CN106982015B - A kind of multiprocessor permanent-magnet brushless DC electric machine joint speed-regulating system and method - Google Patents
A kind of multiprocessor permanent-magnet brushless DC electric machine joint speed-regulating system and method Download PDFInfo
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- CN106982015B CN106982015B CN201710345150.XA CN201710345150A CN106982015B CN 106982015 B CN106982015 B CN 106982015B CN 201710345150 A CN201710345150 A CN 201710345150A CN 106982015 B CN106982015 B CN 106982015B
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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
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
- H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
- H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
- H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
- H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
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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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Abstract
A kind of multiprocessor permanent-magnet brushless DC electric machine joint speed-regulating system of the present invention and method, brshless DC motor controls speed regulation by the system including that can interact and main operation module in parallel and auxiliary run module, the stator terminal voltage analog acquisition method that the back-emf impulse method and auxiliary back-EMF determination that the method is used by main back-EMF determination use, so that brushless DC motor rotor is able to carry out no position detection, without additionally installing rotor detection module, brushless motor speed regulation cost and volume are further decreased；And two methods cooperation detection motor rotor position is utilized, guarantees that brushless motor commutation is normal, improves processor decision-making foundation and rotor-position detection accuracy, when any detection unit breaks down, brushless motor operation is interference-free.While main operation module and auxiliary run processor and rotor-position detection mutual backup in module, rotor-position detection accuracy is high, control speed regulation stability is good, the method for operation is flexible.
Description
Technical field
The present invention relates to brshless DC motor speed adjusting technique field, specially a kind of multiprocessor permanent-magnet brushless DC electric machine
Joint speed-regulating system and method.
Background technique
With the rapid development of power electronic technique and device, brushless motor BLDC relies on its carbon-free brush wear, without commutation
Spark, noise are low, maintenance cost is low, running efficiency is high and the advantages such as long service life gradually substitute traditional brush motor, and wide
It is general to be applied to the emerging technology areas such as household electrical appliances, model plane, electric car.Brushless motor has to judge the rotation of rotor in speed regulation
Position, controller carries out commutation according to control strategy is set using the rotation position of rotor feedback, so that motor is in each fortune
Continuous reliable rotation in the row period.Brushless motor speed adjusting technique field is detected in position-sensor-free, how by brushless motor
Rotor rotation position accurately detects a technical problem in always brushless motor speed adjusting technique field, while brushless motor is flat
Surely, reliability service is to guarantee all kinds of one of the key factors for being related to brushless motor drive area.
The following defects and deficiencies exist for existing Speed Regulation Systems of BLDCM and method: (1) using position sensor into
The detection of row rotor rotation position further increases brshless DC motor volume and cost, while position sensor signal transmission electricity
Interference of the cable vulnerable to external environment reduces motor operation continuation degree；It is (2) single without position rotor position signal detection method,
Only with back-emf impulse method or stator terminal voltage analog acquisition method, two methods of digital quantity and analog quantity are not combined
Judge rotor rotation position；(3) drive control is carried out only with a kind of processor, is not associated with multiprocessing combined operating advantage, if
When control sheet processor breaks down, motor can not continuous and steady operation；(4) drive and control of electric machine bridge is using single bridge operation side
Formula, when power electronic devices breaks down on any bridge wall, brshless DC motor needs hard stop to overhaul.
Summary of the invention
Aiming at the problems existing in the prior art, the present invention provides a kind of multiprocessor permanent-magnet brushless DC electric machine joint tune
Speed system and method, motor rotor position Data Detection functional diversities, multiprocessor combined operating are suitable for high-precision nothing
The speed regulation of brushless motor.
