WO2021203589A1 - 基于滑模观测器的永磁直流电机换相控制装置及方法 - Google Patents
基于滑模观测器的永磁直流电机换相控制装置及方法 Download PDFInfo
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- WO2021203589A1 WO2021203589A1 PCT/CN2020/105602 CN2020105602W WO2021203589A1 WO 2021203589 A1 WO2021203589 A1 WO 2021203589A1 CN 2020105602 W CN2020105602 W CN 2020105602W WO 2021203589 A1 WO2021203589 A1 WO 2021203589A1
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- sliding mode
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/0007—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
Definitions
- the invention relates to a position sensorless commutation control device of a permanent magnet DC motor, in particular to a permanent magnet DC motor commutation control device and method based on a sliding mode observer.
- the permanent magnet DC motor body has the advantages of simple physical structure, rapid speed adjustment response, strong load capacity, and high power factor. Therefore, this type of motor has important application value in the production activities of various fields of civilization.
- permanent magnet DC motors In order to detect continuous permanent magnet DC motor rotor position information and realize the commutation control of the motor, permanent magnet DC motors generally use electromagnetic induction, Hall magnetic sensitive or photoelectric sensors to detect the rotor position.
- the above-mentioned position sensor not only increases the volume and cost of the motor, but is also difficult to maintain. Also, because the external connection circuit of the sensor is more complicated, it is easy to be polluted by harmonics. This not only increases the difficulty in the production method, but also greatly limits the permanent magnet DC The application of the motor in some high system requirements (such as satellite instruments). Therefore, the research on sensorless control system has become a hot spot in the field of motor control.
- the position detection device is no longer installed on the rotor, in order to control the commutation of the motor caused by the switching off and on of the inverter power device during the operation of the motor, it is still necessary to obtain the rotor position information.
- the most widely used method at present is: the back-EMF zero-crossing detection method.
- the back-EMF cannot be detected directly by the detection device. This requires the establishment of a mathematical model by measuring the electrical signals such as current and voltage that can be measured by the permanent magnet DC motor body, and indirectly obtaining the zero-crossing point of the back-EMF by calculating its change in real time , And then realize the commutation control.
- the observed value of the back EMF is obtained, and the motor commutation control is realized. It has the characteristics of simple principle and good stability. However, when there is a sudden load change and a system parameter change, the control system cannot guarantee the rotor Accurate position detection and stable commutation.
- the technical problem to be solved by the present invention is to provide a permanent magnet DC motor commutation control device and method based on a sliding mode observer. Phase control.
- the commutation control device uses a sliding mode observer, which can operate stably under the conditions of sudden load changes and system parameter changes.
- the present invention adopts the following technical solutions to achieve:
- the commutation control device of permanent magnet DC motor based on sliding mode observer including processor module, voltage acquisition module, current acquisition module, photoelectric isolation module and drive circuit module; among them,
- the input terminal of the processor module is connected with a voltage sampling module and a current sampling module, and the output terminal is connected with a photoelectric isolation module.
- the data obtained by the voltage sampling module and the current sampling module are constructed as a sliding mode observer to realize motor commutation and closed-loop control;
- the input terminals of the voltage sampling module and the current sampling module are connected with a permanent magnet DC motor, and the output terminal is connected with the processor module output;
- the input terminal of the photoelectric isolation module is connected with the processor module output, and the output terminal is connected with a drive circuit module;
- the input end of the drive circuit module is connected with a photoelectric isolation module, and the output end is connected with a permanent magnet DC motor.
- a further improvement of the present invention is that the processor module adopts STC15W404 single-chip microcomputer, which is used to analyze the analog data collected by the voltage acquisition module and the current acquisition module, calculate the rotor position information, and output and control the commutation of the permanent magnet DC motor. Digital PWM signal for speed and torque calculation;
- the voltage acquisition module is used to acquire the three-phase voltage analog quantity of the permanent magnet DC motor and transmit the data to the processor module;
- the current acquisition module adopts an LM358 operational amplifier, which is used to acquire the three-phase current analog quantity of the permanent magnet DC motor and transmit the data to the processor module;
- the photoelectric isolation module adopts the P521-4 photoelectric isolation chip, which is used to realize photoelectric conversion, isolate the STC15W404 single-chip microcomputer and the motor drive circuit, avoid signal interference with each other, and avoid damage to the single-chip microcomputer due to excessive feedback current signal;
- the driving circuit module adopts a field effect transistor with a model of IRF9540N, which is used to control the rotation angle and operating speed of the motor, and realize the control of the duty cycle.
