CN103475285A - Magnetic-levitation-flywheel brushless direct current motor control system - Google Patents
Magnetic-levitation-flywheel brushless direct current motor control system Download PDFInfo
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Abstract
A magnetic-levitation-flywheel brushless direct current motor control system is a device used for controlling the output torque of a three-phase permanent magnet brushless direct current motor for a magnetic levitation flywheel. The magnetic-levitation-flywheel brushless direct current motor control system mainly comprises a filtering circuit, a buck circuit, a current detection link, the three-phase permanent magnet brushless direct current motor, a Hall-effect rotor position sensor, a three-phase half-bridge power amplifier and a controller which makes an FPGA as the core. According to the magnetic-levitation-flywheel brushless direct current motor control system, by controlling the conduction sequence and current magnitude of windings of the three-phase permanent magnet brushless direct current motor for the magnetic levitation flywheel, control over the output torque of the magnetic levitation flywheel is achieved.
Description
Technical field
The present invention relates to a kind of magnetically levitated flywheel brushless DC motor control system, accurately control for the output torque to magnetically levitated flywheel three-phase permanent brshless DC motor.
Background technology
Magnetically levitated flywheel is high accuracy, the desirable attitude control actuator of long-life three-axis attitude stabilization satellite, adjusts the control moment of the electric current output expectation of motor by electric machine control system.Existing magnetically levitated flywheel electric machine control system is generally used the power amplifier of three phase full bridge or three-phase half-bridge topology.Figure of description 1 is depicted as the existing structured flowchart (ZL200710119966.7 that uses the magnetically levitated flywheel electric machine control system of three phase full bridge topological structure power amplifier, room builds up, Wang Zhiqiang, Liu Gang, Fan Yahong, a kind of magnetic suspension reaction fly-wheel motor rate mode control system), the three-phase bridge power amplifier uses 6 power tubes, control opening and turn-offing of 6 power tubes by PWM1～PWM6, realize the control to the motor winding current.Figure of description 2 is the existing structured flowchart (ZL200910236136.1 that uses the magnetically levitated flywheel electric machine control system of three-phase half-bridge topology power amplifier, room builds up, all rising stars, Liu Gang, Wang Zhiqiang, a kind of electromagnetic torque pulsation suppression device of magnetic suspension reaction fly-wheel motor), the three-phase bridge power amplifier uses 7 power tubes, control opening and turn-offing of 7 power tubes by PWM1～PWM7, realize the control to the motor winding current.Wherein: PWM1～PWM3 controls opening and turn-offing of three-phase half-bridge main circuit power tube; In PWM4 control Buck circuit, power tube opening and turn-offing; PWM5 controls opening and turn-offing of dynamic braking power pipe; PWM6 and the pulsation of PWM7 controlling torque suppress opening and turn-offing of power tube.Power tube and drive circuit thereof are the principal elements that affects magnetically levitated flywheel electric machine control system reliability, if can reduce the quantity of the power tube of existing magnetically levitated flywheel electric machine control system use, can further improve the reliability of control system.
Summary of the invention
The technical problem that the present invention solves is: for existing magnetically levitated flywheel brushless DC motor control system, use the more deficiency of power tube, the conducting phase control circuit of magnetically levitated flywheel brushless DC motor control system and energy-dissipating brake circuit are merged, a kind of the magnetically levitated flywheel brushless DC motor control system scheme of using 4 power tubes proposed, relatively existing magnetically levitated flywheel control system, have reliability characteristics high, simple in structure.