The present invention is to be achieved through the following technical solutions:
A kind of multiprocessor permanent-magnet brushless DC electric machine joint speed regulating method, brshless DC motor are controlled by system and are adjusted the speed,
The system comprises that can interact and main operation module in parallel and auxiliary operation module, the method includes passing through system as follows
To the speed regulation step of brshless DC motor:
Step 1) system initialization, after be entered step 2) after the completion of system initialization；
Step 2) carries out main operation module self-test, and enters step 3)；
Step 3) carries out auxiliary operation module self-test, and enters step 4)；
Step 4) reads brshless DC motor operating parameter setting, enters step 5)；
Step 5) judges whether main and auxiliary operation module self-test is normal, if the determination result is YES, it was demonstrated that main and auxiliary operation mould
Block perfect in shape and function, hardware circuit wiring is completely errorless, carries out step 6)；Judging result is otherwise to enter step 7)；
The main operation module of step 6) and auxiliary operation module combined operating carry out speed regulating control to brushless motor, are then returned to
Step 2) enters next brushless motor and adjusts the speed the period；
Step 7) judges that main operation module self-test is normal, auxiliary operation module self test failure, if the determination result is YES, explanation
Main operation functions of modules is perfect, and hardware connection is completely errorless, and exception occurs in auxiliary operation functions of modules, enters step 8)；Judgement
It as a result is otherwise to enter step 9)；
The main operation module of step 8) operates normally, and main operation module carries out speed regulating control, auxiliary operation mould to brushless motor
Block is then out of service, is then returned to step 2) and enters next brushless motor speed regulation period；
Step 9) judges main operation module self test failure, and auxiliary operation module self-test is normal, if the determination result is YES, explanation
Auxiliary operation functions of modules is perfect, and hardware connection is completely errorless, and exception occurs in main operation functions of modules, enters step 10)；Judgement
It as a result is otherwise to enter step 11)；
The main operation module of step 10) is out of service, and auxiliary operation module then operates normally, and auxiliary operation module is to brushless electricity
Machine carries out speed regulating control, is then returned to step 2) and enters next brushless motor speed regulation period；
The maintenance of step 11) system-down, illustrates that the main operation module of system and auxiliary operation module break down, system-down
Search and eliminate failure.
Preferably, the step 1) system initialization, the specific steps of which are as follows:
Step 101) configures main processor modules internal resource, including setting external interrupt triggering mode, PWM output end
Mouth configuration, system clock resource distribution, control parameter and the communication mode between secondary processor module；
Step 102) configures secondary processor inside modules resource, including brshless DC motor three phase terminals voltage acquisition side
Formula, the configuration of PWM output port, clock sources resource distribution, control parameter and the communication mode between main processor modules.
Preferably, the main operation module self-test of the step 2) includes main processor modules self-test and main back-EMF determination module
Self-test；Step 3) the auxiliary operation module self-test includes the self-test of secondary processor module and assists back-EMF determination module certainly
Inspection；It includes that main processor modules pass through the first communication port that the step 4), which reads brshless DC motor operating parameter setting,
Reading presets brshless DC motor speed and runing time, and the secondary processor module then passes through main processor modules
Two communication ports read brshless DC motor operating parameter setting.
Preferably, main operation module includes main processor modules and main back-EMF determination module；Auxiliary operation module includes auxiliary
Help processor module and auxiliary back-EMF determination module；Main processor modules and secondary processor module are used to acquire brushless straight
The rotor-position of galvanic electricity machine, and rotated respectively by main back-EMF determination module or the detected rotor of auxiliary back-EMF determination module
Position exports the digital PWM signal of control brshless DC motor rotation speed respectively；
Further, the main operation module of the step 5) and auxiliary operation module self-test normally include main processor modules, master
Back-EMF determination module, secondary processor module and auxiliary back-EMF determination module self-test are normal；
The main operation module of step 6) and auxiliary operation module combined operating, the main processor modules pass through main anti-electricity
Gesture detection module rising edge and failing edge detect brushless DC motor rotor rotation position, and the secondary processor module passes through auxiliary
Help back-EMF determination module input brshless DC motor three-phase terminal voltage detecting motor rotor position, the main processor modules and
Secondary processor module shares brushless DC motor rotor rotation position collected by communication port, and combines output
PWM pulse-width signal is conducted six state of three-phase according to setting in main processor modules and secondary processor inside modules two
Driving strategy carries out commutation speed regulation.