- the commutation control method of permanent magnet DC motor based on sliding mode observer includes: obtaining the current and voltage signals of the rotor detection circuit, and performing Clark transformation on the current and voltage signals; constructing a sliding mode observer, and obtaining the back electromotive force through the sliding mode observer Observed value; calculate the motor rotor position through the back-EMF observation value to obtain the motor speed; perform speed PI calculation and torque PI calculation to achieve closed-loop control.
- a further improvement of the present invention is to obtain the current and voltage signals of the rotor detection circuit, and perform Clark transformation on the current and voltage signals.
- the current calculation process is as follows:
- i ⁇ , i ⁇ are the stator currents in the two-phase stationary coordinate system
- u ⁇ , u ⁇ are the stator voltages in the two-phase stationary coordinate system
- e ⁇ , e ⁇ are the stator currents in the two-phase stationary coordinate system Back electromotive force
- R and L are winding phase resistance and equivalent inductance respectively
- ⁇ f is the permanent magnet flux linkage
- ⁇ is the rotor angular velocity
- ⁇ is the rotor angle.
- a further improvement of the present invention is to construct a sliding mode observer, and obtain back EMF observations through the sliding mode observer; the calculation process of the sliding mode observer is as follows:
- a further improvement of the present invention is that the rotor position of the motor is calculated by the observation value of the back electromotive force to obtain the motor speed, and the calculation process is as follows:
- the present invention has at least the following beneficial technical effects:
- the present invention adopts a permanent magnet DC motor position sensorless control system, no additional rotor detection module is required, and further reduces the volume and development cost of the permanent magnet DC motor;
- the present invention uses a sliding mode observer to calculate the back electromotive force to obtain the rotor position, and then realize the motor commutation.
- the observer algorithm is relatively simple, and the rotor position obtained by the mathematical method is accurate;
- the present invention adopts a double closed-loop control system of speed and torque, and the whole system has good robust performance;
- the photoelectric isolation module of the present invention uses the P521-4 photoelectric isolation chip, which makes the processor input PWM signal without direct electrical signal connection with the drive bridge, and at the same time protects the circuit signal transmission from external electromagnetic interference, which increases the resistance of the circuit. Interference ability.
- FIG. 1 is a block diagram of the hardware system of the present invention
- FIG. 2 is a schematic diagram of the processor module of the present invention.
- FIG. 3 is a schematic diagram of the voltage sampling module of the present invention.
- Figure 4 is a schematic diagram of the current sampling module of the present invention.
- FIG. 5 is a schematic diagram of the photoelectric isolation module of the present invention.
- FIG. 6 is a schematic diagram of the drive module of the present invention.
- Figure 7 is a flow chart of the main program of the software of the present invention.
- FIG. 8 is a flowchart of the software interrupt program of the present invention.
- a layer/element when referred to as being "on" another layer/element, the layer/element may be directly on the other layer/element, or there may be an intermediate layer/element between them. element.
- the layer/element may be located "under” the other layer/element when the orientation is reversed.
- the commutation control device of a permanent magnet DC motor based on a sliding mode observer includes: a processor module, a voltage sampling module, a current sampling module, a photoelectric isolation module, and a drive circuit module.
- the analog quantity acquisition channel of the processor module is connected to the voltage sampling module and the current adopting module, and the digital PWM output terminal of the processor module is connected to the photoelectric isolation module.
- the photoelectric isolation module is connected with the drive circuit module for driving the permanent magnet synchronous motor.
- the drive circuit module is connected to the three phases of permanent magnet synchronous motors A, B, and C.
