WO2022028009A1 - 一种深海电机大功率驱动器 - Google Patents

一种深海电机大功率驱动器 Download PDF

Info

Publication number
WO2022028009A1
WO2022028009A1 PCT/CN2021/089503 CN2021089503W WO2022028009A1 WO 2022028009 A1 WO2022028009 A1 WO 2022028009A1 CN 2021089503 W CN2021089503 W CN 2021089503W WO 2022028009 A1 WO2022028009 A1 WO 2022028009A1
Authority
WO
WIPO (PCT)
Prior art keywords
circuit
signal
resistor
deep
voltage
Prior art date
Application number
PCT/CN2021/089503
Other languages
English (en)
French (fr)
Inventor
张伟
杨申申
李德军
宋德勇
Original Assignee
中国船舶科学研究中心
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 中国船舶科学研究中心 filed Critical 中国船舶科学研究中心
Publication of WO2022028009A1 publication Critical patent/WO2022028009A1/zh

Links

Images

Classifications

    • 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
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
    • H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
    • H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
    • H02H7/0833—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors for electric motors with control arrangements
    • 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
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
    • 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
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
    • H02P29/027—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the fault being an over-current
    • H—ELECTRICITY
    • H03—ELECTRONIC CIRCUITRY
    • H03K—PULSE TECHNIQUE
    • H03K19/00—Logic circuits, i.e. having at least two inputs acting on one output; Inverting circuits
    • H03K19/003—Modifications for increasing the reliability for protection
    • H—ELECTRICITY
    • H03—ELECTRONIC CIRCUITRY
    • H03K—PULSE TECHNIQUE
    • H03K19/00—Logic circuits, i.e. having at least two inputs acting on one output; Inverting circuits
    • H03K19/0175—Coupling arrangements; Interface arrangements
    • H03K19/018—Coupling arrangements; Interface arrangements using bipolar transistors only