Further, the main operation module self-test of the step 7) normally includes main processor modules self-test and main back-EMF determination
Module self-test is normal, and auxiliary operation module self test failure includes secondary processor module self test failure or auxiliary back-EMF determination
Module self test failure；
The main operation module of the step 8) operates normally, then the main processor modules and main back-EMF determination module be just
Often operation；Auxiliary operation module is then out of service, then the secondary processor module and auxiliary back-EMF determination module stop
Operation.
Further, the main operation module self test failure of the step 9) includes main processor modules self test failure or main back-emf
Detection module self test failure, auxiliary operation module self-test normally include the self-test of secondary processor module and auxiliary back-EMF determination mould
Block self-test is normal；
The main operation module of step 10) is out of service, then the main processor modules and main back-EMF determination module are equal
Out of service, auxiliary operation module operates normally, then the secondary processor module and auxiliary back-EMF determination module are normal
Operation.
Further, step 11) the system-down maintenance, then the main processor modules or main back-EMF determination module go out
Existing failure, the secondary processor module or auxiliary back-EMF determination module break down.
A kind of multiprocessor permanent-magnet brushless DC electric machine joint speed-regulating system, including brshless DC motor, further include being used for
The interaction of speed regulating control and the main operation module and auxiliary operation module of parallel connection are carried out to brshless DC motor, are connected to master in turn
The level translation module and drive circuit module of module and auxiliary operation module output end and brshless DC motor control terminal are run,
And the speed regulation program to brshless DC motor executed in main operation module and auxiliary operation module；The program such as right
It is required that described in step in 1 speed regulating method.
Preferably, the communication ends of the main processor modules and secondary processor module communication ends are connected with for mutually communicating
The RS-232 cable of letter, the main processor modules digital PWM output end, which is connected with, is converted to 12V level for 3.3V level signal
The level translation module of signal, the level translation module are connected with the drive circuit module for driving brshless DC motor,
The secondary processor module digital PWM output end, which is connected with, turns the level that 3.3V level signal is converted to 12V level signal
Change module, motor rotor position signal is fed back to main processor modules through main back-EMF determination module by the brshless DC motor
Rotor signal is fed back to aid in treatment through auxiliary back-EMF determination module by interrupting input end mouth, the brshless DC motor
Device module simulation amount acquires port；
The main processor modules include MSP430F149 low power-consumption intelligent processor, and the secondary processor module includes
STC15W404 single-chip microcontroller, the main back-EMF determination module use LM324 operational amplification circuit, the auxiliary back-EMF determination
Module is made of analog voltage Acquisition Circuit, and the level translation module is made of TLP521-4 photoelectric isolated chip, the drive
Dynamic circuit module is made of 6 IRF9540N transistors and 6 IRF540N transistor cascades.
Compared with prior art, the invention has the following beneficial technical effects:
The stator terminal that the back-emf impulse method and auxiliary back-EMF determination that the present invention is used by main back-EMF determination use
Voltage analog acquisition method, so that brushless DC motor rotor is able to carry out no position detection, without additional installation rotor detection
Module further decreases brushless motor speed regulation cost and volume；And two methods cooperation detection motor rotor position is utilized, is protected
It is normal to demonstrate,prove brushless motor commutation, improves processor decision-making foundation and rotor-position detection accuracy, any detection unit breaks down
When, brushless motor operation is interference-free.Main operation module and processor and rotor-position detection in auxiliary operation module simultaneously
Mutual backup, rotor-position detection accuracy is high, control speed regulation stability is good, the method for operation is flexible, convenient in the brushless electricity of high-precision
It promotes the use of in machine drive control field.
