CN107086825A - A kind of permagnetic synchronous motor closed-loop control system - Google Patents
A kind of permagnetic synchronous motor closed-loop control system Download PDFInfo
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- CN107086825A CN107086825A CN201710489402.6A CN201710489402A CN107086825A CN 107086825 A CN107086825 A CN 107086825A CN 201710489402 A CN201710489402 A CN 201710489402A CN 107086825 A CN107086825 A CN 107086825A
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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
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/0077—Characterised by the use of a particular software algorithm
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention discloses a kind of permagnetic synchronous motor closed-loop control system, including master control plate module and driving plate module, the master control plate module is responsible for sending instruction and handles various failures, and master control plate module includes MCU minimum systems, switch power module, TFT color screen display module, key-press module, speed adjusting module, peripheral circuit module and the photoelectric isolation module using STM32F103ZET6 as core.The whole system of the present invention has the circuits such as good signal isolation, overvoltage protection, under-voltage protection, overcurrent protection and excess temperature detection, with very high reliability.Devise the hardware elementary diagram of system and pcb board is made, experimental test result shows that the system can be good at control permagnetic synchronous motor operation.On software, the processor of the system comes with permagnetic synchronous motor control built-in function, and the construction cycle is short；On hardware, the system cost is cheap, perfect in shape and function and reliability are high.The system has higher application and promotional value.
Description
Technical field
The invention belongs to electric and electronic technical field, it is related to a kind of permagnetic synchronous motor closed-loop control system.
Background technology
Before upper world's eighties, it was most widely used in servo-drive system with dc motor, particularly high-performance is watched
Take the overwhelming majority in electric motor system and use DC servomechanism, because DC motor speed regulating control is simple, possess good
Good speed governing, startup, braking ability, being capable of stepless speed control in economic limit.Although traditional direct current generator has much a little
But brush is possessed in the presence of a fatal defect-motor.Motor commutation must be using commutator and brush collective effect come real
Existing, the commutation of direct current generator can make the problems such as motor internal produces electric spark, electromagnetic interference and noise.The friction meeting that motor is rotated
Make the brush and commutator wear of motor serious, cause the reduction of motor performance, safeguard cumbersome, service life shortens, this
Planting defect causes Traditional DC motor can not adapt to the performance and use environment of modern servo control system continuous improvement, so that
Direct current generator slowly exits the application in the directions such as high rotating speed, high voltage, Large Copacity and high-end precision electric motor.Along with motor and
The development of the technologies such as associated materials, is arisen at the historic moment with the motor of electronic commutation technology and has obtained quick development.This nothing
The advantages of motor of contact commutation had both remain the good speed governing, startup, braking ability that Traditional DC motor has, and gram
Traditional DC motor has been taken using the shortcoming caused by mechanical commutation.This motor is exactly permagnetic synchronous motor.
Recently as microelectric technique, power electronics, material technology, motor technology and it is cybernatic continue to develop, forever
Magnetic-synchro motor technology has obtained significant progress in nearly 40 years, and it has been established Permanent magnet synchronous servo system and automatically controlled
Occupy important position in field.The rotor of permagnetic synchronous motor uses permanent-magnet material, and control system is relative to asynchronous machine
Speech is fairly simple, easily realizes high performance control.Rare-earth permanent-magnet electric machine is thus with simple in construction, reliable, efficiency high
Deng significantly a little, thus it is widely used in household appliance technical field, Field of Office Automation and accurate control field.
China's motor recoverable amount is big, and consumption electric energy is big, and ageing equipment is less efficient, and China's industry is in and turned
The type stage, be badly in need of substitute these old motors, and permasyn morot (PMSM) have small volume, efficiency high, power because
Number is high, starting torque is big, energy index is good, the low feature of temperature rise, can substitute these present old motors.But, permanent magnetism
Synchronous motor magnetic structure is complicated, and traditional design method can not meet the growth requirement of high-performance permanent magnet synchronous motor.
Therefore, there is huge practical significance to permagnetic synchronous motor and to the research of its advanced control technology.
The content of the invention
The present invention provides a kind of permagnetic synchronous motor closed-loop control system, and the system is a set of micro- with STM32F103ZET6
Processor and the control system for permanent-magnet synchronous motor that SPM is core.