Definitions

  • the invention relates to the technical field of motor drive control, in particular to a deep-sea motor high-power driver.
  • Deep-sea motors are the power source for many actuators, which are characterized by high power requirements, suitable for harsh working environments, and high reliability requirements.
  • the efficient and reliable drive control of the deep-sea motor is the guarantee for the correct action of the actuator.
  • the commonly used motor drive devices mainly include MOS tubes and IGBTs. MOS tube is suitable for motor drive with low power, and the drive power of IGBT is relatively large.
  • MOS tube is suitable for motor drive with low power, and the drive power of IGBT is relatively large.
  • the control, signal detection and fault protection of deep-sea motors are mostly implemented with complex control algorithms and logic operations, resulting in long development cycles, complex systems, and insufficient reliability.
  • the present inventor proposes a deep-sea motor high-power driver, which adopts a mature integrated chip for driver design to meet application requirements and solve the deficiencies of existing drivers.
  • a deep-sea motor high-power driver comprising an absolute value circuit, a drive circuit, a main control circuit, a filter circuit, an APC circuit, a level conversion circuit, an upper-bridge signal processing circuit and a lower-bridge signal processing circuit connected to the main control circuit.
  • the value circuit is connected to the APC circuit, the upper bridge signal processing circuit and the lower bridge signal processing circuit are respectively connected to the input end of the drive circuit, the output end of the drive circuit is used as the output end of the high-power driver to connect to the deep-sea motor, and the Hall signal output by the deep-sea motor is connected to filter circuit;
  • the voltage control signal is converted into a first predetermined voltage signal by an absolute value circuit
  • the first predetermined voltage signal is converted into a PWM signal by an APC circuit and input to the main control circuit
  • the voltage control signal is converted into a logic signal by a level conversion circuit and input to the main control circuit Circuit
  • the logic signal includes steering control signal, brake control signal and reset control signal.
  • the Hall signal output by the deep sea motor is filtered by the filter circuit and then input to the main control circuit.
  • the main control circuit outputs control according to the PWM signal, logic signal and Hall signal.
  • the signal is amplified and isolated by the upper bridge signal processing circuit and the lower bridge signal processing circuit and then input to the drive circuit, thereby driving the deep-sea motor to rotate continuously according to the specified direction.
  • the absolute value circuit includes a detection circuit and an addition circuit
  • the detection circuit includes a first amplifier, two diodes and three resistors
  • the addition circuit includes a second amplifier and four resistors
  • the inverting input terminal of the first amplifier is connected to the voltage control signal through the first resistor, the inverting input terminal of the first amplifier is also connected to the cathode of the first diode, and the anode of the first diode is connected to the anode of the second diode.
  • the cathode, the anode of the second diode is connected to the inverting input terminal of the second amplifier through the third resistor
  • the inverting input terminal of the first amplifier is also connected to the inverting input terminal of the second amplifier through the second resistor and the third resistor
  • the output end of the first amplifier is connected to the common end of the first diode and the second diode
  • the voltage control signal is also connected to the output end of the second amplifier through the fourth resistor and the fifth resistor
  • the inverting input end of the second amplifier It is also connected to the common terminal of the fourth resistor and the fifth resistor.
  • the output terminal of the second amplifier is used as the output terminal of the absolute value circuit to output the first predetermined voltage signal.
  • the non-inverting input terminals of the first amplifier and the second amplifier are grounded through the resistor.
  • the APC circuit includes an analog signal converter, the input end of the analog signal converter is connected to the first predetermined voltage signal, and the output end of the analog signal converter outputs a PWM signal with a duty cycle of 0-100%.
  • the level conversion circuit includes three comparators, two diodes and three triodes, the non-inverting input terminal of the first comparator, the non-inverting input terminal of the second comparator and the inverting phase of the third comparator.
  • the input terminals are respectively connected to the voltage control signal, and the output terminal of the first comparator outputs the steering control signal. If the voltage control signal is positive, the first comparator outputs a high level, and the steering control signal is clockwise. The output of the controller is low, and the steering control signal is counterclockwise;
  • the inverting input terminal of the second comparator is respectively connected to the first terminal of the sixth resistor and the first terminal of the seventh resistor, the second terminal of the sixth resistor is connected to the first positive voltage, and the non-inverting input terminal of the third comparator is respectively Connect the first end of the eighth resistor and the first end of the ninth resistor, the second end of the ninth resistor is connected to a negative voltage, the second end of the seventh resistor and the second end of the eighth resistor are both grounded, and the sixth resistor
  • the voltage divided by the seventh resistor generates a positive predetermined voltage value
  • the voltage divided by the eighth resistor and the ninth resistor generates a negative predetermined voltage value
  • the absolute values of the positive predetermined voltage value and the negative predetermined voltage value are equal
  • the output end of the second comparator is connected to the first predetermined voltage value.
  • the anode of the three diodes, the output end of the third comparator is connected to the anode of the fourth diode, the cathode of the third diode and the cathode of the fourth diode are both connected to the first triode through a tenth resistor
  • the base, the collector of the first triode is connected to the base of the second triode, and the collector of the second triode is connected to the second positive voltage through a resistor to form a collector pull-up output, the resistor and the second triode
  • the common terminal of the transistor outputs a reset control signal, the base of the third triode is connected to the power supply through the eleventh resistor, and the base of the third triode is also connected to the collector of the first triode and the second triode.
  • the common terminal of the base, the collector of the third triode outputs the brake control signal, the emitter of the first triode, the emitter of the second triode, and the emitter of the third triode are all grounded.
  • both the second comparator and the third comparator output a low level, the first transistor is turned off, the second transistor and the third The pole tube is turned on, and the level conversion circuit outputs a low-level reset control signal and a brake control signal.
  • the main control circuit has reset and brake functions.
  • the The second comparator or the third comparator outputs a high level, the first transistor is turned on, the second transistor and the third transistor are off, and the level shift circuit outputs a high-level reset control signal and a high impedance
  • the brake control signal the main control circuit closes the reset and brake functions.
  • the upper bridge signal processing circuit includes an upper bridge signal amplifying circuit and an upper bridge signal isolation circuit
  • the upper bridge signal amplifying circuit includes an inverting transistor array with three inverting transistors, and the input of each inverting transistor is The terminal is connected to the first control signal output by the main control circuit, and the output terminal of each inverting transistor outputs the inverted-converted upper bridge signal or the output is floating according to the logic of the driving circuit;
  • the upper bridge signal isolation circuit includes three second optocouplers, the emitter anode of each second optocoupler is connected to the power supply through the fifteenth resistor, and the emitter cathode of each second optocoupler is respectively connected to the corresponding inverting transistor.
  • the output terminal is connected to the upper bridge signal
  • the power supply terminal of the receiver of each second optocoupler is connected to the collector of the receiver of the second optocoupler through the sixteenth resistor
  • the collector of the receiver of each second optocoupler passes through the seventeenth resistor.
  • the resistor is used as the upper bridge output terminal of the upper bridge signal processing circuit to output the upper bridge three-phase driving signal and connect to the intelligent power module of the driving circuit.
  • the lower bridge signal processing circuit includes a lower bridge signal amplifying circuit and a lower bridge signal isolation circuit
  • the lower bridge signal amplifying circuit includes an in-phase transistor array with three in-phase transistors, and the input end of each in-phase transistor is connected to the main the second control signal output by the control circuit, according to the logic of the drive circuit, the output end of each in-phase transistor outputs the in-phase converted lower bridge signal;
  • the lower bridge signal isolation circuit includes three second optocouplers, the anode of the emitter of each second optocoupler is connected to the output end of the corresponding non-inverting transistor through the eighteenth resistor respectively and is connected to the lower bridge signal, and the output of each second optocoupler is connected to the lower bridge signal.
  • each second optocoupler is connected to the light receiver collector of the second optocoupler through the nineteenth resistor, and the light receiver power ends of the three second optocouplers are connected in turn, and each The collector of the photocoupler of the two optocouplers is used as the lower bridge output terminal of the lower bridge signal processing circuit through the twentieth resistor to output the lower bridge three-phase driving signal and connect to the intelligent power module of the driving circuit.
  • the drive circuit includes an intelligent power module, including built-in six groups of IGBTs to form a three-phase bridge circuit and a fault detection circuit.
  • the fault detection circuit includes short-circuit, over-temperature and under-voltage detection, protection, status indication and output.
  • the intelligent power module is also connected to the main control circuit, and the fault signal detected by the fault detection circuit is fed back to the main control circuit to control and protect the deep-sea motor.