Further, the present invention uses low-power consumption MSP430F149 primary processor and two kinds of STC15W404 secondary processor
Intelligent embedded microprocessor by respective rotor position detection unit both when normal operation, and is communicated altogether using RS-232
Detection data is enjoyed, joint decision drives brshless DC motor, increases the safety and reliability of motor speed regulation system.
Further, the main operation module of the present invention and auxiliary operation module dual control operation, increasing brshless DC motor speed regulation can
By property and safety in operation, power supply system short circuit accident caused by preventing drive axle wall or more transistor while opening.
Further, the main operation module of invention and auxiliary operation module single control operation, i.e. the using and the reserved mode, prolong
Long speed-regulating system work service life, while standby mode can be changed at any time.
Further, the main operation module of the present invention and auxiliary operation modular unit can cross-over control, greatly increase speed-regulating system
Flexibility and selectivity promote whole system anti-interference ability.
Detailed description of the invention
Fig. 1 is that a kind of multiprocessor permanent-magnet brushless DC electric machine of the present invention combines speed regulating method flow chart.
Fig. 2 is that a kind of multiprocessor permanent-magnet brushless DC electric machine of the present invention combines speed control system structure schematic diagram.
In figure: 1- main processor modules；2- secondary processor module；3- level switch module；The main back-EMF determination mould of 4-
Block；5- assists back-EMF determination module；6- drive circuit module；7- brshless DC motor.
Specific embodiment
Below with reference to specific embodiment, the present invention is described in further detail, it is described be explanation of the invention and
It is not to limit.
As depicted in figs. 1 and 2, a kind of multiprocessor permanent-magnet brushless DC electric machine combines speed-regulating system, including brushless direct-current
Motor 7 further includes main processor modules 1, secondary processor module 2, level translation module 3, main back-EMF determination module 4, auxiliary
Help back-EMF determination module 5 and drive circuit module 6；Wherein, the main processor modules 1 and secondary processor module 2 are used
Control brushless dc is exported respectively in the rotor-position of acquisition brshless DC motor 8, and by detected rotor rotation position
The communication ends of the digital PWM signal of 8 rotation speed of machine, the main processor modules 1 are connected with 2 communication ends of secondary processor module
There is the RS-232 cable for communicating with each other, the 1 digital PWM output end of main processor modules is connected with 3.3V level signal
The level translation module 3 of 12V level signal is converted to, the level translation module 3 is connected with for driving brshless DC motor 7
Drive circuit module 6, the 2 digital PWM output end of secondary processor module, which is connected with, is converted to 12V for 3.3V level signal
The level translation module 3 of level signal, the brshless DC motor 7 believe motor rotor position through main back-EMF determination module 4
1 interrupting input end mouth of main processor modules number is fed back to, the brshless DC motor 7 will be electric through auxiliary back-EMF determination module 5
Machine rotor signal feeds back to 2 analog acquisition port of secondary processor module.
Or cross-reference can be carried out between main operation module and auxiliary operation module；The brshless DC motor 7
Motor rotor position signal is fed back into main processor modules 1, the brshless DC motor 7 through auxiliary back-EMF determination module 5
Rotor signal is fed back into secondary processor module 2 through main back-EMF determination module 4.
In the present embodiment, the main processor modules 1 are mainly made of MSP430F149 low power-consumption intelligent processor, described
Secondary processor module 2 is made of STC15W404 single-chip microcontroller, and the main back-EMF determination module 4 is mainly transported by model LM324
Amplifying circuit composition is calculated, the auxiliary back-EMF determination module 5 is mainly made of analog voltage Acquisition Circuit, the level translation
Module 3 is made of TLP521-4 photoelectric isolated chip, and the drive circuit module 6 is by 6 IRF9540N transistors and 6
IRF540N transistor composition, the main processor modules 1 and secondary processor module 2 are made of one or more processors.