Its technical scheme is as follows：
A kind of permagnetic synchronous motor closed-loop control system, including master control plate module and driving plate module, the master control template die
Block is responsible for sending instruction and handles various failures, and master control plate module includes the MCU minimums system using STM32F103ZET6 as core
System, switch power module, TFT color screen display module, key-press module, speed adjusting module, peripheral circuit module and photoelectric isolation module.
Switch power module provides 5V and 3.3V voltages and powered to each circuit module in master control plate module；TFT color screen display module is used
To show the voltage and rotating speed that currently set, and the current running speed of display motor and electric current etc.；Key-press module is mainly used
Operated in the reset of MCU minimum systems；Speed adjusting module is mainly used in setting the speed of service of motor, and its voltage signal exported leads to
Cross the AD interface circuits in MCU minimum systems inside STM32F103ZET6 and be converted to corresponding speed control signal；Peripheral circuit
The various voltage and current signals and hall signal that module is mainly transmitted to driving plate circuit module are filtered the pretreatment such as amplification
After be sent to MCU minimum systems carry out computing；The pwm pulse signal that photoelectric isolating circuit is sent to MCU minimum systems carries out photoelectricity
The drive signal of the SPM SPMs in driving plate module is used as after isolation.The driving plate module is responsible for execute instruction
And signal acquisition, drive plate module to include driving plate power module, SPM SPMs, three phase electric machine interface module and letter
Number acquisition module.Driving plate power module provides+the 15V ,+5V that each circuit module is used in driving plate module and dc bus electricity
Pressure；SPM SPMs are that the PWM ripples that master control plate module is sent are converted into three-phase drive electric current, and motor is rotated；Three
The circuit that phase motor interface module is used for tri- phase lines of motor U, V, W is connected；Signal acquisition module includes two parts, and one is to utilize
The position of the output signal measurement motor rotor of Hall sensor and speed, two be detection DC bus-bar voltage and motor three-phase electricity
Stream.
Further, the MCU minimum systems include two crystal oscillating circuits, the jtag interface of 20 mouthfuls of a standard, filtered electrical
Road and key circuit, the JTAG that 20 mouthfuls of standard are the COM1s of minimum system and PC, and it is used to download to MCU, with
PC is communicated；Described two crystal oscillating circuits are respectively 8MHz external high frequency crystal oscillator, and PLL frequencys multiplication are used, and another is outside
The frequency is used when low frequency crystal oscillator, system standby or low-power consumption mode, frequency is 32.768KHz；The external high frequency crystal oscillator is to being
System provides stable 8MHz clock signals；8MHz external crystal-controlled oscillations are used under the general operational modes of MCU, are given by PLL frequency multiplier circuits
MCU provides highest 72MHz clock signals, enables a system to supper-fast operation program；Make when under system standby or low-power consumption mode
Clock signal is provided for MCU with outside 32.768KHz crystal oscillating circuits, such switching frequency is reduced, and greatly reduces system
Power consumption.The key circuit is a reset circuit, and STM32 normal works, which reset, needs manual key to reset.Button and electricity
Hold earth, when pushing button STM32 reset pins ground connection, reset pin becomes low level by high level, and electric capacity passes through one
The charging of section time ultimately becomes high level, whole to reset work completion.Condenser network then carries out coupling to MCU power supply
Close, reduce interference of the ripple of power supply to MCU.
Further, the circuit board of the MCU minimum systems is 4 laminates；Two outside layers signals layer, middle two layers is interior electricity
Layer, is stratum and POWER layers；Top layer and bottom layer signal layer are after the completion of wiring, it is necessary to cover copper ground connection to reduce impedance ground.
Further, the MCU minimum systems send data by two ways to TFT color screen circuit, and one kind is gone here and there with SPI
Row communication mode writes data to LCD, and another is to LCD to write data with 8 parallel ports.
Further, the speed adjusting module is gathered by ADC and slided by adjusting slide rheostat come the rotating speed of regulation motor
Rheostatic voltage, the minimum rotating speed of correspondence when voltage is 0, the correspondence maximum (top) speed when collection voltages are 3.3V.
Further preferably, the fault-signal that the SPM SPMs are produced, including overvoltage protection, under-voltage protection, mistake
Stream protection and excess temperature detection, are also the MCU minimum systems being sent to by photoelectric isolation module in main control module, MCU passes through
Interrupt and carry out response protection in time.