- the processor module is composed of STC15W404 single-chip microcomputer.
- the power supply range of STC15W404 single chip microcomputer is 2.6-5.5V, and the maximum normal working current is 0.1uA.
- it also has 4KB of Flash space, 512bytes of SRAM space, 9KB of EEPROM, and a built-in reset circuit with extremely high reliability. , Clock circuit and 6 PWM output ports.
- the processor module is used to analyze and calculate the rotor position information from the analog data collected by the voltage acquisition module and the current acquisition module, and output and control the commutation, speed, and torque of the permanent magnet DC motor The calculated digital PWM signal is sent to the photoelectric isolation module.
- the voltage sampling module is composed of related resistors and capacitors. Mainly, the three-phase voltages of the permanent magnet DC motors U, V, and W are stepped down and low-pass filtered, and then the signals are sent to the processor module. Among them: R15 and R26 form a U-phase voltage drop circuit; R22 and R27 form a V-phase voltage drop circuit; R24 and R28 form a W-phase voltage drop circuit; among them: R15 and C5 form a U-phase low-pass filter circuit; R22 and C6 form a V-phase voltage drop circuit. Phase low-pass filter circuit; R24 and C4 form a W-phase low-pass filter circuit. Among them: R16, R23, R25 play the role of current limiting.
- the current sampling module is composed of an LM358 operational amplifier, related resistors, and capacitors. It mainly sends the U, V, W three-phase current signals of the permanent magnet DC motor to the processor module.
- the photoelectric isolation module is composed of P521-4 photoelectric isolation chips P1, P2 and related resistors.
- the four pins of the photoelectric isolation chip P1 are connected with the (1) processor module, and the two pins of the photoelectric isolation chip P2 are connected with the processor module.
- Its main functions are: 1. Realize photoelectric conversion; 2. Isolate the processor module and the (5) drive circuit module to avoid signal mutual interference; 3. Avoid damage to the single-chip microcomputer due to excessive feedback current signals.
- the drive circuit module is composed of field effect transistors VT1, VT2, VT3, VT4, VT5, VT6 of model IRF9540N, related resistors, freewheeling diodes, drive output ports and power supply interfaces.
- the drive circuit module supplies power to the three-phase stator windings of the permanent magnet synchronous motor to drive the motor to run.
- the on-off control state of each transistor of the driving circuit module is shown in Table 1.
- the software main program flow chart includes: 1.
- the present invention adopts the "three-stage" starting method, which is divided into: 1) rotor pre-positioning, 2) external synchronous acceleration, and 3) self-synchronous switching.
- the software interrupt program flow chart includes: 1) Obtain the current and voltage signals of the rotor detection circuit, and perform Clark transformation on the current and voltage signals. 2) Construct a sliding mode observer, and obtain the back EMF observation value through the sliding mode observer. 3) Calculate the rotor position of the motor through the observed value of back electromotive force to obtain the motor speed. 4) Speed and torque closed-loop control.
- the 1) Obtain the current and voltage signals of the rotor detection circuit, and perform Clark transformation on the current and voltage signals.
- the current calculation process is as follows:
- i ⁇ , i ⁇ are the stator currents in the two-phase stationary coordinate system
- u ⁇ , u ⁇ are the stator voltages in the two-phase stationary coordinate system
- e ⁇ , e ⁇ are the stator currents in the two-phase stationary coordinate system Back electromotive force
- R and L are winding phase resistance and equivalent inductance respectively
- ⁇ f is the permanent magnet flux linkage
- ⁇ is the rotor angular velocity
- ⁇ is the rotor angle.
- the calculation process of the sliding mode observer is as follows:
- the sliding die cut surface As: When the system enters the sliding surface, According to the error equation of the sliding mode observer, the observed back EMF value can be obtained in:
- the 4) closed-loop control of speed and torque is to perform speed PI calculation and torque PI calculation to realize closed-loop control.