As depicted in figs. 1 and 2, a kind of multiprocessor permanent-magnet brushless DC electric machine of the present invention combines speed regulating method,
Include the following steps:
1) system initialization, after be entered step 2) after the completion of system initialization；
2) main operation module self-test is carried out, and is entered step 3)；
3) auxiliary operation module self-test is carried out, and is entered step 4)；
4) brshless DC motor operating parameter setting is read, is entered step 5)；
5) judge whether main and auxiliary operation module self-test is normal, if the determination result is YES, it was demonstrated that main and auxiliary operation module function
Can be perfect, hardware circuit wiring is completely errorless, carries out step 6)；Judging result is otherwise to enter step 7)；
6) main operation module and auxiliary operation module combined operating, are then returned to step 2) and enter the speed regulation of next brushless motor
Period；
7) judge that main operation module self-test is normal, auxiliary operation module self test failure if the determination result is YES illustrates main fortune
Row functions of modules is perfect, and hardware connection is completely errorless, and exception occurs in auxiliary operation functions of modules, enters step 8)；Judging result
Otherwise to enter step 9)；
8) main operation module operates normally, and auxiliary operation module is then out of service, is then returned to step 2) and enters next nothing
Brush motor adjusts the speed the period；
9) judge main operation module self test failure, auxiliary operation module self-test is normal, if the determination result is YES, illustrates to assist
Operation functions of modules is perfect, and hardware connection is completely errorless, and exception occurs in main operation functions of modules, enters step 10)；Judging result
Otherwise to enter step 11)；
10) main operation module is out of service, and auxiliary operation module then operates normally, and is then returned to step 2) and enters next nothing
Brush motor adjusts the speed the period；
11) system-down overhauls, and illustrates that the main and auxiliary operation module of system breaks down, and system needs hard stop to search, disappear
Except failure.
In the present embodiment, the step 1) system initialization, the specific steps of which are as follows:
101) 1 internal resource of main processor modules is configured, main includes setting external interrupt triggering mode, PWM output end
Mouth configuration, system clock resource distribution, control parameter and the communication mode between secondary processor module 2；
102) 2 internal resource of secondary processor module is configured, mainly includes 7 three phase terminals voltage acquisition side of brshless DC motor
Formula, the configuration of PWM output port, clock sources resource distribution, control parameter and the communication party between main processor modules 1
Formula.
In the present embodiment, the main operation module self-test of step 2) includes 1 self-test of main processor modules and the inspection of main back-emf
Survey 4 self-test of module；Step 3) the auxiliary operation module self-test includes 2 self-test of secondary processor module and auxiliary back-EMF determination
5 self-test of module；It is that main processor modules 1 pass through first that the step 4), which reads 7 operating parameter setting process of brshless DC motor,
Communication port reading presets 7 speed of brshless DC motor and runing time, and the secondary processor module 2 then passes through
1 second communication port of main processor modules reads 7 operating parameter setting of brshless DC motor.
In the present embodiment, the main and auxiliary operation module self-test of step 5) normally includes main processor modules 1, main anti-electricity
Gesture detection module 4, secondary processor module 2, auxiliary 5 self-test of back-EMF determination module are normal；The main operation mould of step 6)
Block and auxiliary operation module combined operating, the main processor modules 1 pass through main 4 rising edge of back-EMF determination module and failing edge
7 rotor rotation position of brshless DC motor is detected, the secondary processor module 2 is inputted by auxiliary back-EMF determination module 5
7 three-phase terminal voltage detecting motor rotor position of brshless DC motor, the main processor modules 1 and secondary processor module 2 are logical
It crosses communication port and shares 7 rotor rotation position of brshless DC motor collected, and combine output PWM pulsewidth modulation letter
Number, it is carried out according to setting in main processor modules 1 and the inside of secondary processor the module 2 two six state-driven strategy of three-phase that is conducted
Commutation speed regulation.
In the present embodiment, the main operation module self-test of step 7) normally includes 1 self-test of main processor modules and main anti-electricity
4 self-test of gesture detection module is normal, and auxiliary operation module self test failure includes that 2 self test failure of secondary processor module or auxiliary are anti-
5 self test failure of potential detection module；The main operation module of step 8) operates normally, i.e., the described main processor modules 1 and master are anti-
Potential detection module 4 operates normally, and auxiliary operation module is then out of service, i.e., the described secondary processor module 2 and auxiliary are anti-
Potential detection module 5 is out of service.