Beneficial effects of the present invention：
The whole system of the present invention has good signal isolation, overvoltage protection, under-voltage protection, overcurrent protection and excess temperature
The circuits such as detection, this causes the system to have very high reliability.Devise the hardware elementary diagram of system and pcb board is made, try
Test test result shows that the system can be good at control permagnetic synchronous motor operation.On software, the processor of the system is certainly
Built-in function is controlled with permagnetic synchronous motor, the construction cycle is short；On hardware, the system cost is cheap, perfect in shape and function and reliable
Property it is high.The system has higher application and promotional value.
Brief description of the drawings
Fig. 1 is PMSM internal structure simplification figures, and wherein Fig. 1 (a) is PMSM internal structures, and Fig. 1 (b) is three-phase symmetrical armature
Winding；
Fig. 2 is PMSM three-phase drive bridge circuits；
Fig. 3 is the hardware arrangement figure of permagnetic synchronous motor closed-loop control system of the present invention；
Fig. 4 is minimum system；
Fig. 5 is TFT color screen display module circuit diagram；
Fig. 6 is speed adjusting module circuit；
Fig. 7 is isolation module circuit；
Fig. 8 is power module circuitry；
Fig. 9 is SPM Intelligent power module circuits；
Figure 10 is protective circuit of diode；
Figure 11 is amplifying circuit；
Figure 12 is Hall sensor interface circuit；
Figure 13 is open loop program flow diagram；
Figure 14 is closed loop program flow chart.
Embodiment
Technical scheme is described in more detail with reference to the accompanying drawings and detailed description.
1 permagnetic synchronous motor operation principle
Permagnetic synchronous motor cut-away view such as Fig. 1：
From figure 1 it will be seen that permagnetic synchronous motor is made up of rotor and stator two large divisions.Stator refers to electronic
The machine part motionless when rotating, placement space is three-phase symmetrical armature winding A1A2, B1B2, C1C2 of 120 degree of mutual deviation, is connected into
Star or triangle, the part rotated when rotor is motor rotation is a pair of magnetic poles being made of permanent-magnet steel.In addition, with
Common synchronization motor is compared, and permagnetic synchronous motor must also be equipped with rotor position detector, for detecting rotor magnetic pole position, from
And armature supply is controlled, reach control permagnetic synchronous motor.In order to ensure system accuracy and system run all right, lead to
Frequently with the rotor position detector of rotary transformer, photoelectric code disk or hall position sensor as permagnetic synchronous motor, its
It is coaxially connected with rotor.
The armature of common DC motor is that on rotor, and to be magnetic material produce fixed magnetic field with stator.In order that
Motor is rotated, it is necessary to which by commutator and brush, the sense of current of armature group, produces stator and rotor constantly in change rotor
Magnetic field be mutually perpendicular to so that produce constant torque come motor rotation.Permagnetic synchronous motor motor does not have brush, and it will
Armature has been placed on stator, and this is very good opposite with brush motor.When each phase winding of stator armature successively commutation is powered, flow through around
The electric current of group sets up rotating excitation field in rotor air gap, and its rotating speed is formula (1):
F- supply frequencies in formula；P- stator numbers of pole-pairs.The rotating speed in magnetic field is proportional to supply frequency, is inversely proportional to the extremely right of stator
Number.The direction of rotation in magnetic field depends on the phase sequence of winding current.Due to electromagnetic induction effect, it will be produced in the rotor conductor of closure
Induced-current.The rotating excitation field interaction that the magnetic field and stator winding that this electric current is produced are produced produces electromagnetic torque, so that
Rotor is set " to follow " stator field to rotate, its rotating speed is n.Work as n=nsWhen, it is synchronous.The rotation that stator winding is produced
Magnetic field can regard a pair of rotary poles as and attract the magnetic pole of rotor to rotate therewith.
By principle above understands that drive circuit is such as, it is necessary to which making three phase bridge drives the three-phase windings of magneto
Shown in Fig. 2.
2 overall system designs
Analyzed according to principles above, it is topmost including controller and driving in the control system for permanent-magnet synchronous motor
Device.The rotation of controller output pwm signal controlled motor, driver provides enough electric currents, voltage to motor.
According to the anti-tampering design principle of hardware circuit, by control panel and driving plate isolation design, as shown in Figure 3：
As shown in figure 3, whole system is divided into two parts：Master control plate module and driving plate module.
