CN110277942A - Simplified three-level inverter drives control system for permanent-magnet synchronous motor - Google Patents
Simplified three-level inverter drives control system for permanent-magnet synchronous motor Download PDFInfo
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- CN110277942A CN110277942A CN201910399648.3A CN201910399648A CN110277942A CN 110277942 A CN110277942 A CN 110277942A CN 201910399648 A CN201910399648 A CN 201910399648A CN 110277942 A CN110277942 A CN 110277942A
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- inverter
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
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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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
- H02P27/12—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
A kind of three-level inverter driving control system for permanent-magnet synchronous motor of simplification, control system device includes: permanent magnet synchronous motor, rectified three-phase circuit, auxiliary power module, two level inverter circuits, DSP core control panel is separately connected voltage detecting circuit, power driving circuit, power driving circuit, current detection circuit, rotary transformer and Multi-bit LED display circuit, voltage detecting circuit and power isolated drive circuit are connected to inverter circuit, inverter circuit connects permanent magnet synchronous motor, permanent magnet synchronous motor is separately connected voltage detecting circuit, current detection circuit and rotary transformer.With existing Permanent Magnet Synchronous Motor Controller, the output of three level is realized using less IGBT module quantity, remain to maintain the stable operation of motor under a load, its stable state percent harmonic distortion is low, reduce output end voltage change rate, reduce torque pulsation, rapid dynamic response speed under the conditions of load sudden change.
Description
Technical field:
The present invention relates to a kind of three-level inverters of simplification to drive control system for permanent-magnet synchronous motor.
Background technique:
With the continuous progress of science and technology, China proposes the process for accelerating to realize industrial automation.Permanent magnet synchronous motor is as a kind of
Efficient executing agency, has the advantages that a variety of, such as has irreplaceable status in industrial control field, Electric Drive field.It passes
The two usual output ends of level electric machine controller of system have an impact the operation of motor there are higher hamonic wave, therefore how electric use is
Flat form.Although multi-electrical level inverter reduces the voltage harmonic and change rate of output end, but makes power switch tube quantity
Increase, causes the increase of cost, while also become difficult control mode.
Summary of the invention:
The object of the present invention is to provide a kind of three-level inverters of simplification to drive control system for permanent-magnet synchronous motor.
Above-mentioned purpose is realized by following technical scheme:
A kind of three-level inverter of simplification drives control system for permanent-magnet synchronous motor, composition include: DSP core control panel and
Rotary transformer circuit, the DSP core control panel by route respectively with current detection circuit, power driving circuit, function
Rate driving circuit, voltage detecting circuit, LED display circuit and the rotary transformer circuit connection, the power drives
Circuit is connect with auxiliary power module, and the power supply supplementary module connects with the inverter circuit and rectified three-phase circuit respectively
It connects, the power driving circuit is connect with inverter circuit, and the inverter circuit is separately connected the voltage detecting circuit
It is connected with permanent magnet synchronous motor, the permanent magnet synchronous motor and the rotary transformer circuit connection, wherein the rotation
Transformer circuit includes rotary transformer exciting circuit and signals of rotating transformer receives circuit, and the inverter circuit uses two
Level inverter circuit, the control system for permanent-magnet synchronous motor use Strategy of Direct Torque Control, using based on sliding formwork control
Direct Torque Control.
The three-level inverter of the simplification drives control system for permanent-magnet synchronous motor, the rectified three-phase circuit packet
Rectification module circuit is included, the rectification module circuit includes diode D1, D2, D3, D4, D5 and D6, wherein D1 and D2, D3
First series connection is then in parallel respectively two-by-two with D4, D5 and D6.
The three-level inverter of the simplification drives control system for permanent-magnet synchronous motor, the auxiliary power module packet
Include auxiliary power module circuit, the auxiliary power module circuit includes capacitor C1 and C2, IGBT module SA1, SA2, SA3 and
SA4, wherein C1 and C2 are connected in series, and are connected in parallel after SA1 and SA2 series connection with C1, after SA3 and SA4 series connection with C2
It is connected in parallel.
The three-level inverter of the simplification drives control system for permanent-magnet synchronous motor, and the inverter circuit includes inverse
Become modular circuit, the inverter module circuit includes IGBT module VT1, VT2, VT3, VT4, VT5 and VT6, the VT1 and VT4
Series connection, VT3 and VT6 series connection, VT5 and VT2 series connection, be then mutually in parallel, the permanent magnet synchronous motor be connected to VT1 and
Between VT4, between VT3 and VT6, between VT5 and VT2.