  • the fault signals include overcurrent, overtemperature and undervoltage faults.
  • the high-power driver further includes a parameter configuration circuit connected to the main control circuit, the parameter configuration circuit provides the main control circuit with an oscillation signal and an advance angle parameter, and the oscillation signal provides the main control circuit with a working clock drive signal, according to the The parameters of the deep-sea motor, configure the lead angle parameters, which are used to adjust the voltage and current signals of the deep-sea motor.
  • the high-power driver further includes a signal detection circuit, the signal detection circuit is connected to the filter circuit, and after filtering the Hall signal, the signal detection circuit outputs the motor speed signal;
  • the signal detection circuit includes a rotation speed detection circuit and a bus current detection circuit.
  • the rotation speed detection circuit includes a first optocoupler.
  • the anode of the emitter of the first optocoupler is connected to a single-term Hall filter signal through the twelfth resistor.
  • the emitter of the first optocoupler The cathode is grounded, the light receiver emitter of the first optocoupler is grounded through the thirteenth resistor, the light receiver collector of the first optocoupler is connected to the power supply, and the light receiver emitter of the first optocoupler also outputs a pulse signal as the motor speed signal;
  • the busbar current detection circuit includes a current sensor, the input terminal of the current sensor is connected to a predetermined current signal, the voltage output terminal outputs a second predetermined voltage signal through the fourteenth resistor, and the working conditions of the high-power driver and the deep-sea motor are judged according to the second predetermined voltage signal .
  • the APC circuit is realized based on the GP9303 chip
  • the main control circuit is realized based on the TB6605FTG chip
  • the filter circuit is realized based on the MAX964EEE chip
  • the intelligent power module is realized based on the PM200CS1D060 chip.
  • an absolute value circuit, an APC circuit, a level conversion circuit and a filter circuit for filtering the Hall signal are set in the power driver and connected to the main control circuit respectively, and then the main control circuit is based on the PWM signal, the logic signal and the Hall signal.
  • the Er signal outputs a three-phase full-wave sine wave control signal, which is amplified and isolated by the upper bridge signal processing circuit and the lower bridge signal processing circuit and then input to the drive circuit, thereby driving the deep-sea motor to rotate continuously in the specified direction.
  • the main control circuit also has functions such as braking, soft start, forward and reverse rotation control, lock protection and automatic advance angle control.
  • the main control circuit is mainly used for low-power motor control of civil consumer products, and is transformed into the drive of industrial high-power motors through the technical solution of the present application, so that the deep-sea motor has high driving efficiency and good operation reliability, which is comparable to the traditional deep-sea motor.
  • the intelligent power module used in this application as a motor drive device has built-in short-circuit, over-temperature and under-voltage detection, protection, status indication and output circuits, which can quickly detect fault signals And feedback to the main control circuit, so that the deep-sea motor can be protected in time, and the reliable drive of the deep-sea motor is realized;
  • the maximum working voltage of the deep-sea motor high-power driver used in this application can reach 600V, the maximum working current is 200A, the power range is large, and the interface Universal, can meet the reliable control of most deep-sea equipment motor actuators, and perform signal detection.
  • FIG. 1 is a schematic block diagram of the deep-sea motor high-power driver disclosed in the present application.
  • FIG. 2 is a schematic diagram of the absolute value circuit disclosed in the present application.
  • FIG. 3 is a schematic diagram of the APC circuit disclosed in the present application.
  • FIG. 4 is a schematic diagram of the level conversion circuit disclosed in the present application.
  • FIG. 5 is a schematic diagram of the main control circuit disclosed in the present application.
  • FIG. 6 is a schematic diagram of the filter circuit disclosed in the present application.
  • FIG. 7 is a schematic diagram of the signal detection circuit disclosed in the present application.
  • FIG. 8 is a schematic diagram of the upper bridge signal processing circuit disclosed in the present application.
  • FIG. 9 is a schematic diagram of a lower bridge signal processing circuit disclosed in the present application.
  • FIG. 10 is a schematic diagram of the driving circuit disclosed in the present application.
  • the present application discloses a deep-sea motor high-power driver, the principle block diagram of which is shown in Figure 1, including an absolute value circuit, a driving circuit, a main control circuit, a filter circuit connected to the main control circuit, an APC circuit, a level conversion circuit,
  • the upper bridge signal processing circuit and the lower bridge signal processing circuit, the absolute value circuit is connected to the APC circuit, the upper bridge signal processing circuit and the lower bridge signal processing circuit are respectively connected to the input end of the drive circuit, and the output end of the drive circuit is used as the output end of the high-power driver Connect the deep-sea motor, and the Hall signal output by the deep-sea motor is connected to the filter circuit.
  • the voltage control signal is converted into a first predetermined voltage signal by an absolute value circuit.
  • the first predetermined voltage signal is 0-5V.
  • the first predetermined voltage signal is converted into a PWM signal by the APC circuit and input to the main control circuit, while the voltage control signal is converted into a logic signal by a level conversion circuit and input to the main control circuit, and the logic signal includes a steering control signal, a braking control signal and a reset control signal.
  • Signal, the Hall signal output by the deep-sea motor is filtered by the filter circuit and then input to the main control circuit.
  • the main control circuit outputs the control signal according to the PWM signal, the logic signal and the Hall signal, and is amplified by the upper bridge signal processing circuit and the lower bridge signal processing circuit. After isolation and isolation, it is input to the drive circuit to drive the deep-sea motor to rotate continuously in the specified direction.
  • the schematic diagram of the absolute value circuit is shown in Figure 2, including a detection circuit and an addition circuit.
  • the detection circuit includes a first amplifier A, two diodes and three resistors, and the addition circuit includes a second amplifier B and four resistors. Both Amplifier A and Second Amplifier B are implemented based on the OP484ES model.
  • the inverting input terminal of the first amplifier A is connected to the voltage control signal through the first resistor R1, the inverting input terminal of the first amplifier A is also connected to the cathode of the first diode D1, and the anode of the first diode D1 is connected to the first diode D1.
  • the cathode of the second diode D2, the anode of the second diode D2 is connected to the inverting input terminal of the second amplifier B through the third resistor R3, and the inverting input terminal of the first amplifier A is also connected to the inverting input terminal of the first amplifier A through the second resistor R2, the third The resistor R3 is connected to the inverting input terminal of the second amplifier B, the output terminal of the first amplifier A is connected to the common terminal of the first diode D1 and the second diode D2, and the voltage control signal also passes through the fourth resistor R4 and the fifth
  • the resistor R5 is connected to the output terminal of the second amplifier B, the inverting input terminal of the second amplifier B is also connected to the common terminal of the fourth resistor R4 and the fifth resistor R5, and the output terminal of the second amplifier B is used as the output terminal of the absolute value circuit.
  • the non-inverting input terminals of the first amplifier A and the second amplifier B are grounded through resistors.
  • the voltage control signal When the voltage control signal is positive, the output of the first amplifier A is negative, so the first diode D1 is reverse biased, and the second diode D2 is forward biased.
  • Two resistors R2 form an inverting amplifier.
  • the voltage control signal and the output signal of the first amplifier A are added through the second amplifier B, the third resistor R3, the fourth resistor R4 and the fifth resistor R5, and the net gain is 1 due to the setting of the resistance value of the resistor.
  • the voltage control signal When the voltage control signal is negative, the output of the first amplifier A is 0, and the first diode D1 is forward biased, thereby closing the feedback loop near the first amplifier A.
  • the second diode D2 is reverse biased and therefore non-conductive.
  • the input signal forms an inverting amplifier through the fourth resistor R4, the fifth resistor R5 and the second amplifier B to generate a positive output, thereby ensuring that the first predetermined voltage signal is always the absolute value of the voltage control signal.
  • the schematic diagram of the APC circuit is shown in Figure 3, including an analog signal converter, which is implemented based on the GP9303 chip.
  • the input terminal VIN of the analog signal converter is connected to the first predetermined voltage signal of 0-5V, and the output terminal PWM of the analog signal converter is connected.
  • Output PWM signal with 0-100% duty cycle.
  • the schematic diagram of the level conversion circuit is shown in Figure 4, including three comparators, two diodes and three transistors.
  • the first comparator U1 is implemented based on the LMV331IDCKR model, and the second comparator U2 and the third comparator U3 are based on OP484ES model implementation.
  • the non-inverting input terminal of the first comparator U1, the non-inverting input terminal of the second comparator U2 and the inverting input terminal of the third comparator U3 are respectively connected to the voltage control signal, and the output terminal of the first comparator U1 outputs the steering control signal, If the voltage control signal is positive, the first comparator outputs a high level, and the steering control signal is clockwise; otherwise, the first comparator outputs a low level, and the steering control signal is counterclockwise.