3 control system hardware designs
Need to carry out accurate speed control to motor in high performance servo control system, it is desirable to which reponse system has non-
Often high sensitivity, it is desirable to the problems such as control system handles various faults, such as excessively stream, overvoltage, too high temperature in real time.These
The realization of function is required for good hardware environment, therefore, and good hardware is the core for weighing a good servo-control system
One of factor.
According to analysis above, system is divided into two parts：Master control borad is the brain of whole system, is responsible for sending instruction and locates
Manage various failures.Master control plate module includes MCU minimum systems, switch power module, the TFT using STM32F103ZET6 as core
Color screen display module, key-press module, speed adjusting module, peripheral circuit module and photoelectric isolation module.Driving plate module is whole system
The executor of system, is responsible for execute instruction.Plate module is driven to include driving plate power module, SPM SPMs, three phase electric machine
Interface module and signal acquisition module.
3.1 MCU minimum systems
MCU selects the STM32F103ZET6 that STMicw Electronics produces, and the chip functions are powerful and low in energy consumption, are suitable for
Motor control.
Minimum system includes two crystal oscillating circuits, the jtag interface of 20 mouthfuls of a standard, filter circuit and key circuit.Mark
Accurate 20 mouthfuls JTAG is the COM1 of minimum system and PC, and it is used to download to MCU, communicated with PC.Two
Individual crystal oscillating circuit is respectively 8MHz external high frequency, and PLL frequencys multiplication are used, and another is external low frequency crystal oscillator, system standby or low work(
This frequency is used during consumption pattern, is 32.768KHz.External high frequency crystal oscillator provides stable 8MHz clock signals to system.MCU mono-
As make 8MHz external crystal-controlled oscillations under operational mode, give MCU to provide highest 72MHz clock signals by PLL frequency multiplier circuits, enable the system to
Enough supper-fast operation programs.When being provided under system standby or low-power consumption mode using outside 32.768KHz crystal oscillating circuits for MCU
Clock signal, such switching frequency is reduced, and greatly reduces the power consumption of system.Key circuit is then a reset circuit,
STM32 normal works, which reset, needs manual key to reset.Button and electric capacity earth, when pushing button STM32 reset pins
Ground connection, reset pin becomes low level by high level, and electric capacity ultimately becomes high level through charging after a while, whole to reset
Work is completed.Condenser network is then coupled to MCU power supply, reduces interference of the Wen Bo of power supply to MCU.As Fig. 4 is
Its minimum system constituted：
MCU clock frequency has been over 8MHz, and pin density has reached certain density, when designing circuit board
Need to carry out multilayer circuit board design.Because the cabling of signal is not especially complex in this minimum system, therefore 4 layers of selection
Plate.Two outside layers signals layer, middle two layers is internal planes, is stratum and POWER layers.Top layer and bottom layer signal layer are completed in wiring
Afterwards, it is necessary to cover copper ground connection to reduce impedance ground.
3.2 TFT320240 color screen circuits
The control panel LCD that enamels is used for showing the motor speeds of the various parameters of system, such as setting, motor actual speed with
And the Current Voltage in the circuit in circuit etc..LCD is a critically important link of man-machine interaction, and it can reflect system operation
Situation, people then understands system running state by LCD.If Fig. 5 is the interface of color screen：
MCU can be by two ways to color screen transmission data in system, and one kind is to LCD with SPI serial communication modes
Write data, another is to LCD to write data with 8 parallel ports.
3.3 alignment circuit
In PMSM control systems, by adjusting slide rheostat come the rotating speed of regulation motor.Variable resistance is slided by ADC collections
The voltage of device, the minimum rotating speed of correspondence when voltage is 0, the correspondence maximum (top) speed when collection voltages are 3.3V.Alignment circuit
Such as Fig. 6：
There are some simple circuits, such as SD card slot, button, LED, USB interface and jtag interface in master control borad.MCU
Minimum system is four individually designed laminate pcb boards, and circuit board is inserted in by slot.And master control borad is then two layers of PCB of design
Plate, the master control borad speed of service is no so high, so being not necessarily designed to multi-layer sheet, other circuit modules are then directly designed in master
Control on plate, so on the one hand can improve the anti-interference of system, on the other hand can be with cost-effective.In order to which maximum utilizes MCU
High-performance, master control borad devises two controlled motor interfaces, while also devising two personal-machine interfaces.The control system can
Simultaneously effective control two permanent magnet synchronous motors.