The control method of the three-level inverter driving control system for permanent-magnet synchronous motor of the simplification, this method include
Following steps:
(1) corresponding motor speed is arranged by key, rectification processing is carried out to the industrial-frequency alternating current of 380V, forming voltage is
The DC bus-bar voltage of 537V.Busbar voltage is passed through capacitor C1 and the both ends capacitor C2.DSP exports 2 road pwm signals, passes through electricity
Source driving circuit makes power supply supplementary module start output voltage, powers to inverter module.The torque of motor is to pass through torque sensing
Device feeds back to DSP；The rotor-position of motor is exported by rotary transformer, is feeding back to DSP after modulate circuit；
(2) when the revolving speed of motor is greater than setting speed, electric current that current detection circuit and voltage detecting circuit will test and
Voltage after treatment, is sent to DSP, and DSP receives voltage and current signals, carries out CLARK transformation, changes into corresponding α β and sits
Electric current and voltage value under mark system, synthesize corresponding magnetic linkage.It is exported, make magnetic linkage and turned according to magnetic linkage and the sliding mode controller of torque
Square reduces, and by the modulation of space voltage vector, the PWM for exporting power driving circuit changes, and changes inverter circuit and opens
The working condition for closing pipe, rotates decelerating through motor, reaches the stabilization of speed operation of setting, and decelerating through motor process terminates；
(3) when the revolving speed of motor is less than setting speed, electric current that current detection circuit and voltage detecting circuit will test and
Voltage after treatment, is sent to DSP, and DSP receives voltage and current signals, carries out CLARK transformation, changes into corresponding α β and sits
Electric current and voltage value under mark system, synthesize corresponding magnetic linkage.It is exported, make magnetic linkage and turned according to magnetic linkage and the sliding mode controller of torque
Square increases, and by the modulation of space voltage vector, the PWM for exporting power driving circuit changes, and changes inverter circuit and opens
The working condition for closing pipe makes motor accelerate rotation, reaches the stabilization of speed operation of setting, and motor accelerator terminates.
Beneficial effects of the present invention:
1. the present invention uses the control mode of Direct Torque, reduce calculating process.
The present invention changes traditional three-level topology, reduces the quantity of power switch tube.
The invention proposes the Direct Torque Controls of sliding formwork control, solve torque pulsation existing for traditional Direct Torque Control
The problem of.
, the present invention as there is position sensing mode, realized to permanent-magnetic synchronous motor rotor using rotary transformer circuit
The accurate judgement of position.
It is of the invention to be used as using permanent magnet synchronous motor by control element, using torque, magnetic linkage double-loop control strategy, with
And Strategy of Direct Torque Control, make the present invention that there is preferable static characteristic；Rotor position is obtained using direct position detection method
Confidence breath, the real-time detection of rotor-position is realized by rotary transformer circuit.Control system for permanent-magnet synchronous motor is using direct
Stator-Quantities Control solves torque arteries and veins existing for traditional Direct Torque Control using the Direct Torque Control based on sliding formwork control
Dynamic problem.Control system for permanent-magnet synchronous motor controls inverter circuit using space voltage vector modulation SVPWM simultaneously；
Using seven segmentation SVPWM, including 3 sections of zero vectors and 4 sections of adjacent two non-zero vectors, 3 sections of zero vectors are located at PWM wave
Start, intermediate and ending, in each sector with 000 zero vector beginning and end, 111 zero vectors are inserted in centre, their work
It is identical with the time, guarantee that each PWM wave output can only be that power tube switch is primary in this way.
Detailed description of the invention:
1 Control system architecture block diagram of attached drawing；
The main topological diagram of 2 control system of attached drawing；
3 power driving circuit of attached drawing；
4 power driving circuit of attached drawing；
5 rotary transformer exciting circuit of attached drawing；
6 signals of rotating transformer of attached drawing receives circuit；
7 current detection circuit of attached drawing；
8 voltage detecting circuit of attached drawing；
9 system software main program structure figure of attached drawing；
10 A/D of attached drawing converts interrupt service subroutine flow chart；
11 error protection subroutine flow chart of attached drawing；
Specific embodiment:
Embodiment 1:
DSP is using the TMS320F28335 of TI company C2000 series as main control chip.The TMS320F28335 instruction cycle down to
6.67ns has up to 56 I/O mouthfuls of multiplexings, while including that 16 12 A/D are interrupted, and 3 32 bit CPU timers are supported
Idle mode, standby mode and park mode can satisfy design requirement of the invention, include power supply circuit, reset circuit
And the TMS320F28335 minimum system of SRAM expanded circuit.