  • the inverting input end of the second comparator U2 is connected to the first end of the sixth resistor R6 and the first end of the seventh resistor R7 respectively, the second end of the sixth resistor R6 is connected to the first positive voltage +12V, and the third comparison
  • the non-inverting input end of the device U3 is respectively connected to the first end of the eighth resistor R8 and the first end of the ninth resistor R9, the second end of the ninth resistor R9 is connected to the negative voltage -12V, the second end of the seventh resistor R7 and the The second ends of the eighth resistor R8 are both grounded, the sixth resistor R6 and the seventh resistor R7 divide the voltage to generate a positive predetermined voltage value, the eighth resistor R8 and the ninth resistor R9 divide the voltage to generate a negative predetermined voltage value, and the positive predetermined voltage value and The absolute values of the negative predetermined voltage values are equal.
  • the output terminal of the second comparator U2 is connected to the anode of the third diode D3, the output terminal of the third comparator U3 is connected to the anode of the fourth diode D4, the cathode of the third diode D3 and the fourth diode
  • the cathodes of D4 are connected to the grid of the first triode Q1 through the tenth resistor R10, the collector of the first triode Q1 is connected to the base of the second triode Q2, and the collector of the second triode Q2 passes through
  • the resistor R86 is connected to the second positive voltage +5V to form a collector pull-up output, the resistor R86 and the common terminal of the second transistor output a reset control signal, and the base of the third transistor Q3 passes through the eleventh resistor R11 Connect the power supply, the base of the third transistor Q3 is also connected to the collector of the first transistor Q1 and the common terminal of the base of the second transistor Q2, and the collector of the third transistor Q3 outputs the brake control signal ,
  • the second comparator U2 compares with the third The device U3 outputs low level, the first transistor Q1 is turned off, the second transistor Q2 and the third transistor Q3 are turned on, the level conversion circuit outputs a low level reset control signal and a brake control signal, the main The control circuit has reset and braking functions.
  • the second comparator U2 If the absolute value of the voltage control signal is greater than the predetermined voltage value of 0.5V, the second comparator U2 outputs a high level, or if the absolute value of the voltage control signal is less than the negative predetermined voltage value -0.5V , the third comparator U3 outputs a high level, the first transistor Q1 is turned on, the second transistor Q2 and the third transistor Q3 are turned off, and the level conversion circuit outputs a high level reset control signal and a high impedance The brake control signal, the main control circuit closes the reset and brake functions.
  • the high-power driver of the present application also includes a parameter configuration circuit connected to the main control circuit.
  • the parameter configuration circuit provides the main control circuit with an oscillation signal and an advance angle parameter, and the oscillation signal provides the main control circuit with a working clock drive signal. According to the parameters of the deep-sea motor , configure the lead angle parameters to adjust the voltage and current signals of the deep-sea motor.
  • the schematic diagram of the main control circuit is shown in Figure 5. It is realized based on the TB6605FTG chip, that is, the three-phase full-wave sine wave PWM brushless DC motor control integrated chip, with braking, soft start, forward and reverse control, lock protection and automatic Lead angle control function.
  • the first control signals it outputs are driving voltages LA(U), LB(U), and LC(U), and the second control signals are driving voltages LA(L), LB(L), and LC(L).
  • the load current is up to 10mA.
  • the chip receives an external PWM signal, and automatically outputs a three-phase full-wave sine wave drive signal according to the motor's Hall signal, steering control signal, brake control signal, etc.
  • the chip automatically adjusts the lead angle of the deep-sea motor (that is, the angle of the phase current relative to the phase voltage) by setting the input voltage of the LA pin according to the rated speed of the deep-sea motor, thereby improving efficiency, reducing vibration and reducing noise.
  • the main control circuit is mainly used for low-power motor control of civilian consumer products. Through the technical solution of the present application, it can be converted into the drive of industrial high-power motors, so that the operation reliability of the deep-sea motor is good, and the designer does not need to develop complicated development by using this chip.
  • the control algorithm can obtain efficient motor control, high reliability, and can also shorten the development cycle.
  • the schematic diagram of the filter circuit is shown in Figure 6. It is implemented based on the MAX964EEE chip.
  • the chip includes four high-speed hysteresis comparators.
  • the inverting terminal of the high-speed hysteresis comparator inputs 4.5V, and the three-way Hall signals are filtered through the comparison circuit.
  • the high-power driver of the present application further includes a signal detection circuit, the signal detection circuit is connected to the filter circuit, and after the Hall signal is filtered, the signal detection circuit outputs a motor speed signal through the signal detection circuit.
  • the signal detection circuit includes a rotation speed detection circuit and a bus current detection circuit.
  • the rotation speed detection circuit includes the first optocoupler U4, which is based on the PC817 model.
  • the anode of the first optocoupler U4 passes through the twelfth optocoupler.
  • the resistor R12 is connected to the single-phase Hall filter signal HA, the cathode of the emitter of the first optocoupler U4 is grounded, the emitter of the receiver of the first optocoupler U4 is grounded through the thirteenth resistor R13, and the collector of the receiver of the first optocoupler U4 Connect the power supply 12V, the emitter of the light receiver of the first optocoupler U4 outputs a 12V pulse signal as the motor speed signal.
  • the busbar current detection circuit includes a current sensor U5, which is based on the LEM CASR 50 model.
  • the input terminal IN of the current sensor U5 is connected to a predetermined current signal.
  • the predetermined current signal is 0-150A, and its voltage output terminal Vout passes through the fourteenth
  • the resistor R14 outputs a second predetermined voltage signal, and the second predetermined voltage signal is 2.5-5V. According to the second predetermined voltage signal, the operator can judge the working conditions of the high-power driver and the deep-sea motor.
  • the schematic diagram of the upper bridge signal processing circuit is shown in Figure 8, including the upper bridge signal amplification circuit and the upper bridge signal isolation circuit.
  • the upper bridge signal amplification circuit is shown in Figure 8(a), including an inverting transistor array with three
  • the inverting transistor U6 is implemented based on the TBD62003AFNG model.
  • the input end of each inverting transistor U6 is connected to the first control signal (that is, the driving voltage) output by the main control circuit, and the output end of each inverting transistor U6 is based on the logic of the driving circuit.
  • the output of the inverted upper bridge signal is 0V or the output is floating, and the upper bridge signal amplifier circuit can provide the driving capability of the high-power driver.
  • the upper bridge signal isolation circuit is shown in Figure 8(b), including three second optocouplers U7, which are based on the HCPL0454 model.
  • the anode of each second optocoupler U7 is connected to the power supply through the fifteenth resistor R15.
  • the cathodes of the emitters of the second optocouplers U7 are respectively connected to the output terminals of the corresponding inverting transistors U6 to connect to the upper bridge signal, and the power supply terminals of the receivers of each second optocoupler U7 are connected to the second optocoupler through the sixteenth resistor R16
  • the receiver collector of U7, the receiver collector of each second optocoupler U7 outputs the upper bridge three-phase drive signal through the seventeenth resistor R17 as the upper bridge output terminal of the upper bridge signal processing circuit and is connected to the intelligent driving circuit in the power module.
  • the schematic diagram of the lower bridge signal processing circuit is shown in Figure 9, including the lower bridge signal amplifying circuit and the lower bridge signal isolation circuit.
  • the transistor U8 is implemented based on the TBD62783AFNG model.
  • the input end of each non-inverting transistor U8 is connected to the second control signal (that is, the driving voltage) output by the main control circuit.
  • the output end of each non-inverting transistor U8 outputs the in-phase conversion.
  • the lower bridge signal optional, the lower bridge signal is 0V or 12V.
  • the lower bridge signal isolation circuit is shown in Figure 9(b), including three second optocouplers U9, the anode of each second optocoupler U9 is connected to the output end of the corresponding non-inverting transistor U8 through the eighteenth resistor R18 respectively
  • the lower bridge signal is connected, the cathode of the emitter of each second optocoupler U9 is grounded, and the power end of the receiver of each second optocoupler U9 is connected to the collector of the receiver of the second optocoupler U9 through the nineteenth resistor R19,
  • the power terminals of the receivers of the three second optocouplers U9 are connected in sequence, and the collectors of the receivers of each second optocoupler U9 pass through the twentieth resistor R20 as the lower output terminal of the lower bridge signal processing circuit to output the lower bridge three-phase drive.
  • the signal is connected to the intelligent power module of the drive circuit.
  • the schematic diagram of the drive circuit is shown in Figure 10, including the intelligent power module, which is implemented based on the PM200CS1D060 chip, including the built-in six groups of IGBTs to form a three-phase bridge circuit and a fault detection circuit.
  • the fault detection circuit includes short-circuit, over-temperature and under-voltage detection. , protection, status indication and output circuit, the maximum current of the intelligent power module is 200A, and the maximum voltage is 600V.
  • the module has a large power range and a universal interface, which can meet the reliable control of most deep-sea equipment motor actuators and perform signal detection.
  • the intelligent power module is also connected to the main control circuit, and the fault signal detected by the fault detection circuit is fed back to the main control circuit to control and protect the deep-sea motor.
  • the fault signal includes over-current, over-temperature and under-voltage faults. It can be protected in time and realize the reliable drive of the deep-sea motor.