In the present embodiment, the main operation module self test failure of step 9) includes 1 self test failure of main processor modules or master
4 self test failure of back-EMF determination module, auxiliary operation module self-test normally include 2 self-test of secondary processor module and the anti-electricity of auxiliary
5 self-test of gesture detection module is normal；The main operation module of step 10) is out of service, i.e., the described main processor modules 1 and master are anti-
Potential detection module 4 is out of service, and auxiliary operation module operates normally, i.e., the described secondary processor module 2 and the anti-electricity of auxiliary
Gesture detection module 5 operates normally.
In the present embodiment, the step 11) system-down is overhauled, i.e., the described main processor modules 1 or main back-EMF determination
Module 4 breaks down, and the secondary processor module 2 or auxiliary back-EMF determination module 5 break down.
The above is only presently preferred embodiments of the present invention, is not intended to limit the invention in any way, it is all according to the present invention
Technical spirit any simple modification to the above embodiments, change and equivalent structural changes, still fall within skill of the present invention
In the protection scope of art scheme.
Claims (4)
1. a kind of multiprocessor permanent-magnet brushless DC electric machine combines speed regulating method, which is characterized in that brshless DC motor is by system
Control speed regulation, the system comprises that can interact and main operation module in parallel and auxiliary operation module, the method includes such as
Down by system to the speed regulation step of brshless DC motor:
Step 1) system initialization, after be entered step 2) after the completion of system initialization；
Step 2) carries out main operation module self-test, and enters step 3)；
Step 3) carries out auxiliary operation module self-test, and enters step 4)；
Step 4) reads brshless DC motor operating parameter setting, enters step 5)；
Step 5) judges whether main and auxiliary operation module self-test is normal, if the determination result is YES, it was demonstrated that main and auxiliary operation module function
Can be perfect, hardware circuit wiring is completely errorless, carries out step 6)；Judging result is otherwise to enter step 7)；
Main operation module and auxiliary operation module self-test normally include main processor modules (1), main back-EMF determination module (4),
Secondary processor module (2) and auxiliary back-EMF determination module (5) self-test are normal；
The main operation module of step 6) and auxiliary operation module combined operating carry out speed regulating control to brushless motor, are then returned to step
2) enter next brushless motor and adjust the speed the period；
Main operation module and auxiliary operation module combined operating, the main processor modules (1) pass through main back-EMF determination module
(4) rising edge and failing edge detect brshless DC motor (7) rotor rotation position, and the secondary processor module (2) passes through auxiliary
Back-EMF determination module (5) are helped to input brshless DC motor (7) three-phase terminal voltage detecting motor rotor position, the primary processor
Module (1) and secondary processor module (2) are shared brshless DC motor collected (7) rotor by communication port and are rotated
Position, and combine output PWM pulse-width signal, according to setting in main processor modules (1) and secondary processor module (2)
Portion two be conducted six state-driven strategy of three-phase carry out commutation speed regulation；
Step 7) judges that main operation module self-test is normal, and auxiliary operation module self test failure if the determination result is YES illustrates main fortune
Row functions of modules is perfect, and hardware connection is completely errorless, and exception occurs in auxiliary operation functions of modules, enters step 8)；Judging result
Otherwise to enter step 9)；
Main operation module self-test normally includes that main processor modules (1) self-test and main back-EMF determination module (4) self-test are normal,
Auxiliary operation module self test failure includes secondary processor module (2) self test failure or auxiliary back-EMF determination module (5) self-test
Failure；