3.4 power circuit
There are a variety of different power supply chips in driving plate, its power circuit constituted is also differed.In system drive plate
On in addition to the power supply of motor, other circuits also need to stable 15V and 5V power supply.
The power-supply system of driving plate is power supply tree, and power supply tree is made up of two level power supplies.First level power supply is to provide 15V direct currents
Electricity, the second level be by 15V pick out after be depressured to 5V direct current.Power supply tree can be supplied to system stable 15V and 5V electricity
Source, its power supply ripple disclosure satisfy that the power reguirements of each chip within 20mV.As shown in Figure 8.
The switching power source chip LM2596-ADJ and LM2596-5 that power supply tree is produced by two panels TI companies constitute .LM2596 systems
Row be TI companies production 3A electric current output buck switching mode integrated voltage-stabilized chips, its have perfect protection circuit, current limit,
Thermal shutdown circuit etc..Its operating temperature range is wide, and efficiency may be up to 90%, and low in energy consumption, ripple is small, is suitable for use in the system.
Power supply 24V first passes around diode D1, and 15V is depressurized into by LM2596 after coupled capacitor, is filtered by LC
Device filters out high frequency ripple, exports stable 15V direct currents, and obtain 5V power supplys in the same way.D1 is 1N5817 in circuit
Schottky diode, for protection circuit, prevents the input power reversal connection of circuit and burns power supply chip.D2, D4 are afterflows two
Pole pipe, it is in parallel with capacitor and inductor to play afterflow effect, it is to avoid the high electromotive force produced in circuit burns the element in circuit.
3.5 high speed photo coupling isolation circuits
The 6 road PWM ripples come from control panel transmission are MCU outputs, and pwm signal finally needs to be transferred in SPM modules,
SPM modules FSAM20SH60A is that 15V power supplys are powered, so there is a possibility that MCU is burnt out, so needing front stage to isolate.It is front and rear
Level circuit is kept apart, and makes light current element trouble free service, while also reducing influence of the rear class to prime, is also prevented from the burr on PWM
Cause the maloperation of rear class, isolation circuit such as Fig. 7.
Isolation circuit is Phototube Coupling in Fig. 7, when 1 pin of circuit is high level, the light emitting diode hair of chip internal
The photoelectric detector conducting of light another side, exports low level.When 1 pin is low level, output port is then high level.It is so defeated
The waveform gone out is just anti-phase with PWM.
3.6 SPM circuits
SPM is topmost part on power amplifier board, and its topmost function is the PWM controls for sending MCU
Ripple is converted into three-phase drive electric current, and motor is rotated.Its circuit such as Fig. 9：
Circuit is power model, is made up of SPM FSAM20S60A and peripheral circuit.FSAM20SH60A is
Fairchild (fairchild company) is simplified with high efficiency synchronous machine drives purport in a high speed, low very much in order to provide one
A advanced SPM that power inverter drives and newly designed and produced.100~253V alternating voltages are exported, most
Big driving power 1.5kW, switching frequency is up to 15kHz.Voltage, current protecting circuit are internally integrated, when system breaks down
When can send error flag in time and then stop controlled motor to MCU, MCU, meanwhile, control PWM cut-outs output current, protection in time
Motor is not burned out.Inversion device SPM is built-in with protection circuit, and control voltage under-voltage protection, overcurrent protection, overheat guarantor can be achieved
Shield and short-circuit protection.Occurs under-voltage protection if supply voltage is less than setting；One is mounted with the insulation board of igbt chip
Individual thermistor, then occurs overtemperature protection when the temperature that temperature sensor measures its plank exceedes set point of temperature value；Such as flow through
More than regulation excessively stream action current overcurrent protection then occurs for IGBT current value, as long as any one above-mentioned protection act is sent out
Raw, SPM can block gate drive circuit, the fault-signal that output fault-signal nFaultOut pins are sent input to
STM32F103ZET6, corresponding safeguard measure is performed by chip STM32F103ZET6.
SPM modules have two power supplys, and one is high-end power supply, is connected to IGBT colelctor electrode, for being powered to motor；Separately
One is low side power supply 15V dc sources, controls what circuit and other circuits were powered for carrying out IGBT to SPM inside modules.