Technical solution of the present invention: a kind of magnetically levitated flywheel brushless DC motor control system mainly comprises: the controller that filter circuit, buck circuit, current detecting link, three-phase permanent brshless DC motor, Hall effect rotor-position sensor, three-phase half-bridge power amplification appliance and the FPGA of take are core.Wherein:
Filter circuit: output connects the buck circuit, for the high-frequency noise in elimination+28V input;
The buck circuit: input is joined with filter circuit, and output is joined with the current detecting link, according to take the control signal of the controller output that FPGA is core, controls conducting and the shutoff of Darlington power transistor V4, and the output voltage of filter circuit is modulated;
The current detecting link: input is joined with the buck circuit, and output is joined with the three-phase permanent brshless DC motor, for detection of passing through the winding current of three-phase permanent brshless DC motor;
The Hall effect rotor-position sensor: input is joined with the three-phase permanent brshless DC motor, and the controller that output and the FPGA of take are core joins, and is output as 3 road rotar position of magnet suspension flywheel signals;
Three-phase half-bridge power amplifier: control opening and turn-offing of Darlington power transistor according to take the output of the controller that FPGA is core, thereby generate the control electric current of expectation in the winding of three-phase permanent brshless DC motor;
The controller that the FPGA of take is core: the current feedback signal of current detecting link output is sampled through take the current signal modulus conversion chip of the controller that FPGA is core, the current signal sampled value is subtracted each other with the current reference value of outside input, difference is as the input variable of electric current loop pid algorithm, the output variable of electric current loop pid algorithm is exported to and be take the D/A module of the controller that FPGA is core, and the output of D/A module generates the control signal of three-phase half-bridge power amplifier through take the control voltage distribution link of the controller that FPGA is core.The voltage feedback signal of three-phase half-bridge power amplifier output be take the voltage signal modulus conversion chip of the controller that FPGA is core through take after the voltage detecting link of the controller that FPGA is core to input to, the sampled value of voltage signal modulus conversion chip is subtracted each other with the voltage reference value of outside input, difference is as the input variable of Voltage loop pid algorithm, and the output variable of Voltage loop pid algorithm generates the control signal PWM_V4 of buck circuit through take the PWM waveform generation module of the controller that FPGA is core.
Principle of the present invention is: the magnetically levitated flywheel brushless DC motor control system carries out three-phase permanent brshless DC motor Accelerating running according to the electric current/torque command of outside input and running under braking is controlled, and makes the permanent-magnet brushless DC electric machine can be four quadrant work.Principle is as follows:
(1) when three-phase permanent brshless DC motor machine operation at one, three quadrants, electric current or the instruction of moment direction of outside input are consistent with turning to of magnetically levitated flywheel, during the Accelerating running state, electric current is from the input of+28V power supply, through the Darlington power transistor V4 of filter circuit, buck module and inductance L 2, current detecting link to the motor winding.The controller that the FPGA of take is core is by controlling the conducting order of three Darlington power transistors (V1～V3) in three-phase half-bridge power amplifier, and the electric current that the conducting of assurance motor is passed through mutually is consistent with electric current or the torque command of input, thereby realized the control to motor output torque when one, three quadrants are worked.When machine operation one, during three quadrants, the back-emf of conducting phase is identical with the sense of current of passing through.
(2) when three-phase permanent brshless DC motor machine operation two, four-quadrant, the electric current of i.e. outside input or the switched in opposite of the instruction of moment direction and magnetically levitated flywheel, during brake running state: when three-phase permanent brshless DC motor back-emf can maintain three Darlington power transistors (V1～V3) in three-phase half-bridge power amplifier and produces the stalling current of expectation in the dynamic braking state, now the Darlington power transistor V4 in the buck module turn-offs, electric current is through current detecting link motor winding, three-phase half-bridge power amplifier, diode D1 in the buck circuit and inductance L 2, the current detecting link forms the energy consumption passage, the energy of magnetically levitated flywheel rotor mainly consumes on three Darlington power transistors (V1～V3) in three-phase half-bridge power amplifier, reduction along with the magnetically levitated flywheel rotating speed, winding back emf can not maintain three Darlington power transistors (V1～V3) in three-phase half-bridge power amplifier and produce the stalling current of expectation, Darlington power transistor V4 in the buck circuit is again open-minded, electric machine control system transfers the plug braking pattern to, electric current is again from the input of+28V power supply, through the Darlington power transistor V4 of filter circuit, buck module and inductance L 2, current detecting link to the motor winding.During the motor braking operation, equally by take the controller that FPGA is core, control the conducting order of three Darlington power transistors (V1～V3) in three-phase half-bridge power amplifier, and guarantee that the electric current that the motor conducting passes through mutually is consistent with electric current or the torque command of input.Realized thus motor two, the control of output torque during four-quadrant operation.From machine operation one, different during three quadrants, machine operation is two, during four-quadrant, the back-emf of conducting phase is contrary with the sense of current of passing through.