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Abstract
一种基于滑模观测器的永磁直流电机换相控制装置及方法，该装置包括处理器模块、电压采样模块、电流采样模块及光电隔离模块等；其中，所述处理器模块输入端连接有电压采样模块和电流采样模块，输出端连接有光电隔离模块，将电压采样模块、电流采样模块得到的数据构建滑模观测器，实现电机换相及闭环控制；所述电压采样模块和电流采样模块输入端连接有永磁直流电机，输出端连接有处理器模块输；所述光电隔离模块输入端连接有处理器模块输，输出端连接有驱动电路模块；所述驱动电路模块输入端连接有光电隔离模块，输出端连接有永磁直流电机。该装置及方法应用于永磁直流电机无位置传感器控制系统中，实时计算反电动势，实现换相的控制。
Description
本发明涉及一种永磁直流电机无位置传感器换相控制装置，具体涉及一种基于滑模观测器的永磁直流电机换相控制装置及方法。
永磁直流电机本体具有物理结构简单、速度调节响应迅速、带载能力强、功率因数高等优点。所以该类电机在人类各个领域的生产活动中有着重要的应用价值。
为检测到连续的永磁直流电机转子位置信息，实现电机的换相控制，永磁直流电机一般采用电磁感应式、霍尔磁敏式或光电式等传感器进行转子位置检测。但是，上述位置传感器不仅增加了电机的体积和成本，且难以维修，又由于传感器外部连接电路较复杂，容易受到谐波的污染，这不仅在生产方法上增加了难度也大大限制了永磁直流电机在一些系统要求高(如卫星仪器)条件下的应用。因此对无位置传感器控制系统的研究成为最近电机控制学科的热点。
虽然不再在转子上安装位置检测装置，但在电机运行过程中，为了控制由逆变功率器件的关断与导通引起的电机换相，仍然需要得到转子位置信息。目前应用最广泛的方法是：反电动势过零检测法。但是反电动势无法直接通过检测装置检测到，这就需要通过测量永磁直流电机本体可以测量得到的电流量、电压量等电信号建立数学模型，通过实时计算其变化量来间接获得反电动势过零点，进而实现换相控制。
通过构建已知状态量的观测器，得到反电动势的观测值，实现电机换相控制， 具有原理简单、稳定性好等特点，但是当存在负载突变、系统参数变换时，控制系统置无法保证转子位置检测准确，换相稳定。
【发明内容】
本发明所要解决的技术问题是提供一种基于滑模观测器的永磁直流电机换相控制装置及方法，其能够应用于永磁直流电机无位置传感器控制系统中，实时计算反电动势，实现换相的控制。该换相控制装置应用滑模观测器，能够在负载突变、系统参数变换的情况下，稳定运行。
为解决上述技术问题，本发明采用如下技术方案来实现的：
基于滑模观测器的永磁直流电机换相控制装置，包括处理器模块、电压采集模块、电流采集模块、光电隔离模块和驱动电路模块；其中，
所述处理器模块输入端连接有电压采样模块和电流采样模块，输出端连接有光电隔离模块，将电压采样模块、电流采样模块得到的数据构建滑模观测器，实现电机换相及闭环控制；所述电压采样模块和电流采样模块输入端连接有永磁直流电机，输出端连接有处理器模块输；所述光电隔离模块输入端连接有处理器模块输，输出端连接有驱动电路模块；所述驱动电路模块输入端连接有光电隔离模块，输出端连接有永磁直流电机。
本发明进一步的改进在于，处理器模块的采用STC15W404单片机，用于对电压采集模块和电流采集模块采集到的模拟量数据进行分析、计算得到转子位置信息，并输出控制永磁直流电机换相，转速、转矩计算的数字PWM信号；
所述电压采集模块，用于采集永磁直流电机三相电压模拟量并将数据传至处理器模块；
所述电流采集模块采用LM358运算放大器，用于采集永磁直流电机三相电 流模拟量并将数据传至处理器模块，；
所述光电隔离模块采用P521-4光电隔离芯片，用于实现光电转换，隔离STC15W404单片机与电机驱动电路，避免信号互相干扰，避免因为反馈电流信号过大导致单片机损坏；
