier (not shown), the latter is transferred to the mode of the inverter 18, driven by the network. Since in the generator mode the EMF of the valve motor 20 is ahead of its component, which compensates the voltage of the inverter 18, the digital system according to the program accepts

where P is the number of pole pairs. By known value

TT at _{the beginning} (at the beginning of braking), and the formula in the algorithm of FIG. 5 microprocessor microcomputer 16 calculates the time phase shift

and then the delay time t ₃ , which during braking exceeds a quarter of the period T, due to the lag of the first harmonic of the output voltage of the inverter 18 from the EMF of the valve motor 20. The reading at the output of the digital current sensor 4 is read and the relative value of the difference between the measured and reference values of the current of the valve motor is calculated 20. In connection with the change in the direction of the current 1 of the valve motor 20 in the generator mode, which is the output current of the inverter 18 operating in the rectifier mode, it should be accepted tklonenie 1 from _op 1 equal to ΔI '= - ΔI = I - I _op with I> I _Op. Further operations calculating U $\genfrac{}{}{0ex}{}{\text{x}}{\text{m1}}$ determination from read-only memory 14 for three phases of the limiting control voltage

calculation

and the tab in the counters of the multiphase controller 12, the amplitudes of these numbers are made according to the formulas and instructions given in the algorithm in Fig.9,10.

The construction of a digital control system of the valve motor 20 using in stationary mode one phase of a digital position sensor 1 and the associated one phase of a single-phase controller 11 of the phase and using three phases of a multi-phase controller 12 of the amplitude through the use of tables of read-only memory 13, 14 and 15 with three-phase limit control voltages eliminates the asymmetry of the control voltage of the inverter 18 of the valve motor 20 and, therefore, makes it possible to exclude ionic modes of subharmonics, the constant component and the asymmetry of the main harmonics of the three phases of the inverter voltage 18, as a result of which it is significantly reduced by the pulses of the rotation moment of the valve motor, and hence its vibration activity, which is especially important when used in autonomous objects, and its energy is also improved characteristics and increases the efficiency of the valve motor 20. Increasing the efficiency of the valve motor 20 is also achieved by introducing optimally into the permanent storage devices 14 and 15 x for all modes of operation (different T, M _c) regulating parameters (U _m1, θ) and prizvodnyh torque of said regulating parameters and introduction into the closed loop digital control system of the regulating parameter, to which the system is more sensitive (more derivative points rotation), while another regulatory parameter is determined from read-only memory 14 and 15 and is used to determine the width of the control pulses of the inverter 18 according to the developed algorithms. The presence in the digital control system of a logical inverter 17 allows you to simplify the multiphase amplitude controller 12 and increase the accuracy of stabilization of the rotational speed, and the introduction of a digital period meter 10 allows you to simplify the system.

Claims (1)

 A digital valve motor control system containing a microcomputer with a microprocessor, digital current, voltage, and position sensors, characterized in that it is equipped with a digital period meter, a single-phase phase regulator, a multiphase amplitude regulator, three read-only memory devices, a logical inverter, one input of the microcomputer is connected to outputs of read-only memory devices, a digital position sensor, a digital period meter, a single-phase phase regulator, two inputs and outputs of a microcomputer with inputs - the outputs of the digital current sensor and digital voltage sensor, in addition, its three other inputs are used to connect the operator control panel, the outputs of the microcomputer are connected to the inputs of read-only memory devices, a single-phase phase controller, a multi-phase amplitude controller, the inputs of a digital period meter and a single-phase phase controller are connected to outputs of the digital position sensor, one output of the multiphase amplitude controller is connected to the input of the logical inverter, and one control input is connected to the other output by the semiconductor devices of the inverter of the valve motor, the power circuits of which are connected to the "minus" of the DC source, other control inputs of the inverter semiconductor devices are connected to the output of the logic inverter, the power circuits of which are connected through the current sensor to the "plus" of the DC source, one of the inputs of the digital sensor voltage is connected to the input of the digital current sensor, while the inverter power inputs are connected to it and the other input of the digital voltage sensor, while the microcomputer is made with POSSIBILITY implementation computing algorithms when starting the engine valve by its acceleration, in the steady state and the regenerative braking shown in Figures 2, 4, 6 and 7.

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