The present invention's advantage compared with prior art is: magnetically levitated flywheel brushless DC motor control system of the present invention is owing to only using 4 power tubes, the relatively existing three-phase half-bridge electric machine control system that uses the three phase full bridge electric machine control system of 6 power tubes and use 7 power tubes, have characteristics simple in structure, that reliability is high.
The accompanying drawing explanation
Fig. 1 is the existing structured flowchart that uses the magnetically levitated flywheel electric machine control system of three phase full bridge topological structure power amplifier;
Fig. 2 is the existing structured flowchart that uses the magnetically levitated flywheel electric machine control system of three-phase half-bridge topology power amplifier;
Fig. 3 is hardware composition frame chart of the present invention;
Fig. 4 is the controller composition frame chart that FPGA is core of take of the present invention;
Fig. 5 is FPGA built-in function block diagram of the present invention;
The oscillogram of rotor-position signal, back-emf when Fig. 6 is the magnetically levitated flywheel forward rotation.
Embodiment
As shown in Figure 1, provided the structured flowchart of the magnetically levitated flywheel electric machine control system of existing use three phase full bridge topological structure power amplifier.DSP is according to rotating speed reference, 3 road rotor-position signals, electric current current feedback signal, tach signal, generate 6 road PWM, generate the drive control signal of 6 power tubes of three phase full bridge power amplifier through the three-phase bridge drive circuit, the opening and turn-offing of power ratio control pipe, generate corresponding electric current in the motor winding, thus the control moment of output expectation.
As shown in Figure 2, provided the structured flowchart of the magnetically levitated flywheel electric machine control system of existing use three-phase half-bridge topology power amplifier.DSP is according to rotating speed reference, 3 road rotor-position signals, electric current current feedback signal, generate 7 road PWM, generate the drive control signal of 7 power tubes of three-phase half-bridge power amplifier through drive circuit, the opening and turn-offing of power ratio control pipe, generate corresponding electric current in the motor winding, thus the control moment of output expectation.Wherein: PWM1～PWM3 controls opening and turn-offing of three-phase half-bridge main circuit power tube; PWM4 controls opening and turn-offing of Buck circuit power pipe; PWM5 controls opening and turn-offing of dynamic braking power pipe; PWM6 and the pulsation of PWM7 controlling torque suppress opening and turn-offing of power tube.
As shown in Figure 3, hardware of the present invention mainly comprises the controller that filter circuit, buck circuit, current detecting link, three-phase permanent brshless DC motor, Hall effect rotor-position sensor, three-phase half-bridge power amplification appliance and the FPGA of take are core.When machine operation one, during three quadrants, electric current is from+28V power supply input, through the Darlington power transistor V4 of filter circuit, buck module and inductance L 2, current detecting link to the motor winding.When machine operation two, during four-quadrant: when three-phase permanent brshless DC motor back-emf can maintain in three-phase half-bridge power amplifier that three Darlington power transistors (V1～V3) produce the stalling current of expectation in the dynamic braking state, now the Darlington power transistor V4 in the buck module turn-offs, diode D1 and the inductance L 2 of electric current in motor winding, three-phase half-bridge power amplifier, buck module forms the energy consumption passage, and the energy of magnetically levitated flywheel rotor mainly consumes on three Darlington power transistors (V1～V3) in three-phase half-bridge power amplifier; Along with Speed of Reaction Wheels reduces, Darlington power transistor V4 in the buck module is again open-minded, transfer the plug braking pattern to, electric current is again from the input of+28V power supply, through the Darlington power transistor V4 of filter circuit, buck module and inductance L 2, current detecting link to the motor winding.The controller that the FPGA of take is core, according to current reference value, 3 road rotar position of magnet suspension flywheel signals, the current feedback signal of current detecting link and three voltage feedback signals of three-phase half-bridge power amplifier output of outside input, produces the control signal u of three Darlington power transistors in three-phase half-bridge power amplifier
be1～u
be3control signal PWM_V4 with Darlington power transistor V4 in the buck circuit.