所述驱动电路模块采用型号为IRF9540N的场效应晶体管，用于控制电机的旋转角度和运转速度，实现对占空比的控制。
基于滑模观测器的永磁直流电机换相控制方法，包括：获取转子检测电路的电流、电压信号，对电流、电压信号进行克拉克变换；构建滑模观测器，通过滑模观测器得到反电动势观测值；通过反电动势观测值计算电机转子位置进而得到电机转速；进行转速PI运算和转矩PI运算，实现闭环控制。
本发明进一步的改进在于，获取转子检测电路的电流、电压信号，对电流、电压信号进行克拉克变换，电流计算过程如下：
电机在两相静止坐标系下的数学模型为：
其中
式中：i
α、i
β为在两相静止坐标系中的定子电流；u
α、u
β为两相静止坐标系中的定子电压；e
α、e
β为在两相静止坐标系中的反电动势；R、L分别为绕组相电阻和等效电感；ψ
f为永磁体磁链；ω为转子角速度；θ为转子角度。
本发明进一步的改进在于，构建滑模观测器，通过滑模观测器得到反电动势 观测值；滑模观测器计算过程如下：
根据永磁直流电机数学模型，构建滑模观测器
式中：‘^’为观测值；k
1和k
2为滑模增益；F(·)为切换函数，采用符号函数；
滑模观测器误差方程为可表示为
定义滑模切面为：
当系统进入滑模面后，
根据滑模观测器误差方程得到反电动势观测值为
其中：
本发明进一步的改进在于，通过反电动势观测值计算电机转子位置进而得到电机转速，计算过程如下：
电机转子位置：
电机转速：
与现有技术相比，本发明至少具有如下有益的技术效果：
1.本发明采用永磁直流电机无位置传感器控制系统，无需额外安装转子检测模块，进一步降低永磁直流电机体积和开发成本；
2.本发明采用滑模观测器对反电动势进行计算，得到转子位置，进而实现电机换相，该观测器算法相对简单，通过数学方法得到的转子位置准确；
3.本发明采用转速、转矩双闭环控制系统，整个系统鲁棒性能好；
4.本发明光电隔离模块采用P521-4光电隔离芯片，该芯片使处理器输入PWM信号与驱动桥之间无直接电信号联系，同时使电路信号传输不受外界电磁干扰，增加了电路的抗干扰能力。
图1为本发明硬件系统框图；
图2为本发明处理器模块原理图；
图3为本发明电压采样模块原理图；
图4为本发明电流采样模块原理图；
图5为本发明光电隔离模块原理图；
图6为本发明驱动模块原理图；
图7为本发明软件主程序流程图；
图8为本发明软件中断程序流程图。
为了使本技术领域的人员更好地理解本发明方案，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分的实施例，不是全部的实施例，而并非要限制本发明公开的范围。此外，在以下说明中，省略了对公知结构和技术的描述，以避免不必要的混淆本发明公开的概念。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都应当属于本发明保护的范围。
在附图中示出了根据本发明公开实施例的各种结构示意图。这些图并非是按比例绘制的，其中为了清楚表达的目的，放大了某些细节，并且可能省略了某些细节。图中所示出的各种区域、层的形状及它们之间的相对大小、位置关系仅是示例性的，实际中可能由于制造公差或技术限制而有所偏差，并且本领域技术人员根据实际所需可以另外设计具有不同形状、大小、相对位置的区域/层。
本发明公开的上下文中，当将一层/元件称作位于另一层/元件“上”时，该 层/元件可以直接位于该另一层/元件上，或者它们之间可以存在居中层/元件。另外，如果在一种朝向中一层/元件位于另一层/元件“上”，那么当调转朝向时，该层/元件可以位于该另一层/元件“下”。
需要说明的是，本发明的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本发明的实施例能够以除了在这里图示或描述的那些以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。