As shown in figure 3, the master chip of power driving circuit selects TLP250,74LS04 reverse phase is added for the front end TLP250
Overall signal logic is become positive logic by device.R220 is 1k Ω resistance, and the resistance is mainly according to the photoelectricity transmission of optocoupler ratio
It determines.Negative pressure breaking circuit is designed on the right side of optocoupler, with 20V power supply and a 5.1V voltage-stabiliser tube generation+15V and -5V
IGBT cut-in voltage and shutdown voltage, to play the role of improving the turn-off speed of IGBT, resistance R222 is driving resistance, is driven
The value of dynamic resistance takes according to the driving current of IGBT, and representative value is 50 ~ 100 Ω.L1 is light emitting diode, is made it possible to intuitive
The variation for seeing driving signal.
As shown in figure 4, power driving circuit selection is 2SD315A Integrate Design.The module has very strong drive
Kinetic force has isolation features, and it is to be provided by 15V power module, logic level is 5 ~ 15V, mould that output maximum current, which reaches 15A,
Block is per se with overcurrent protection function.The drive module has the port work selection mode MOD.When the port MOD connects high level, together
When RC1 and RC2 must be grounded, module works in Direct Model at this time, and two-way output is mutually indepedent；When the port MOD connects low level,
Module works in half-bridge mode, and dead time is determined by the external RC series connection of RC1 and RC2 at this time.Meanwhile VL is identification signal,
Determine signal level amplitude.SO1 and the port SO2 are failure output terminal mouths, and inside is exported using open collector, need outer connect
Pull-up resistor.
As shown in figure 5, rotary transformer exciting circuit includes resistance R2, R1, R3, R4, R5 and R6, capacitor C1, C4, C2
And C3, operational amplifier LM1 and LM2, model LM358, R2 are separately connected R1, R3 and C1, C1 connection ground wire, R3 divides
Not Lian Jie C4 and LM1 cathode, R1 is separately connected C4, LM1 and R4, and LM1 is separately connected+5V power supply, ground wire, and LM1 is just
Pole connects Vref endpoint, and R4 is separately connected LM2 anode and C2, C2 connection ground wire, LM2 are separately connected VCC endpoint, ground wire
With endpoint Vout, LM2 cathode is separately connected R5, R6 and C3, R6 parallel connection C3, R6 connection end point Vout.
As shown in fig. 6, it includes resistance R11, R12, R13, R14 and R15, capacitor that signals of rotating transformer, which receives circuit,
C11, C12 and C13, operational amplifier LM3 and LM4, model LM358, R12 are separately connected the negative of R11, C11 and LM3
Pole, R11 parallel connection C11, LM3 are separately connected+5V power supply, endpoint Vref and ground wire, and R11 is separately connected LM3 and R13, R13
It is separately connected C12, R14 and R15, C12 connection ground wire, R14 is separately connected the cathode of C13 and LM4, and R15 is separately connected
C13, LM4 and endpoint Vout, LM4 are separately connected VCC endpoint, ground wire and Vref endpoint.
As shown in fig. 7, current detection circuit include closed-loop Hall current sensor CHB-50SF, resistance R36, resistance R37,
Capacitor C12, operational amplifier U6A, resistance R38, resistance R39, resistance R40, operational amplifier U7A, resistance R42, operation amplifier
Device U7B, resistance R44, resistance R41, diode D5, diode D6, capacitor C13；The model of operational amplifier is LM358, R36
For sampling resistor, 25 Ω of value, since the turn ratio of CHB-50SF is 1:1000, limitation primary side alternating current -60A and+
Between 60A, then secondary side maximum current is 60mA, and voltage value is -1.5V ~+1.5V at this time.Using the generation of voltage programmable
1.5V direct current biasing, by comprising there are two the adder circuits that the LM358 of integrated operational amplifier is formed, by final electricity
For voltage-controlled system between 0 ~ 3V, detection current range is -60A ~+60A, the corresponding -60A of 0V, the corresponding+60A of 3V.Adder circuit
Resistance is 10k, and passive low ventilating filter resistance is 10k, and capacitor is 103.D5, D6 are the pincers to shield
Position diode, model select IN4148.
As shown in figure 8, voltage detecting circuit includes resistance R25, closed loop Hall voltage sensor CHV-25P/600, resistance
R26, resistance R27, capacitor C10, operational amplifier U2A, resistance R28, resistance R32, operational amplifier U2B, resistance R34, two poles
Pipe D3, diode D4 and capacitor C11；The present invention limits DC bus-bar voltage and is lower than 800V, and taking R25 is 80k, then voltage is
Primary current when 800V is 10mA.Since the turn ratio of CHV-25P/600 is 2500:1000, so secondary side induced current
Maximum value is 25mA, and taking secondary side resistance is 100 Ω, then voltage max is 2.5V.Therefore DC voltage range 0 in the present invention
~ 800V, secondary voltage range are 0 ~ 2.5V.Rest part element value reference current detection circuit.