As shown in Figure 4, take controller that FPGA is core by FPGA, current signal modulus conversion chip, voltage signal modulus conversion chip, D/A module, voltage detecting link and control the voltage distribution link and form.Controlling the current signal modulus conversion chip by FPGA is sampled to current feedback signal, sampled value is subtracted each other with the current reference value of outside input, difference is as the input variable of electric current loop pid algorithm, and the output variable of electric current loop pid algorithm is exported to the D/A module, the output signal u of D/A module
begenerate control signal u through controlling the voltage distribution link
be1～u
be3.Feedback signal u
ce1～u
ce3signal u after the voltage detecting link
cethe input voltage signal modulus conversion chip is sampled, and the difference that the voltage reference value of sampled value and outside input subtracts each other is as the input variable of Voltage loop pid algorithm, and the output variable of Voltage loop pid algorithm generates control signal PWM_V4 through PWM waveform generation module.Voltage detecting link and control voltage distribution link are controlled by the commutation control signal S that in FPGA, commutation logic produces.
The function of controlling the voltage distribution link is as follows:
From the logic of controlling the voltage distribution link: when needing the conducting of motor phase winding according to commutation logic, the control signal u that the control signal that this is answered to Darlington power transistor in the three-phase half-bridge power amplifier of winding and D/A module are exported
bebe consistent, this Darlington power transistor is at u
becontrol under produce the expectation size and control electric current; The control signal ground connection of the Darlington power transistor that non-conduction phase winding is corresponding, Darlington power transistor is in off state, and the electric current of non-conduction phase winding is zero.
The function of voltage detecting link is as follows:
Logic from the voltage detecting link: when according to the conducting of commutation logic motor phase winding, the u of voltage detecting link output
cecollector emitter voltage for Darlington power transistor in the corresponding three-phase half-bridge power amplifier of conducting.U
cegenerate the control signal PWM_V4 of Darlington power transistor V4 in the buck circuit after the sampling of overvoltage signal modulus conversion chip and FPGA processing, control conducting and the shutoff of Darlington power transistor V4 by PWM_V4, make the collector emitter voltage of Darlington power transistor in the corresponding three-phase half-bridge power amplifier of motor conducting be not less than given voltage reference value consistent, guarantee that the motor conducting can produce the control electric current of expectation mutually.
As shown in Figure 5, provided FPGA built-in function block diagram of the present invention.FPGA mainly completes electric current loop closed-loop control, Voltage loop closed-loop control and commutation logic function.The electric current loop closed-loop control: under the control of current signal modulus conversion chip controlling of sampling logic, current feedback signal i
mtthrough the current signal modulus conversion chip, sampled, the sampled value of current signal modulus conversion chip controlling of sampling logic output is subtracted each other with the current reference value of outside input, difference is as the input variable of electric current loop pid algorithm, and the output variable of electric current loop pid algorithm is exported to the D/A module through D/A module controls logic.The Voltage loop closed-loop control: under the control of voltage signal modulus conversion chip controlling of sampling logic, feedback signal u
cethrough the voltage signal modulus conversion chip, sampled, the sampled value of voltage signal modulus conversion chip controlling of sampling logic output is subtracted each other with the voltage reference value of outside input, difference is as the input variable of Voltage loop pid algorithm, and the output variable of Voltage loop pid algorithm generates the control signal PWM_V4 of Darlington power transistor V4 in the buck circuit through PWM waveform generation module.Commutation logic generates commutation control signal S according to the moment direction signal of 3 rotor-position signals and outside input.The oscillogram of rotor-position signal, back-emf when Fig. 6 is the magnetically levitated flywheel forward rotation, under the condition shown in Fig. 6, the logical relation of commutation control signal S and 3 rotor-position signals (rotor-position signal A, rotor-position signal B, rotor-position signal C), moment direction signal is as follows:
Wherein: moment direction signal state is 1 to be expressed as positive moment, and 0 is expressed as negative moment.