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Computer Hardware Design (AREA)
  • Physics & Mathematics (AREA)
  • Computing Systems (AREA)
  • General Engineering & Computer Science (AREA)
  • Mathematical Physics (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

本发明公开了一种深海电机大功率驱动器，涉及电机驱动控制技术领域，包括绝对值电路、驱动电路、主控电路以及与主控电路相连的滤波电路、APC电路、电平转换电路、上桥信号处理电路和下桥信号处理电路，电压控制信号通过绝对值电路转换成第一预定电压信号后，通过APC电路转换成PWM信号输入至主控电路，同时电压控制信号通过电平转换电路转换成逻辑信号输入至主控电路，深海电机输出的霍尔信号通过滤波电路输入至主控电路，主控电路根据PWM信号、逻辑信号和霍尔信号输出控制信号，通过上、下桥信号处理电路后输入至驱动电路从而驱动深海电机按照指定方向转动，使用该驱动器无需开发复杂控制算法，提高驱动器的效率并且缩短研制周期。

Description

一种深海电机大功率驱动器 技术领域
本发明涉及电机驱动控制技术领域，尤其是一种深海电机大功率驱动器。
背景技术
深海装备在深海环境下航行和作业需要使用各种执行机构，如液压源、海水泵或推进器等。深海电机是众多执行机构的动力来源，其特点是要求功率大、适用于恶劣工作环境、可靠性要求高。而深海电机的高效可靠的驱动控制是执行机构正确动作的保证，同时还需要对深海电机的各种状态信息进行检测，以便了解深海电机的运行状态，确保安全。当前常用的电机驱动器件主要有MOS管和IGBT。MOS管适合于功率较低的电机驱动，IGBT的驱动功率相对较大。而深海电机的控制和信号检测及故障保护等多采用复杂的控制算法及逻辑运算实现，导致开发周期长，系统复杂，且可靠性无法得到充分保障。
发明内容
本发明人针对上述问题及技术需求，提出了一种深海电机大功率驱动器，采用成熟的集成芯片进行驱动器设计，以满足应用需求和解决现有驱动器的不足。
本发明的技术方案如下：
一种深海电机大功率驱动器，包括绝对值电路、驱动电路、主控电路以及与主控电路相连的滤波电路、APC电路、电平转换电路、上桥信号处理电路和下桥信号处理电路，绝对值电路连接APC电路，上桥信号处理电路和下桥信号处理电路分别连接驱动电路的输入端，驱动电路的输出端作为大功率驱动器的输出端连接深海电机，深海电机输出的霍尔信号接入滤波电路；
电压控制信号通过绝对值电路转换成第一预定电压信号，第一预定电压信号通过APC电路转换成PWM信号输入至主控电路，同时电压控制信号通过电平转换电路转换成逻辑信号输入至主控电路，逻辑信号包括转向控制信号、刹车控制信号和复位控制信号，深海电机输出的霍尔信号通过滤波电路滤波后输入至主控电路，主控电路根据PWM信号、逻辑信号和霍尔信号输出控制信号， 通过上桥信号处理电路和下桥信号处理电路放大和隔离后输入至驱动电路，从而驱动深海电机按照指定方向连续转动。
其进一步的技术方案为，绝对值电路包括检波电路和加法电路，检波电路包括第一放大器、两个二极管和三个电阻，加法电路包括第二放大器和四个电阻；
第一放大器的反相输入端通过第一电阻接入电压控制信号，第一放大器的反相输入端还连接第一二极管的阴极，第一二极管的阳极连接第二二极管的阴极，第二二极管的阳极通过第三电阻连接第二放大器的反相输入端，第一放大器的反相输入端还通过第二电阻、第三电阻连接第二放大器的反相输入端，第一放大器的输出端连接第一二极管和第二二极管的公共端，电压控制信号还通过第四电阻和第五电阻连接第二放大器的输出端，第二放大器的反相输入端还连接第四电阻和第五电阻的公共端，第二放大器的输出端作为绝对值电路的输出端输出第一预定电压信号，第一放大器和第二放大器的同相输入端均通过电阻接地，电阻阻值的关系为R1＝R2＝R4＝R5＝2R3，其中Ri表示第i电阻的阻值，从而保证第一预定电压信号始终为电压控制信号的绝对值。
其进一步的技术方案为，APC电路包括模拟信号转换器，模拟信号转换器的输入端接入第一预定电压信号，模拟信号转换器的输出端输出0-100％占空比的PWM信号。
其进一步的技术方案为，电平转换电路包括三个比较器、两个二极管和三个三极管，第一比较器的同相输入端、第二比较器的同相输入端和第三比较器的反相输入端分别接入电压控制信号，第一比较器的输出端输出转向控制信号，若电压控制信号为正时，第一比较器输出高电平，转向控制信号为顺时针，反之，第一比较器输出低电平，转向控制信号为逆时针；
第二比较器的反相输入端分别连接第六电阻的第一端和第七电阻的第一端，第六电阻的第二端接入第一正电压，第三比较器的同相输入端分别连接第八电阻的第一端和第九电阻的第一端，第九电阻的第二端接入负电压，第七电阻的第二端和第八电阻的第二端均接地，第六电阻和第七电阻分压产生正预定电压值，第八电阻和第九电阻分压产生负预定电压值，正预定电压值和负预定电压值的绝对值相等；第二比较器的输出端连接第三二极管的阳极，第三比较器的输出端连接第四二极管的阳极，第三二极管的阴极和第四二极管的阴极均通过第十电阻连接第一三极管的基极，第一三极管的集电极连接第二三极管的 基极，第二三极管的集电极通过电阻连接第二正电压，构成集电极上拉输出，电阻和第二三极管的公共端输出复位控制信号，第三三极管的基极通过第十一电阻连接电源，第三三极管的基极还连接第一三极管的集电极和第二三极管的基极的公共端，第三三极管的集电极输出刹车控制信号，第一三极管的发射极、第二三极管的发射极、第三三极管的发射极均接地，若电压控制信号的绝对值小于预定电压值时(由电阻分压设定)，第二比较器和第三比较器均输出低电平，第一三极管截止、第二三极管和第三三极管导通，电平转换电路输出低电平的复位控制信号和刹车控制信号，主控电路具备复位和刹车功能，若电压控制信号的绝对值大于预定电压值或小于负预定电压值时，第二比较器或第三比较器输出高电平，第一三极管导通、第二三极管和第三三极管截止，电平转换电路输出高电平的复位控制信号和高阻抗的刹车控制信号，主控电路关闭复位和刹车功能。
其进一步的技术方案为，上桥信号处理电路包括上桥信号放大电路和上桥信号隔离电路，上桥信号放大电路包括反相晶体管阵列，具有三个反相晶体管，每个反相晶体管的输入端连接主控电路输出的第一控制信号，根据驱动电路的逻辑每个反相晶体管的输出端输出反相转换后的上桥信号或输出悬空；
上桥信号隔离电路包括三个第二光耦，每个第二光耦的发光器阳极通过第十五电阻接入电源，每个第二光耦的发光器阴极分别连接对应的反相晶体管的输出端接入上桥信号，每个第二光耦的受光器电源端通过第十六电阻连接第二光耦的受光器集电极，每个第二光耦的受光器集电极通过第十七电阻作为上桥信号处理电路的上桥输出端输出上桥三相驱动信号并接入驱动电路的智能功率模块中。
其进一步的技术方案为，下桥信号处理电路包括下桥信号放大电路和下桥信号隔离电路，下桥信号放大电路包括同相晶体管阵列，具有三个同相晶体管，每个同相晶体管的输入端连接主控电路输出的第二控制信号，根据驱动电路的逻辑每个同相晶体管的输出端输出同相转换后的下桥信号；
下桥信号隔离电路包括三个第二光耦，每个第二光耦的发光器阳极分别通过第十八电阻连接对应的同相晶体管的输出端接入下桥信号，每个第二光耦的发光器阴极均接地，每个第二光耦的受光器电源端通过第十九电阻连接第二光耦的受光器集电极，三个第二光耦的受光器电源端依次相连，每个第二光耦的受光器集电极通过第二十电阻作为下桥信号处理电路的下桥输出端输出下桥三 相驱动信号并接入驱动电路的智能功率模块中。
其进一步的技术方案为，驱动电路包括智能功率模块，包括内置的六组IGBT组成三相桥式电路以及故障检测电路，故障检测电路包括短路、过温及欠压检测、保护、状态指示和输出电路，智能功率模块还连接主控电路，将故障检测电路检测出的故障信号反馈至主控电路对深海电机进行控制保护，故障信号包括过流、过温和欠压故障。
其进一步的技术方案为，大功率驱动器还包括与主控电路相连的参数配置电路，参数配置电路为主控电路提供震荡信号和超前角参数，震荡信号为主控电路提供工作时钟驱动信号，根据深海电机的参数，配置超前角参数，用于调整深海电机的电压和电流信号。
其进一步的技术方案为，大功率驱动器还包括信号检测电路，信号检测电路连接滤波电路，滤波霍尔信号后通过信号检测电路输出电机转速信号；
信号检测电路包括转速检测电路和母线电流检测电路，转速检测电路包括第一光耦，第一光耦的发光器阳极通过第十二电阻接入单项霍尔滤波信号，第一光耦的发光器阴极接地，第一光耦的受光器发射极通过第十三电阻接地，第一光耦的受光器集电极连接电源，第一光耦的受光器发射极还输出脉冲信号作为电机转速信号；
母线电流检测电路包括电流传感器，电流传感器的输入端接入预定电流信号，电压输出端通过第十四电阻输出第二预定电压信号，根据第二预定电压信号判断大功率驱动器和深海电机的工作情况。
其进一步的技术方案为，APC电路基于GP9303芯片实现，主控电路基于TB6605FTG芯片实现，滤波电路基于MAX964EEE芯片实现，智能功率模块基于PM200CS1D060芯片实现。
本发明的有益技术效果是：
本申请通过在功率驱动器中设置了绝对值电路、APC电路、电平转换电路以及滤波霍尔信号的滤波电路并分别接入至主控电路中，进而主控电路根据PWM信号、逻辑信号和霍尔信号输出三相全波正弦波控制信号，再通过上桥信号处理电路和下桥信号处理电路放大和隔离后输入至驱动电路，从而驱动深海电机按照指定方向连续转动。主控电路还具有制动、软启动、正反转控制、锁定保护和自动超前角控制等功能。该主控电路主要用于民用消费产品的小功 率电机控制，通过本申请的技术方案转化为应用于工业大功率电机的驱动，使得深海电机驱动效率高，运行可靠性好，与传统的深海电机相比无需开发人员进行算法的设计，缩短研制周期；本申请采用的智能功率模块作为电机驱动器件，内置了短路、过温和欠压检测、保护、状态指示和输出电路，能够快速检测出故障信号并反馈至主控电路，使深海电机能够及时得到保护，实现了深海电机的可靠驱动；采用本申请的深海电机大功率驱动器最高工作电压可达600V，最大工作电流为200A，功率范围大，接口通用，能够满足大部分深海装备电机执行机构的可靠控制，并进行信号检测。
附图说明
图1是本申请公开的深海电机大功率驱动器的原理框图。
图2是本申请公开的绝对值电路原理图。
图3是本申请公开的APC电路原理图。
图4是本申请公开的电平转换电路原理图。
图5是本申请公开的主控电路原理图。
图6是本申请公开的滤波电路原理图。
图7是本申请公开的信号检测电路原理图。
图8是本申请公开的上桥信号处理电路原理图。
图9是本申请公开的下桥信号处理电路原理图。
图10是本申请公开的驱动电路原理图。