Because power model has two power supplys, also therefore with having two power supplys, according to anti-tampering single-point grounding principle, two
Power supply is connected eventually through magnetic bead.Circuit diagram middle port HV_BUS, Vfb-U, Vfb-V, Vfb-W are in measurement bus and triple line
Voltage, the voltage that the system highest is born is 600V, and system voltage goes wrong, and STM32 is by detecting this four ports
Voltage, judge overtension then can the system of closing realize defence program.Detect that one group of resistance of voltage there are three in figure, in detection
When voltage reaches 3.6V, that is, when having reached the maximum of AD detections, the voltage of system has reached 3.6 ÷ 7.32X1127.32=
554V, i.e., just can not be detected beyond this value AD, while in order to prevent overtension, the partial pressure for causing AD to detect is too high,
And STM32F103ZET6 is burnt out, a diode BAS520 is all met in the input of circuit, as shown in Figure 10：
Diode BAS520 is Schottky diode, and forward conduction voltage is probably 0.3-0.4V, when HV_BUS, Vfb-U,
Vfb-V, Vfb-W port voltage can keep this numerical value, will not be further added by more than diode current flow after 3.6V, the voltage of port,
Thus protection AD ports will not burn.When any circuit of overtension all the way of detection can then perform defence program, it is ensured that system
Safety.
3.7 current collection circuit
In PMSM control systems, the electric current in circuit crosses conference and burns out circuit.And in vector control system, controller
Need timely and accurately to know the actual current value in machine winding, to realize motor control.In real time, accurately and reliably electric current
Sample circuit, can improve the precision of motor control.The available component species of current detecting is a lot, there is Hall current sensing
Device, has the voltage difference measuring resistance that constantan wire detection constantan wire two ends are accessed in direct circuit, also has direct small-power in circuit
Resistance and then the voltage at measuring resistance two ends.Last one kind is used in the circuit.
What is detected in amplifying circuit is the phase current for flowing through motor, and detection electric current uses power resistor, resistance very little
The electric current flowed through in only 0.005 Ω, circuit is 20A to the maximum, is carried in the maximum also only 100mV of voltage at resistance two ends.Through
Amplifying circuit processing is crossed, the size of electric current can be detected in real time.Amplifying circuit such as Figure 11：
The amplifier of circuit is the MCP6024 of the micro- die semiconductor company production in the U.S., and MCP6024 is a high performance rail
To rail input and output amplifier chip.Its key performance includes broadband, low noise, low input offset voltage and low distortion.It is adapted to
For making driving A/D converters.There are four amplifiers inside MCP6024, in this circuit three amplifiers inside MCP6024
For amplifying, an amplifier is used for making voltage follower.
Differential amplifier circuit is used in this amplifying circuit, three-phase circuit is sequentially powered per phase, therefore the electricity of test
Stream has certain frequency, the high-pass filtering being made up of electric capacity, reduces interference.Multiplication factor is 16.5 times.Diode therein
It is BAS520 Schottky diodes, forward conduction voltage is probably 0.3-0.4V, when CU_A, CU_B, CU_C, port voltage exceed
Diode current flow after 3.6V, diode turn-on voltage adds terminal voltage 3.3V, and 3.6V or so numerical value can be kept by making the voltage of port,
It will not be further added by, thus protect AD ports not to be burned out.
3.8 speed and position detecting circuit
The link that tests the speed is the key of closed loop speed control system.The precision of motor speed detection will directly affect speed regulating control
The stability and control accuracy of system.The position of rotor is carried out in the hall position sensor of 120 ° of the mutual deviation of electric machine built-in 3
Detection, rotor rotates a circle as six location status, and every 60 ° of electrical angles are a state relative to certain magnetic pole, i.e., every 60 °
The conducting of electrical angle winding just changes once.The signal of sensor detection is directly transmitted to STM32.The interface circuit of Hall sensor
Such as Figure 12：
The output signal of hall position sensor detection is pulse, and STM32 can directly be calculated to detection step-by-step counting
Motor speed, this method is Measuring Frequency Method.Measuring Frequency Method is at certain time intervals in T, pulse number to be counted, so that logical
Extra pulse number and the ratio calculation rotating speed of time.