Though the present invention is a kind of magnetically levitated flywheel brushless DC motor control system, also can be used as that a kind of general control system is carried out the control of general three-phase permanent brshless DC motor or as the interior circular current controller of rate mode control system.Other unexplained part is common engineering general knowledge.
Claims (4)
1. a magnetically levitated flywheel brushless DC motor control system, is characterized in that comprising: the controller (7) that filter circuit (1), buck circuit (2), current detecting link (3), three-phase permanent brshless DC motor (4), Hall effect rotor-position sensor (5), three-phase half-bridge power amplifier (6) and the FPGA of take are core; Wherein:
Filter circuit (1): output connects buck circuit (2), for the high-frequency noise in elimination+28V input;
Buck circuit (2): input is joined with filter circuit (1), and output is joined with current detecting link (3); The control signal of controller (7) output that the FPGA of take is core is controlled conducting and the shutoff of Darlington power transistor V4, and the output voltage of filter circuit (1) is modulated; Buck circuit (2) comprises Darlington power transistor V4, diode D1 and inductance L 2; One end of the negative electrode of the collector electrode of Darlington power transistor V4 and diode D1 and inductance L 2 joins, the anode of the other end of inductance L 2 and capacitor C 3 joins afterwards and current detecting link (3) is joined, the anode of the negative electrode of capacitor C 3 and capacitor C 4 joins, and the negative electrode of capacitor C 4 joins with+28V power supply ground;
Current detecting link (3): input is joined with buck circuit (2), and output is joined with three-phase permanent brshless DC motor (4), for detection of passing through the winding current of three-phase permanent brshless DC motor (4);
Hall effect rotor-position sensor (5): input is joined with three-phase permanent brshless DC motor (4), and the controller (7) that output and the FPGA of take are core joins, and is output as 3 road rotar position of magnet suspension flywheel signals;
Three-phase half-bridge power amplifier (6): the Darlington power transistor V1～V3 that comprises three parallel connections; Opening and turn-offing of Darlington power transistor V1～V3 controlled in the output of the controller (7) that the FPGA of take is core, thereby generates the control electric current of expectation in the winding of three-phase permanent brshless DC motor (4);
When three-phase permanent brshless DC motor (4) is operated in one, three quadrants, electric current or the instruction of moment direction of outside input are consistent with turning to of magnetically levitated flywheel, during the Accelerating running state, electric current is from the input of+28V power supply, through filter circuit, the Darlington power transistor V4 of buck circuit (2) and inductance L 2, current detecting link (3) is to the winding of three-phase permanent brshless DC motor (4), the controller (7) that the FPGA of take is core is by controlling the conducting order of three Darlington power transistor V1～V3 in three-phase half-bridge power amplifier (6), and the electric current that the conducting of assurance three-phase permanent brshless DC motor (4) is passed through mutually is consistent with electric current or the torque command of input, thereby realized three-phase permanent brshless DC motor (4) one, the control of output torque during three quadrant work, when three-phase permanent brshless DC motor (4) is operated in one, during three quadrants, the back-emf of conducting phase is identical with the sense of current of passing through,
When three-phase permanent brshless DC motor (4) is operated in two, four-quadrant, the electric current of i.e. outside input or the switched in opposite of the instruction of moment direction and magnetically levitated flywheel, during brake running state: when three-phase permanent brshless DC motor (4) back-emf can maintain in three-phase half-bridge power amplifier three Darlington power transistor V1～V3 and produces the stalling current of expectation in the dynamic braking state, now the Darlington power transistor V4 in buck circuit (2) turn-offs, electric current through current detecting link (3) to three-phase permanent brshless DC motor (4) winding, three-phase half-bridge power amplifier (6), diode D1 in buck circuit (2) and inductance L 2, the current detecting link forms the energy consumption passage, the energy of magnetically levitated flywheel rotor mainly consumes on three Darlington power transistor V1～V3 in three-phase half-bridge power amplifier (6), reduction along with the magnetically levitated flywheel rotating speed, three-phase permanent brshless DC motor (4) back-emf can not maintain three Darlington power transistor V1～V3 in three-phase half-bridge power amplifier and produce the stalling current of expectation, Darlington power transistor V4 in buck circuit (2) is again open-minded, become the plug braking pattern, electric current is again from the input of+28V power supply, through the Darlington power transistor V4 of filter circuit (1), buck circuit (2) and inductance L 2, current detecting link (3) to three-phase permanent brshless DC motor (4) winding, during three-phase permanent brshless DC motor (4) running under braking, equally by take controller (7) that FPGA is core, control the conducting order of three Darlington power transistor V1～V3 in three-phase half-bridge power amplifier (6), and guarantee that the electric current that three-phase permanent brshless DC motor (4) conducting passes through mutually is consistent with electric current or the torque command of input, realized thus three-phase permanent brshless DC motor (4) two, the control of output torque during four-quadrant operation, be operated in one from three-phase permanent brshless DC motor (4), different during three quadrants, three-phase permanent brshless DC motor (4) is operated in two, during four-quadrant, the back-emf of conducting phase is contrary with the sense of current of passing through.