具体实施方式
下面结合附图对本发明的具体实施方式做进一步说明。
本申请公开了一种深海电机大功率驱动器，其原理框图如图1所示，包括绝对值电路、驱动电路、主控电路以及与主控电路相连的滤波电路、APC电路、电平转换电路、上桥信号处理电路和下桥信号处理电路，绝对值电路连接APC电路，上桥信号处理电路和下桥信号处理电路分别连接驱动电路的输入端，驱动电路的输出端作为大功率驱动器的输出端连接深海电机，深海电机输出的霍尔信号接入滤波电路。
电压控制信号通过绝对值电路转换成第一预定电压信号，可选的，电压控制信号为0-±5V，则第一预定电压信号为0-5V。第一预定电压信号通过APC电路转换成PWM信号输入至主控电路，同时电压控制信号通过电平转换电路 转换成逻辑信号输入至主控电路，逻辑信号包括转向控制信号、刹车控制信号和复位控制信号，深海电机输出的霍尔信号通过滤波电路滤波后输入至主控电路，主控电路根据PWM信号、逻辑信号和霍尔信号输出控制信号，通过上桥信号处理电路和下桥信号处理电路放大和隔离后输入至驱动电路，从而驱动深海电机按照指定方向连续转动。
绝对值电路的原理图如图2所示，包括检波电路和加法电路，检波电路包括第一放大器A、两个二极管和三个电阻，加法电路包括第二放大器B和四个电阻，其中第一放大器A和第二放大器B均基于OP484ES型号实现。
第一放大器A的反相输入端通过第一电阻R1接入电压控制信号，第一放大器A的反相输入端还连接第一二极管D1的阴极，第一二极管D1的阳极连接第二二极管D2的阴极，第二二极管D2的阳极通过第三电阻R3连接第二放大器B的反相输入端，第一放大器A的反相输入端还通过第二电阻R2、第三电阻R3连接第二放大器B的反相输入端，第一放大器A的输出端连接第一二极管D1和第二二极管D2的公共端，电压控制信号还通过第四电阻R4和第五电阻R5连接第二放大器B的输出端，第二放大器B的反相输入端还连接第四电阻R4和第五电阻R5的公共端，第二放大器B的输出端作为绝对值电路的输出端输出第一预定电压信号，第一放大器A和第二放大器B的同相输入端均通过电阻接地，电阻阻值的关系为R1＝R2＝R4＝R5＝2R3，其中Ri表示第i电阻的阻值。
当电压控制信号为正时，第一放大器A的输出为负，所以第一二极管D1反向偏置，第二二极管D2正向偏置，电压控制信号经第一放大器A和第二电阻R2形成反相放大器。电压控制信号和第一放大器A的输出信号经第二放大器B、第三电阻R3、第四电阻R4和第五电阻R5进行加法运算，由于电阻阻值的设置得到净增益为1。当电压控制信号为负时，第一放大器A输出为0，第一二极管D1正向偏置，从而关闭第一放大器A附近的反馈环路。第二二极管D2反向偏置，故不导通。输入信号经第四电阻R4、第五电阻R5和第二放大器B组成反相放大器，产生正输出，从而保证第一预定电压信号始终为电压控制信号的绝对值。
APC电路的原理图如图3所示，包括模拟信号转换器，基于GP9303芯片实现，模拟信号转换器的输入端VIN接入0-5V的第一预定电压信号，模拟信号转换器的输出端PWM输出0-100％占空比的PWM信号。
电平转换电路的原理图如图4所示，包括三个比较器、两个二极管和三个三极管，其中第一比较器U1基于LMV331IDCKR型号实现，第二比较器U2和第三比较器U3基于OP484ES型号实现。第一比较器U1的同相输入端、第二比较器U2的同相输入端和第三比较器U3的反相输入端分别接入电压控制信号，第一比较器U1的输出端输出转向控制信号，若电压控制信号为正时，第一比较器输出高电平，转向控制信号为顺时针，反之，第一比较器输出低电平，转向控制信号为逆时针。
第二比较器U2的反相输入端分别连接第六电阻R6的第一端和第七电阻R7的第一端，第六电阻R6的第二端接入第一正电压+12V，第三比较器U3的同相输入端分别连接第八电阻R8的第一端和第九电阻R9的第一端，第九电阻R9的第二端接入负电压-12V，第七电阻R7的第二端和第八电阻R8的第二端均接地，第六电阻R6和第七电阻R7分压产生正预定电压值，第八电阻R8和第九电阻R9分压产生负预定电压值，正预定电压值和负预定电压值的绝对值相等。第二比较器U2的输出端连接第三二极管D3的阳极，第三比较器U3的输出端连接第四二极管D4的阳极，第三二极管D3的阴极和第四二极管D4的阴极均通过第十电阻R10连接第一三极管Q1的栅极，第一三极管Q1的集电极连接第二三极管Q2的基极，第二三极管Q2的集电极通过电阻R86连接第二正电压+5V，构成集电极上拉输出，所述电阻R86和第二三极管的公共端输出复位控制信号，第三三极管Q3的基极通过第十一电阻R11连接电源，第三三极管Q3的基极还连接第一三极管Q1的集电极和第二三极管Q2的基极的公共端，第三三极管Q3的集电极输出刹车控制信号，第一三极管Q1的发射极、第二三极管Q2的发射极、第三三极管Q3的发射极均接地。若电压控制信号的绝对值小于预定电压值0.5V(由第六电阻R6和第七电阻R7、第八电阻R8和第九电阻R9分压设定)时，第二比较器U2和第三比较器U3均输出低电平，第一三极管Q1截止、第二三极管Q2和第三三极管Q3导通，电平转换电路输出低电平的复位控制信号和刹车控制信号，主控电路具备复位和刹车功能，若电压控制信号的绝对值大于预定电压值0.5V时，第二比较器U2输出高电平，或者若电压控制信号的绝对值小于负预定电压值-0.5V时，第三比较器U3输出高电平，第一三极管Q1导通、第二三极管Q2和第三三极管Q3截止，电平转换电路输出高电平的复位控制信号和高阻抗的刹车控制信号，主控电路关闭复位和刹车功能。
本申请的大功率驱动器还包括与主控电路相连的参数配置电路，参数配置电路为主控电路提供震荡信号和超前角参数，震荡信号为主控电路提供工作时钟驱动信号，根据深海电机的参数，配置超前角参数，用于调整深海电机的电压和电流信号。
主控电路的原理图如图5所示，基于TB6605FTG芯片实现，也即三相全波正弦波PWM直流无刷电机控制集成芯片，具有制动、软启动、正反转控制、锁定保护和自动超前角控制功能。其输出的第一控制信号为驱动电压LA(U)、LB(U)、LC(U)和第二控制信号为驱动电压LA(L)、LB(L)、LC(L)，该驱动信号负载电流最大为10mA。该芯片接收外部PWM信号，根据电机的霍尔信号和转向控制信号、刹车控制信号等，自动输出三相全波正弦波驱动信号控制功率器件导通，从而控制深海电机的转动。此外，该芯片根据深海电机的额定转速，通过设置LA引脚的输入电压，自动调整深海电机的超前角(也即相电流相对于相电压的角度)，从而提高效率，减小振动，降低噪声。该主控电路主要用于民用消费产品的小功率电机控制，通过本申请的技术方案转化为应用于工业大功率电机的驱动，使得深海电机的运行可靠性好，设计者采用该芯片不用开发复杂的控制算法，即可得到高效的电机控制，可靠性很高，同时也可缩短研制周期。
滤波电路的原理图如图6所示，基于MAX964EEE芯片实现，该芯片包括四路高速迟滞比较器，高速迟滞比较器的反相端输入4.5V，通过比较电路将三路霍尔信号进行滤波后输出5V高低电平序列。具体的，深海电机内有三组霍尔传感器，某一霍尔传感器输出高电平表示当前位置该传感器信号有效，低电平表示当前位置该传感器检测不到信号。
本申请的大功率驱动器还包括信号检测电路，信号检测电路连接滤波电路，滤波霍尔信号后通过信号检测电路输出电机转速信号。
其原理图如图7所示，信号检测电路包括转速检测电路和母线电流检测电路，转速检测电路包括第一光耦U4，基于PC817型号实现，第一光耦U4的发光器阳极通过第十二电阻R12接入单项霍尔滤波信号HA，第一光耦U4的发光器阴极接地，第一光耦U4的受光器发射极通过第十三电阻R13接地，第一光耦U4的受光器集电极连接电源12V，第一光耦U4的受光器发射极输出12V脉冲信号作为电机转速信号。
母线电流检测电路包括电流传感器U5，基于LEM CASR 50型号实现，电 流传感器U5的输入端IN接入预定电流信号，可选的，预定电流信号为0-150A，其电压输出端Vout通过第十四电阻R14输出第二预定电压信号，第二预定电压信号为2.5-5V，根据第二预定电压信号可供操作人员判断大功率驱动器和深海电机的工作情况。
上桥信号处理电路的原理图如图8所示，包括上桥信号放大电路和上桥信号隔离电路，上桥信号放大电路如图8(a)所示，包括反相晶体管阵列，具有三个反相晶体管U6，基于TBD62003AFNG型号实现，每个反相晶体管U6的输入端连接主控电路输出的第一控制信号(也即驱动电压)，根据驱动电路的逻辑每个反相晶体管U6的输出端输出反相转换后的上桥信号0V或输出悬空，经过上桥信号放大电路能够提供大功率驱动器的驱动能力。
上桥信号隔离电路如图8(b)所示，包括三个第二光耦U7，基于HCPL0454型号实现，每个第二光耦U7的发光器阳极通过第十五电阻R15接入电源，每个第二光耦U7的发光器阴极分别连接对应的反相晶体管U6的输出端接入上桥信号，每个第二光耦U7的受光器电源端通过第十六电阻R16连接第二光耦U7的受光器集电极，每个第二光耦U7的受光器集电极通过第十七电阻R17作为上桥信号处理电路的上桥输出端输出上桥三相驱动信号并接入驱动电路的智能功率模块中。
下桥信号处理电路的原理图如图9所示，包括下桥信号放大电路和下桥信号隔离电路，下桥信号放大电路如图9(a)所示，包括同相晶体管阵列，具有三个同相晶体管U8，基于TBD62783AFNG型号实现，每个同相晶体管U8的输入端连接主控电路输出的第二控制信号(也即驱动电压)，根据驱动电路的逻辑每个同相晶体管U8的输出端输出同相转换后的下桥信号，可选的，下桥信号为0V或12V。
下桥信号隔离电路如图9(b)所示，包括三个第二光耦U9，每个第二光耦U9的发光器阳极分别通过第十八电阻R18连接对应的同相晶体管U8的输出端接入下桥信号，每个第二光耦U9的发光器阴极均接地，每个第二光耦U9的受光器电源端通过第十九电阻R19连接第二光耦U9的受光器集电极，三个第二光耦U9的受光器电源端依次相连，每个第二光耦U9的受光器集电极通过第二十电阻R20作为下桥信号处理电路的下桥输出端输出下桥三相驱动信号并接入驱动电路的智能功率模块中。
驱动电路的原理图如图10所示，包括智能功率模块，基于PM200CS1D060 芯片实现，包括内置的六组IGBT组成三相桥式电路以及故障检测电路，故障检测电路包括短路、过温及欠压检测、保护、状态指示和输出电路，智能功率模块的最大电流为200A，最大电压为600V，该模块功率范围大，接口通用，能够满足大部分深海装备电机执行机构的可靠控制，并进行信号检测。智能功率模块还连接主控电路，将故障检测电路检测出的故障信号反馈至主控电路对深海电机进行控制保护，故障信号包括过流、过温和欠压故障，通过设置故障检测电路使深海电机能够及时得到保护，实现了深海电机的可靠驱动。
以上所述的仅是本申请的优选实施方式，本发明不限于以上实施例。可以理解，本领域技术人员在不脱离本发明的精神和构思的前提下直接导出或联想到的其他改进和变化，均应认为包含在本发明的保护范围之内。