4 system debugs
The system is that DC brushless motor 42JSF330AS, 42JSF330AS are Jie Meikang electromechanical from permagnetic synchronous motor
Company produces a 31W high-performance permanent magnet synchronous servo motor.
The system have selected two kinds of motor control modes when testing：One kind is open loop control mode, and another is closed loop control
Mode processed.The basic ideas of two kinds of control modes are all startup, the initialization of various registers, beginning and running status.
It is general in motor control all to use closed-loop system, but drive stability requirement not high in motor some
In the case of, opened loop control is selected sometimes.
According to given dutycycle and steering, the rotating speed of motor is determined.Open loop program thinking such as Figure 13：
In open loop program, dutycycle is adjusted by slide rheostat, by human-computer interaction interface it can be seen that system
Running status.
Dutycycle is bigger, and rotating speed is faster, but speed and dutycycle are not linear.The maximum deficiency of open cycle system, be exactly
Stability is not high, and the unstable of motor control is can be seen that by the voltage corresponding to different duty in human-computer interaction interface
Property.
Permanent Magnet Synchronous Motor closed-loop control system can realize rotating speed without quiet under conditions of guarantee system is stable
Difference.Speed closed loop programming flow is as follows：
(1) rotating speed of target v is determined according to the rotation speed requirements of setting*, rotor-position signal is detected by hall position sensor
And motor actual speed v is calculated indirectly, will both difference Δ v=v*- v is inputted as speed closed loop control signal；
(2) output that speed closed loop is calculated with pid algorithm is used as the reference value I of internal current closed loop*, examined according to electric current
The actual current I of slowdown monitoring circuit detection, will both difference Δ I=I*- I as closed-loop current control signal input；
(3) output of current closed-loop is calculated with pid algorithm, and the dutycycle for determining pwm signal is exported with this；
(4) according in motor three-phase windings electric current by phase sequence, determine the steering of motor.Result of calculation more than
And regulated variable, export corresponding pwm signal.
Permagnetic synchronous motor closed-loop control system flow such as Figure 14 is drawn according to above step.
After flow chart programming, download and observe running status.
The motor speed set is 1424rpm, and control system is by constantly detecting the state of motor operation, to turning for setting
Speed is close, and continuous dynamic regulation, makes motor operation finally tend towards stability near the rotating speed of setting.
The stability of closed-loop control system is can be seen that than open-loop control system stability from the operation result of two programs
It is better a lot, for being normally applied more options closed-loop control system.
The bridge up and down of three-phase drive device is conducted principle order 1.A+B-, 2.C+B-, 3.C+A-, 4.B+ according to two successively
A-、5.B+C-、6.A+C-.When according to 1 → 2 → 3 → 4 → 5 → 6 this order, to electrical power, motor is rotated forward, when according to 6 → 5
→ 4 → 3 → 2 → 1 order is powered to motor, motor reversal.The dutycycle of increase PWM outputs can then be improved in this process
The rotating speed of motor, increase supply current can then increase the torque of motor.
By actually detected, various functions can be realized well, motor operational excellence under closed-loop system, it was demonstrated that this
The design of system has reached expected requirement.
The foregoing is only a preferred embodiment of the present invention, protection scope of the present invention not limited to this, any ripe
Those skilled in the art are known in the technical scope of present disclosure, the letter for the technical scheme that can be become apparent to
Altered or equivalence replacement are each fallen within protection scope of the present invention.
Claims (6)
1. a kind of permagnetic synchronous motor closed-loop control system, it is characterised in that：It is described including master control plate module and driving plate module
Master control plate module is responsible for sending instruction and handles various failures, and master control plate module includes the MCU using STM32F103ZET6 as core
Minimum system, switch power module, TFT color screen display module, key-press module, speed adjusting module, peripheral circuit module and photoelectricity every
From module；Switch power module provides 5V and 3.3V voltages and powered to each circuit module in master control plate module；TFT color screen is shown
Module is used for showing the voltage and rotating speed currently set, and display motor current running speed and electric current；Key-press module master
It is used for the reset operation of MCU minimum systems；Speed adjusting module is mainly used in setting the speed of service of motor, its voltage exported letter
Number corresponding speed control signal is converted to by the AD interface circuits inside STM32F103ZET6 in MCU minimum systems；Periphery
The various voltage and current signals and hall signal that circuit module is mainly transmitted to driving plate circuit module are filtered the pre- place of amplification
MCU minimum systems are sent to after reason and carry out computing；The pwm pulse signal that photoelectric isolating circuit is sent to MCU minimum systems carries out light
The drive signal of the SPM SPMs in driving plate module is used as after electric isolution；The driving plate module is responsible for execution and referred to
Order and signal acquisition, driving plate module include driving plate power module, SPM SPMs, three phase electric machine interface module and
Signal acquisition module；Driving plate power module provides+the 15V ,+5V and dc bus that each circuit module is used in driving plate module
Voltage；SPM SPMs are that the PWM ripples that master control plate module is sent are converted into three-phase drive electric current, and motor is rotated；
The circuit that three phase electric machine interface module is used for tri- phase lines of motor U, V, W is connected；Signal acquisition module includes two parts, and one is profit
Position and speed with the output signal measurement motor rotor of Hall sensor, two be detection DC bus-bar voltage and motor three-phase
Electric current.