2. a kind of magnetically levitated flywheel brushless DC motor control system according to claim 1 is characterized in that: the controller that the described FPGA of take is core (7) comprises FPGA, current signal modulus conversion chip, voltage signal modulus conversion chip, D/A module, voltage detecting link and controls the voltage distribution link, the current feedback signal of current detecting link (3) output is sampled through the overcurrent signal modulus conversion chip, the current signal sampled value is subtracted each other with the current reference value of outside input, difference is as the input variable of electric current loop pid algorithm in FPGA, the output variable of electric current loop pid algorithm is exported to the D/A module, the output of D/A module generates the control signal of three-phase half-bridge power amplifier (6) through controlling the voltage distribution link, the voltage feedback signal of three-phase half-bridge power amplifier (6) output inputs to the voltage signal modulus conversion chip after the voltage detecting link, the sampled value of voltage signal modulus conversion chip is subtracted each other with the voltage reference value of outside input, difference is as the input variable of Voltage loop pid algorithm in FPGA, the output variable of Voltage loop pid algorithm generates the control signal PWM_V4 of buck circuit (2) through the PWM of FPGA waveform generation module.
3. a kind of magnetically levitated flywheel brushless DC motor control system according to claim 1 is characterized in that: the collector emitter voltage that the controlled plant of described buck circuit (2) is the Darlington power transistor V4 that is connected with three-phase permanent brshless DC motor (4) conducting in three-phase half-bridge power amplifier (6).
4. a kind of magnetically levitated flywheel brushless DC motor control system according to claim 1, it is characterized in that: when described dynamic braking state, the Darlington power transistor V4 of buck circuit (2) is in off state, and electric current forms closed loop through diode D1 and inductance L 2, current detecting link (3), three-phase permanent brshless DC motor (4), the three-phase half-bridge power amplifier (6) of buck circuit (2); When described plug braking pattern, electric current is by the input of+28V power supply, through Darlington power transistor V4 and inductance L 2, current detecting link (3), three-phase permanent brshless DC motor (4) and the three-phase half-bridge power amplifier (6) of filter circuit (1), buck circuit (2), return+28V power supply ground.
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| CN106877655A (en) * | 2017-01-10 | 2017-06-20 | 中南大学 | A kind of stabilization method and device of the buck circuits with input filter |
| CN108462427A (en) * | 2017-02-20 | 2018-08-28 | 茂达电子股份有限公司 | Fan drive circuit |
| CN109347373A (en) * | 2018-12-12 | 2019-02-15 | 常州机电职业技术学院 | Brushless motor control system |
| CN110460286A (en) * | 2019-10-14 | 2019-11-15 | 山东天瑞重工有限公司 | A kind of control system and control method of magnetic suspension motor |
| CN113148234A (en) * | 2021-04-07 | 2021-07-23 | 长光卫星技术有限公司 | Low-cost high-precision microsatellite reaction flywheel and control implementation method thereof |
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