Claims (10)

  1. 一种深海电机大功率驱动器，其特征在于，包括绝对值电路、驱动电路、主控电路以及与所述主控电路相连的滤波电路、APC电路、电平转换电路、上桥信号处理电路和下桥信号处理电路，所述绝对值电路连接所述APC电路，所述上桥信号处理电路和下桥信号处理电路分别连接所述驱动电路的输入端，所述驱动电路的输出端作为所述大功率驱动器的输出端连接深海电机，所述深海电机输出的霍尔信号接入所述滤波电路；
    电压控制信号通过所述绝对值电路转换成第一预定电压信号，所述第一预定电压信号通过所述APC电路转换成PWM信号输入至所述主控电路，同时所述电压控制信号通过所述电平转换电路转换成逻辑信号输入至所述主控电路，所述逻辑信号包括转向控制信号、刹车控制信号和复位控制信号，所述深海电机输出的霍尔信号通过所述滤波电路滤波后输入至所述主控电路，所述主控电路根据所述PWM信号、所述逻辑信号和所述霍尔信号输出控制信号，通过所述上桥信号处理电路和下桥信号处理电路放大和隔离后输入至所述驱动电路，从而驱动所述深海电机按照指定方向连续转动。
  2. 根据权利要求1所述的深海电机大功率驱动器，其特征在于，所述绝对值电路包括检波电路和加法电路，所述检波电路包括第一放大器、两个二极管和三个电阻，所述加法电路包括第二放大器和四个电阻；
    所述第一放大器的反相输入端通过第一电阻接入所述电压控制信号，所述第一放大器的反相输入端还连接第一二极管的阴极，所述第一二极管的阳极连接第二二极管的阴极，所述第二二极管的阳极通过第三电阻连接所述第二放大器的反相输入端，所述第一放大器的反相输入端还通过第二电阻、所述第三电阻连接所述第二放大器的反相输入端，所述第一放大器的输出端连接所述第一二极管和第二二极管的公共端，所述电压控制信号还通过第四电阻和第五电阻连接所述第二放大器的输出端，所述第二放大器的反相输入端还连接所述第四电阻和第五电阻的公共端，所述第二放大器的输出端作为所述绝对值电路的输出端输出所述第一预定电压信号，所述第一放大器和第二放大器的同相输入端均通过电阻接地，所述电阻阻值的关系为R1＝R2＝R4＝R5＝2R3，其中Ri表示第i电阻的阻值，从而保证所述第一预定电压信号始终为所述电压控制信号的绝对 值。
  3. 根据权利要求1所述的深海电机大功率驱动器，其特征在于，所述APC电路包括模拟信号转换器，所述模拟信号转换器的输入端接入所述第一预定电压信号，所述模拟信号转换器的输出端输出0-100％占空比的PWM信号。
  4. 根据权利要求1所述的深海电机大功率驱动器，其特征在于，所述电平转换电路包括三个比较器、两个二极管和三个三极管，第一比较器的同相输入端、第二比较器的同相输入端和第三比较器的反相输入端分别接入所述电压控制信号，所述第一比较器的输出端输出所述转向控制信号，若所述电压控制信号为正时，所述第一比较器输出高电平，所述转向控制信号为顺时针，反之，所述第一比较器输出低电平，所述转向控制信号为逆时针；
    所述第二比较器的反相输入端分别连接第六电阻的第一端和第七电阻的第一端，所述第六电阻的第二端接入第一正电压，所述第三比较器的同相输入端分别连接第八电阻的第一端和第九电阻的第一端，所述第九电阻的第二端接入负电压，所述第七电阻的第二端和第八电阻的第二端均接地，所述第六电阻和第七电阻分压产生正预定电压值，所述第八电阻和第九电阻分压产生负预定电压值，所述正预定电压值和负预定电压值的绝对值相等；所述第二比较器的输出端连接第三二极管的阳极，所述第三比较器的输出端连接第四二极管的阳极，所述第三二极管的阴极和所述第四二极管的阴极均通过第十电阻连接第一三极管的基极，所述第一三极管的集电极连接第二三极管的基极，所述第二三极管的集电极通过电阻连接第二正电压，构成集电极上拉输出，所述电阻和第二三极管的公共端输出所述复位控制信号，第三三极管的基极通过第十一电阻连接电源，所述第三三极管的基极还连接所述第一三极管的集电极和第二三极管的基极的公共端，所述第三三极管的集电极输出所述刹车控制信号，所述第一三极管的发射极、第二三极管的发射极、第三三极管的发射极均接地，若所述电压控制信号的绝对值小于预定电压值时(由电阻分压设定)，所述第二比较器和第三比较器均输出低电平，所述第一三极管截止、第二三极管和第三三极管导通，所述电平转换电路输出低电平的复位控制信号和刹车控制信号，所述主控电路具备复位和刹车功能，若所述电压控制信号的绝对值大于预定电压值或小于负预定电压值时，所述第二比较器或第三比较器输出高电平，所述第一三极管导通、第二三极管和第三三极管截止，所述电平转换电路输出高电平的复位控制信号和高阻抗的刹车控制信号，所述主控电路关闭复位和刹车功能。
  5. 根据权利要求1所述的深海电机大功率驱动器，其特征在于，所述上桥信号处理电路包括上桥信号放大电路和上桥信号隔离电路，所述上桥信号放大电路包括反相晶体管阵列，具有三个反相晶体管，每个所述反相晶体管的输入端连接所述主控电路输出的第一控制信号，根据所述驱动电路的逻辑每个所述反相晶体管的输出端输出反相转换后的上桥信号或输出悬空；
    所述上桥信号隔离电路包括三个第二光耦，每个所述第二光耦的发光器阳极通过第十五电阻接入电源，每个所述第二光耦的发光器阴极分别连接对应的所述反相晶体管的输出端接入所述上桥信号，每个所述第二光耦的受光器电源端通过第十六电阻连接所述第二光耦的受光器集电极，每个所述第二光耦的受光器集电极通过第十七电阻作为所述上桥信号处理电路的上桥输出端输出上桥三相驱动信号并接入所述驱动电路的智能功率模块中。
  6. 根据权利要求1所述的深海电机大功率驱动器，其特征在于，所述下桥信号处理电路包括下桥信号放大电路和下桥信号隔离电路，所述下桥信号放大电路包括同相晶体管阵列，具有三个同相晶体管，每个所述同相晶体管的输入端连接所述主控电路输出的第二控制信号，根据所述驱动电路的逻辑每个所述同相晶体管的输出端输出同相转换后的下桥信号；
    所述下桥信号隔离电路包括三个第二光耦，每个所述第二光耦的发光器阳极分别通过第十八电阻连接对应的所述同相晶体管的输出端接入所述下桥信号，每个所述第二光耦的发光器阴极均接地，每个所述第二光耦的受光器电源端通过第十九电阻连接所述第二光耦的受光器集电极，三个所述第二光耦的受光器电源端依次相连，每个所述第二光耦的受光器集电极通过第二十电阻作为所述下桥信号处理电路的下桥输出端输出下桥三相驱动信号并接入所述驱动电路的智能功率模块中。
  7. 根据权利要求1所述的深海电机大功率驱动器，其特征在于，所述驱动电路包括智能功率模块，包括内置的六组IGBT组成三相桥式电路以及故障检测电路，所述故障检测电路包括短路、过温及欠压检测、保护、状态指示和输出电路，所述智能功率模块还连接所述主控电路，将所述故障检测电路检测出的故障信号反馈至所述主控电路对所述深海电机进行控制保护，所述故障信号包括过流、过温和欠压故障。
  8. 根据权利要求1-7任一所述的深海电机大功率驱动器，其特征在于，所述大功率驱动器还包括与所述主控电路相连的参数配置电路，所述参数配置电 路为所述主控电路提供震荡信号和超前角参数，所述震荡信号为所述主控电路提供工作时钟驱动信号，根据所述深海电机的参数，配置所述超前角参数，用于调整所述深海电机的电压和电流信号。
  9. 根据权利要求1-7任一所述的深海电机大功率驱动器，其特征在于，所述大功率驱动器还包括信号检测电路，所述信号检测电路连接所述滤波电路，滤波所述霍尔信号后通过所述信号检测电路输出电机转速信号；
    所述信号检测电路包括转速检测电路和母线电流检测电路，所述转速检测电路包括第一光耦，所述第一光耦的发光器阳极通过第十二电阻接入所述单项霍尔滤波信号，所述第一光耦的发光器阴极接地，所述第一光耦的受光器发射极通过第十三电阻接地，所述第一光耦的受光器集电极连接电源，所述第一光耦的受光器发射极还输出脉冲信号作为所述电机转速信号；
    所述母线电流检测电路包括电流传感器，所述电流传感器的输入端接入预定电流信号，电压输出端通过第十四电阻输出第二预定电压信号，根据所述第二预定电压信号判断所述大功率驱动器和深海电机的工作情况。
  10. 根据权利要求1所述的深海电机大功率驱动器，其特征在于，所述APC电路基于GP9303芯片实现，所述主控电路基于TB6605FTG芯片实现，所述滤波电路基于MAX964EEE芯片实现，所述智能功率模块基于PM200CS1D060芯片实现。
PCT/CN2021/089503 2020-08-04 2021-04-25 一种深海电机大功率驱动器 WO2022028009A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202010770931.5 2020-08-04
CN202010770931.5A CN111884565B (zh) 2020-08-04 2020-08-04 一种深海电机大功率驱动器