The main operation module of step 8) operates normally, and main operation module carries out speed regulating control to brushless motor, and auxiliary operation module is then
It is out of service, it is then returned to step 2) and enters next brushless motor speed regulation period；
Main operation module operates normally, then the main processor modules (1) and main back-EMF determination module (4) operate normally；
Auxiliary operation module is then out of service, then the secondary processor module (2) and auxiliary back-EMF determination module (5) stop fortune
Row；
Step 9) judges main operation module self test failure, and auxiliary operation module self-test is normal, if the determination result is YES, illustrates to assist
Operation functions of modules is perfect, and hardware connection is completely errorless, and exception occurs in main operation functions of modules, enters step 10)；Judging result
Otherwise to enter step 11)；
Main operation module self test failure includes main processor modules (1) self test failure or main back-EMF determination module (4) self-test event
Barrier, auxiliary operation module self-test normally include that (2) self-test of secondary processor module and auxiliary back-EMF determination module (5) self-test are equal
Normally；
The main operation module of step 10) is out of service, auxiliary operation module then operate normally, auxiliary operation module to brushless motor into
Row speed regulating control is then returned to step 2) and enters next brushless motor speed regulation period；
Main operation module is out of service, then the main processor modules (1) and main back-EMF determination module (4) are out of service,
Auxiliary operation module operates normally, then the secondary processor module (2) and the normal fortune of auxiliary back-EMF determination module (5)
Row；
The maintenance of step 11) system-down, illustrates that the main operation module of system and auxiliary operation module break down, and system-down is searched
With elimination failure；
The main operation module self-test of step 2) includes main processor modules (1) self-test and main back-EMF determination module (4) self-test；
Step 3) the auxiliary operation module self-test includes (2) self-test of secondary processor module and assists back-EMF determination module (5) certainly
Inspection；It includes that main processor modules (1) is serial logical by first that the step 4), which reads brshless DC motor (7) operating parameter setting,
Letter port, which is read, presets brshless DC motor (7) speed and runing time, and the secondary processor module (2) then passes through master
(1) second communication port of processor module reads brshless DC motor (7) operating parameter setting；
Main operation module includes main processor modules (1) and main back-EMF determination module (4)；Auxiliary operation module includes aid in treatment
Device module (2) and auxiliary back-EMF determination module (5)；Main processor modules (1) and secondary processor module (2) are used to acquire
The rotor-position of brshless DC motor (8), and pass through main back-EMF determination module (4) or auxiliary back-EMF determination module respectively
(5) detected rotor rotation position exports the digital PWM signal of control brshless DC motor (8) rotation speed respectively.
2. a kind of multiprocessor permanent-magnet brushless DC electric machine according to claim 1 combines speed regulating method, which is characterized in that
Step 1) the system initialization, the specific steps of which are as follows:
Step 101) configures main processor modules (1) internal resource, including setting external interrupt triggering mode, PWM output port
Configuration, system clock resource distribution, control parameter and the communication mode between secondary processor module (2)；
Step 102) configures secondary processor module (2) internal resource, including brshless DC motor (7) three phase terminals voltage acquisition
Mode, the configuration of PWM output port, clock sources resource distribution, control parameter and the communication between main processor modules (1)
Mode.
3. a kind of multiprocessor permanent-magnet brushless DC electric machine according to claim 1 combines speed regulating method, which is characterized in that
Step 11) the system-down maintenance, then the main processor modules (1) or main back-EMF determination module (4) break down, institute
It states secondary processor module (2) or auxiliary back-EMF determination module (5) breaks down.