2. permagnetic synchronous motor closed-loop control system according to claim 1, it is characterised in that：
The MCU minimum systems include two crystal oscillating circuits, the jtag interface of 20 mouthfuls of a standard, filter circuit and button electricity
Road, the JTAG that 20 mouthfuls of standard is the COM1 of minimum system and PC, and it is used to download to MCU, is led to PC
Letter；Described two crystal oscillating circuits are respectively 8MHz external high frequency crystal oscillator, and PLL frequencys multiplication are used, and another is external low frequency crystal oscillator, is
The frequency is used during the standby or low-power consumption mode of system, frequency is 32.768KHz；The external high frequency crystal oscillator provides stabilization to system
8MHz clock signals；8MHz external crystal-controlled oscillations are used under the general operational modes of MCU, highest is provided to MCU by PLL frequency multiplier circuits
72MHz clock signals, enable a system to supper-fast operation program；It is outside when being used under system standby or low-power consumption mode
32.768KHz crystal oscillating circuits provide clock signal for MCU, and such switching frequency is reduced, and greatly reduces the power consumption of system；
The key circuit is a reset circuit, and STM32 normal works, which reset, needs manual key to reset；Button and electric capacity simultaneously couple
Ground, when pushing button STM32 reset pins ground connection, reset pin becomes low level by high level, and electric capacity is through after a while
Charging ultimately becomes high level, whole to reset work completion；Condenser network is then coupled to MCU power supply, reduces electricity
Interference of the ripple in source to MCU.
3. permagnetic synchronous motor closed-loop control system according to claim 1, it is characterised in that：
The circuit board of the MCU minimum systems is 4 laminates；Two outside layers signals layer, middle two layers is internal planes, be stratum and
POWER layers；Top layer and bottom layer signal layer are after the completion of wiring, it is necessary to cover copper ground connection to reduce impedance ground.
4. permagnetic synchronous motor closed-loop control system according to claim 1, it is characterised in that：
The MCU minimum systems send data by two ways to TFT color screen circuit, and one kind is to use SPI serial communication modes
Data are write to LCD, and another is to LCD to write data with 8 parallel ports.
5. permagnetic synchronous motor closed-loop control system according to claim 1, it is characterised in that：
The speed adjusting module gathers slide rheostat by adjusting slide rheostat come the rotating speed of regulation motor by ADC
Voltage, the minimum rotating speed of correspondence when voltage is 0, the correspondence maximum (top) speed when collection voltages are 3.3V.
6. permagnetic synchronous motor closed-loop control system according to claim 1, it is characterised in that：
The fault-signal that the SPM SPMs are produced, including overvoltage protection, under-voltage protection, overcurrent protection and excess temperature
Detection, is also the MCU minimum systems being sent to by photoelectric isolation module in main control module, and MCU is rung in time by interrupting
It should protect.
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Inventor after: Huang Haibo Inventor after: Nie Xiangqian Inventor after: Jian Wei Inventor after: Chen Yufeng Inventor after: Lu Jun Inventor after: Cheng Dengliang Inventor after: Xiang Zhengtao Inventor after: Jiang Xuehuan Inventor after: Xiong Wu Inventor after: Zhao Yi Inventor before: Huang Haibo Inventor before: Lu Jun Inventor before: Cheng Dengliang Inventor before: Xiong Wu Inventor before: Zhao Yi Inventor before: Nie Xiangqian |
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Application publication date: 20170822 |