Publications (1)

Publication Number Publication Date
WO2022028009A1 true WO2022028009A1 (zh) 2022-02-10

Family

ID=73211593

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2021/089503 WO2022028009A1 (zh) 2020-08-04 2021-04-25 一种深海电机大功率驱动器

Country Status (2)

Country Link
CN (1) CN111884565B (zh)
WO (1) WO2022028009A1 (zh)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115037193A (zh) * 2022-06-09 2022-09-09 常熟理工学院 具有保护功能的直流无刷电机驱动板
CN116827173A (zh) * 2023-05-09 2023-09-29 肇庆晟辉电子科技有限公司 基于pwm控制的直流无刷电机调速电路及调速方法

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111884565B (zh) * 2020-08-04 2022-04-08 中国船舶科学研究中心 一种深海电机大功率驱动器
CN112737297A (zh) * 2020-12-15 2021-04-30 广东新昇电业科技股份有限公司 一种驱动电源及提升其异常环境下可靠性的方法
CN113346807B (zh) * 2021-07-16 2023-01-31 重庆大学 一种用于深海电动云台的两相步进电机驱动控制电路

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06261576A (ja) * 1993-03-10 1994-09-16 Canon Inc モータ制御装置
CN202268943U (zh) * 2011-10-12 2012-06-06 中兴通讯股份有限公司 一种用户线路端口故障定位的告警装置
CN107863911A (zh) * 2017-10-27 2018-03-30 北京精密机电控制设备研究所 一种数字隔离式大功率三相无刷电机驱动模块
CN210319705U (zh) * 2019-10-26 2020-04-14 韩俊鹏 Led防火天花灯
CN111884565A (zh) * 2020-08-04 2020-11-03 中国船舶科学研究中心 一种深海电机大功率驱动器

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106714371A (zh) * 2016-12-19 2017-05-24 惠州Tcl照明电器有限公司 Pwm隔离调光电路、led调光驱动电源及pwm隔离调光方法
CN209897309U (zh) * 2018-10-15 2020-01-03 无锡市永晶光电科技有限公司 一种高压线性调光电路
CN112840557B (zh) * 2018-10-15 2023-10-20 日本电产株式会社 故障诊断方法、电力转换装置、马达模块以及电动助力转向装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06261576A (ja) * 1993-03-10 1994-09-16 Canon Inc モータ制御装置
CN202268943U (zh) * 2011-10-12 2012-06-06 中兴通讯股份有限公司 一种用户线路端口故障定位的告警装置
CN107863911A (zh) * 2017-10-27 2018-03-30 北京精密机电控制设备研究所 一种数字隔离式大功率三相无刷电机驱动模块
CN210319705U (zh) * 2019-10-26 2020-04-14 韩俊鹏 Led防火天花灯
CN111884565A (zh) * 2020-08-04 2020-11-03 中国船舶科学研究中心 一种深海电机大功率驱动器

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115037193A (zh) * 2022-06-09 2022-09-09 常熟理工学院 具有保护功能的直流无刷电机驱动板
CN116827173A (zh) * 2023-05-09 2023-09-29 肇庆晟辉电子科技有限公司 基于pwm控制的直流无刷电机调速电路及调速方法
CN116827173B (zh) * 2023-05-09 2024-01-30 肇庆晟辉电子科技有限公司 基于pwm控制的直流无刷电机调速电路及调速方法

Also Published As

Publication number Publication date
CN111884565A (zh) 2020-11-03
CN111884565B (zh) 2022-04-08

Similar Documents

Publication Publication Date Title
WO2022028009A1 (zh) 一种深海电机大功率驱动器
CN107086827B (zh) 一种电动车永磁直流无刷电机控制器及控制方法
CN111830435B (zh) 一种六相永磁容错电机系统功率管开路故障诊断方法
CN106533280B (zh) 采用无位置传感器的直流无刷电机控制电路
Huazhang Design and implementation of brushless DC motor drive and control system
CN103795033B (zh) 一种开关磁阻电机相间短路的检测保护电路及其方法
CN110474580B (zh) 一种起动发电系统功率变换器及其控制方法
JP2019198139A (ja) 電力変換器の制御回路
CN201928224U (zh) 一种直流有刷电机伺服驱动器
CN211892861U (zh) 主动短路电路及电动汽车
CN113422498A (zh) 一种力控关节碳化硅单管驱动器电路
CN211123210U (zh) 制动电阻短路检测电路
CN201821317U (zh) 矿井提升机变频驱动控制的保护检测反馈电路
CN218006110U (zh) 一种高压直流无刷电机驱动电路
CN108540026B (zh) 一种基于碳化硅/氮化镓mosfet的永磁同步电机驱动控制实时调压电路
CN212034013U (zh) 一种基于mp6532芯片的高转速无刷电机控制电路
CN205430102U (zh) 一种采用单片机的无刷直流电机控制装置
CN203660518U (zh) 绝缘栅双极晶体管过流保护电路
CN214014131U (zh) 一种无霍尔传感器的直流无刷电机正弦波驱动装置
CN218648795U (zh) 一种igbt过流保护电路
CN220139229U (zh) 一种电动车驱动器短路保护电路
CN211481176U (zh) 一种电机防反拖系统
CN220544885U (zh) 一种便携式风扇的电机驱动控制电路
CN203645588U (zh) 基于汽车再生制动的无刷直流电机控制系统
WO2022161451A1 (zh) 一种功率电子开关管的高边电流采集及安全保护电路

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21854614

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 21854614

Country of ref document: EP

Kind code of ref document: A1