4. a kind of multiprocessor permanent-magnet brushless DC electric machine combines speed-regulating system, including brshless DC motor (7), feature exists
In: it further include that the main operation module of the interaction and parallel connection for brshless DC motor (7) to be carried out with speed regulating control and auxiliary are run
Module, is connected to main operation module and auxiliary operation module output end in turn and the level of brshless DC motor (7) control terminal turns
Change module (3) and drive circuit module (6) and main operation module and auxiliary run executed in module to brshless DC motor
(7) speed regulation program；Described in step in program speed regulating method as described in claim 1；
The communication ends and secondary processor module (2) communication ends of the main processor modules (1) are connected with for communicating with each other
RS-232 cable, main processor modules (1) the digital PWM output end, which is connected with, is converted to 12V level for 3.3V level signal
The level translation module (3) of signal, the level translation module (3) are connected with the driving for driving brshless DC motor (7)
Circuit module (6), secondary processor module (2) the digital PWM output end, which is connected with, is converted to 12V electricity for 3.3V level signal
The level translation module (3) of ordinary mail number, the brshless DC motor (7) is through main back-EMF determination module (4) by rotor position
Confidence number feeds back to main processor modules (1) interrupting input end mouth, and the brshless DC motor (7) is through assisting back-EMF determination mould
Rotor signal is fed back to secondary processor module (2) analog acquisition port by block (5)；
The main processor modules (1) include MSP430F149 low power-consumption intelligent processor, secondary processor module (2) packet
STC15W404 single-chip microcontroller is included, the main back-EMF determination module (4) uses LM324 operational amplification circuit, the auxiliary back-emf
Detection module (5) is made of analog voltage Acquisition Circuit, and the level translation module (3) is by TLP521-4 photoelectric isolated chip structure
At the drive circuit module (6) is made of 6 IRF9540N transistors and 6 IRF540N transistor cascades.
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| CN201710345150.XA CN106982015B (en) | 2017-05-16 | 2017-05-16 | A kind of multiprocessor permanent-magnet brushless DC electric machine joint speed-regulating system and method |
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| CN109546897A (en) * | 2019-01-16 | 2019-03-29 | 江苏租八戒智能科技有限公司 | A kind of motor-driven multi-mode controller and application method |
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| CN102055392A (en) * | 2010-12-17 | 2011-05-11 | 北京控制工程研究所 | Sensorless line back electromotive force (EMF) position detection method of brushless direct current motor (BLDCM) |
| CN103312240A (en) * | 2013-06-27 | 2013-09-18 | 上海新时达电气股份有限公司 | Three-phase terminal voltage estimation method, back electric motive force estimation method, phase change point detection method and frequency converter for brushless direct current motor |
| CN104467564A (en) * | 2014-12-31 | 2015-03-25 | 哈尔滨工业大学 | Redundant brushless direct current motor control system |
| CN104579029A (en) * | 2013-10-29 | 2015-04-29 | 北京精密机电控制设备研究所 | Tri-redundancy brushless DC servo drive controller |
| CN105207542A (en) * | 2015-10-27 | 2015-12-30 | 合肥工业大学 | Double-winding direct-current brushless motor redundancy control system and control method thereof |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7002318B1 (en) * | 2004-09-23 | 2006-02-21 | General Motors Corporation | Position sensor fault tolerant control for automotive propulsion system |
| US7692395B2 (en) * | 2007-11-16 | 2010-04-06 | The Bergquist Torrington Company | Extrapolation of back EMF signals in brushless DC motors |
| CN104734580A (en) * | 2015-01-08 | 2015-06-24 | 清华大学 | Dual-redundancy control method and system of brushless motor |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102055392A (en) * | 2010-12-17 | 2011-05-11 | 北京控制工程研究所 | Sensorless line back electromotive force (EMF) position detection method of brushless direct current motor (BLDCM) |
| CN103312240A (en) * | 2013-06-27 | 2013-09-18 | 上海新时达电气股份有限公司 | Three-phase terminal voltage estimation method, back electric motive force estimation method, phase change point detection method and frequency converter for brushless direct current motor |
| CN104579029A (en) * | 2013-10-29 | 2015-04-29 | 北京精密机电控制设备研究所 | Tri-redundancy brushless DC servo drive controller |
| CN104467564A (en) * | 2014-12-31 | 2015-03-25 | 哈尔滨工业大学 | Redundant brushless direct current motor control system |
| CN105207542A (en) * | 2015-10-27 | 2015-12-30 | 合肥工业大学 | Double-winding direct-current brushless motor redundancy control system and control method thereof |
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