下面结合附图对本发明做进一步详细描述：
参见图1，本发明提供的基于滑模观测器的永磁直流电机换相控制装置，包括：处理器模块、电压采样模块、电流采样模块、光电隔离模块和驱动电路模块。所述处理器模块的模拟量采集通道连接所述电压采样模块、所述电流采用模块，所述处理器模块的数字PWM输出端连接所述光电隔离模块。所述光电隔离模块连接有用于驱动永磁同步电机的所述驱动电路模块。所述驱动电路模块连接永磁同步电机A、B、C三相。
如图2所示，所述处理器模块由STC15W404单片机构成。STC15W404单片机供电范围为2.6-5.5V，正常工作电流最大为0.1uA，此外，还具有4KB大小的Flash空间，512字节大小的SRAM空间，9KB大小的EEPROM，并内置可靠性极高的复位电路、时钟电路和6路PWM输出端口。其中，所述处理器模块用于 对所述电压采集模块和所述电流采集模块采集到的模拟量数据进行分析、计算得到转子位置信息，并输出控制永磁直流电机换相，转速、转矩计算的数字PWM信号至所述光电隔离模块。
如图3所示，所述电压采样模块由相关电阻、电容构成。主要是将永磁直流电机U、V、W三相电压经过降压和低通滤波后，把信号发送至所述处理器模块。其中：R15和R26构成U相压降电路；R22和R27构成V相压降电路；R24和R28构成W相压降电路；其中：R15和C5构成U相低通滤波电路；R22和C6构成V相低通滤波电路；R24和C4构成W相低通滤波电路。其中：R16、R23、R25起限流作用。
如图4所示，所述电流采样模块由LM358运算放大器、相关电阻、电容构成。主要是将永磁直流电机U、V、W三相电流信号发送至所述处理器模块。
如图5所示，所述光电隔离模块，由P521-4光电隔离芯片P1、P2，相关电阻构成。光电隔离芯片P1四个引脚与所述(1)处理器模块相接，光电隔离芯片P2两个引脚与所述处理器模块相接。其主要作为：1.实现光电转换；2.隔离所述处理器模所述(5)驱动电路模块，避免信号互相干扰；3.避免因为反馈电流信号过大导致单片机损坏。
如图6所示，所述驱动电路模块，由型号为IRF9540N的场效应晶体管VT1、VT2、VT3、VT4、VT5、VT6，相关电阻，续流二极管，驱动输出端口及电源接口构成。所述驱动电路模块向永磁同步电机三相定子绕组供电，驱动电机运行。所述驱动电路模块各晶体管的通断控制状态如表1所示。
表1晶体管的通断控制状态
如图7所示，所述软件主程序流程图，包括：1.系统初始化即配置主处理器模块内部资源，主要包括：1)设置外部中断触发方式、2)PWM输出端口配置、3)系统时钟资源配置、4)控制参数配置。4)配置与处理器模块之间的通信方式。2.完成电机起动，本发明采用“三段式”起动法，分为：1)转子预定位、2)外同步加速、3)自同步切换。
如图8所示，所述软件中断程序流程图，包括：1)获取转子检测电路的电流、电压信号，对电流、电压信号进行克拉克变换。2)构建滑模观测器，通过滑模观测器得到反电动势观测值。3)通过反电动势观测值计算电机转子位置进而得到电机转速。4)转速和转矩闭环控制。
所述1)获取转子检测电路的电流、电压信号，对电流、电压信号进行克拉克变换，电流计算过程如下：
电机在两相静止坐标系下的数学模型为：
其中
式中：i
α、i
β为在两相静止坐标系中的定子电流；u
α、u
β为两相静止坐标系中的定子电压；e
α、e
β为在两相静止坐标系中的反电动势；R、L分别为绕组相电阻和等效电感；ψ
f为永磁体磁链；ω为转子角速度；θ为转子角度。
所述2)构建滑模观测器，通过滑模观测器得到反电动势观测值。滑模观测器计算过程如下：
根据永磁直流电机数学模型，构建滑模观测器
式中：‘^’为观测值；k
1和k
2为滑模增益；F(·)为切换函数，采用符号函数。
滑模观测器误差方程为可表示为
定义滑模切面为：
当系统进入滑模面后，
根据滑模观测器误差方程可以得到反电动势观测值为
其中：
所述3)通过反电动势观测值计算电机转子位置进而得到电机转速，计算过程如下：
电机转子位置：
电机转速：
所述4)转速和转矩闭环控制，是进行转速PI运算和转矩PI运算，实现闭环控制。
以上内容仅为说明本发明的技术思想，不能以此限定本发明的保护范围，凡是按照本发明提出的技术思想，在技术方案基础上所做的任何改动，均落入本发明权利要求书的保护范围之内。
Claims (6)
- 基于滑模观测器的永磁直流电机换相控制装置，其特征在于，包括处理器模块、电压采集模块、电流采集模块、光电隔离模块和驱动电路模块；其中，所述处理器模块输入端连接有电压采样模块和电流采样模块，输出端连接有光电隔离模块，将电压采样模块、电流采样模块得到的数据构建滑模观测器，实现电机换相及闭环控制；所述电压采样模块和电流采样模块输入端连接有永磁直流电机，输出端连接有处理器模块输；所述光电隔离模块输入端连接有处理器模块输，输出端连接有驱动电路模块；所述驱动电路模块输入端连接有光电隔离模块，输出端连接有永磁直流电机。
- 根据权利要求1所述的基于滑模观测器的永磁直流电机换相控制装置，其特征在于，处理器模块的采用STC15W404单片机，用于对电压采集模块和电流采集模块采集到的模拟量数据进行分析、计算得到转子位置信息，并输出控制永磁直流电机换相，转速、转矩计算的数字PWM信号；所述电压采集模块，用于采集永磁直流电机三相电压模拟量并将数据传至处理器模块；所述电流采集模块采用LM358运算放大器，用于采集永磁直流电机三相电流模拟量并将数据传至处理器模块，；所述光电隔离模块采用P521-4光电隔离芯片，用于实现光电转换，隔离STC15W404单片机与电机驱动电路，避免信号互相干扰，避免因为反馈电流信号过大导致单片机损坏；所述驱动电路模块采用型号为IRF9540N的场效应晶体管，用于控制电机的旋转角度和运转速度，实现对占空比的控制。
- 基于滑模观测器的永磁直流电机换相控制方法，其特征在于，该方法基 于权利要求1或2所述的基于滑模观测器的永磁直流电机换相控制装置，包括：获取转子检测电路的电流、电压信号，对电流、电压信号进行克拉克变换；构建滑模观测器，通过滑模观测器得到反电动势观测值；通过反电动势观测值计算电机转子位置进而得到电机转速；进行转速PI运算和转矩PI运算，实现闭环控制。
- 根据权利要求3所述的基于滑模观测器的永磁直流电机换相控制方法，其特征在于，获取转子检测电路的电流、电压信号，对电流、电压信号进行克拉克变换，电流计算过程如下：
同理可得克拉克变换后的电压u α，u β；电机在两相静止坐标系下的数学模型为：
其中
式中：i α、i β为在两相静止坐标系中的定子电流；u α、u β为两相静止坐标系中的定子电压；e α、e β为在两相静止坐标系中的反电动势；R、L分别为绕组相电阻和等效电感；ψ f为永磁体磁链；ω为转子角速度；θ为转子角度。 - 根据权利要求4所述的基于滑模观测器的永磁直流电机换相控制装置，其特征在于，构建滑模观测器，通过滑模观测器得到反电动势观测值；滑模观测器计算过程如下：根据永磁直流电机数学模型，构建滑模观测器
式中：‘^’为观测值；k 1和k 2为滑模增益；F(·)为切换函数，采用符号函数；滑模观测器误差方程为可表示为
定义滑模切面为：当系统进入滑模面后，
根据滑模观测器误差方程得到反电动势观测值为
其中：
- 根据权利要求5所述的基于滑模观测器的永磁直流电机换相控制装置，其特征在于，通过反电动势观测值计算电机转子位置进而得到电机转速，计算过程如下：电机转子位置：
电机转速：
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