Embodiment 2:
The software section of system includes main program, A/D conversion routine, error protection subprogram, capture interruption subroutine, T1 weeks
Phase interruption subroutine.
(1) main program
As shown in Figure 10, system enters main program entrance, to DSP control chip interior initialization, including I/O mouthfuls of initialization,
Interrupt vector table initialization, initialization of variable, A/D initialization, Program reset are to be interrupted after the completion of configuration etc..
(2) A/D converts interrupt service subroutine
Figure 11 is that A/D converts interrupt service subroutine flow chart, the purpose of subprogram be the analog signal of sampling is converted to it is small
Signal after DSP reads transformation result, carries out electric current and voltage carries out CLARKE transformation, carry out to corresponding magnetic linkage and torque
Control.
(3) interruption subroutine is protected
Interruption subroutine is protected, which guarantees the safe and reliable operation of system, when DSP detects the event such as over-voltage, overcurrent, short circuit
When hindering signal, DSP, which enters protection, to be interrupted, and blocks pwm pulse, Reflector is arranged, wait.
Claims (5)
1. a kind of three-level inverter of simplification drives control system for permanent-magnet synchronous motor, composition includes: DSP core control panel
With rotary transformer circuit, it is characterized in that: the DSP core control panel by route respectively with current detection circuit, power supply
Driving circuit, power driving circuit, voltage detecting circuit, LED display circuit and the rotary transformer circuit connection, it is described
Power driving circuit connect with auxiliary power module, the power supply supplementary module respectively with the inverter circuit and three-phase
Rectification circuit connection, the power driving circuit are connect with inverter circuit, and the inverter circuit is separately connected the electricity
Pressure detection circuit is connected with permanent magnet synchronous motor, the permanent magnet synchronous motor and the rotary transformer circuit connection,
In, the rotary transformer circuit includes that rotary transformer exciting circuit and signals of rotating transformer receive circuit, and described is inverse
Power transformation road uses two level inverter circuits, and the control system for permanent-magnet synchronous motor uses Strategy of Direct Torque Control, utilizes
Direct Torque Control based on sliding formwork control.
2. the three-level inverter of simplification according to claim 1 drives control system for permanent-magnet synchronous motor, it is characterized in that:
The rectified three-phase circuit includes rectification module circuit, and the rectification module circuit includes diode D1, D2, D3, D4, D5
And D6, wherein first series connection is then in parallel respectively two-by-two by D1 and D2, D3 and D4, D5 and D6.
3. the three-level inverter of simplification according to claim 1 or 2 drives control system for permanent-magnet synchronous motor, feature
Be: the auxiliary power module includes auxiliary power module circuit, the auxiliary power module circuit include capacitor C1 and
C2, IGBT module SA1, SA2, SA3 and SA4, wherein C1 and C2 is connected in series, and connects after SA1 and SA2 series connection in parallel with C1
It connects, is connected in parallel after SA3 and SA4 series connection with C2.
4. the three-level inverter of simplification according to claim 1 or 2 or 3 drives control system for permanent-magnet synchronous motor,
Be characterized in: the inverter circuit includes inverter module circuit, the inverter module circuit include IGBT module VT1, VT2,
VT3, VT4, VT5 and VT6, the VT1 and VT4 series connection, VT3 and VT6 series connection, VT5 and VT2 series connection, are then mutually in parallel, described
Permanent magnet synchronous motor be connected between VT1 and VT4, between VT3 and VT6, between VT5 and VT2.
5. the three-level inverter driving control system for permanent-magnet synchronous motor of simplification described in a kind of one of claim 1-4
Control method, it is characterized in that: this method comprises the following steps:
(1) corresponding motor speed is arranged by key, rectification processing is carried out to the industrial-frequency alternating current of 380V, forming voltage is
The DC bus-bar voltage of 537V.Busbar voltage is passed through capacitor C1 and the both ends capacitor C2.DSP exports 2 road pwm signals, passes through electricity
Source driving circuit makes power supply supplementary module start output voltage, powers to inverter module；The torque of motor is to pass through torque sensing
Device feeds back to DSP；The rotor-position of motor is exported by rotary transformer, is feeding back to DSP after modulate circuit；
(2) when the revolving speed of motor is greater than setting speed, electric current that current detection circuit and voltage detecting circuit will test and
Voltage after treatment, is sent to DSP, and DSP receives voltage and current signals, carries out CLARK transformation, changes into corresponding α β and sits
Electric current and voltage value under mark system, synthesize corresponding magnetic linkage.It is exported, make magnetic linkage and turned according to magnetic linkage and the sliding mode controller of torque
Square reduces, and by the modulation of space voltage vector, the PWM for exporting power driving circuit changes, and changes inverter circuit and opens
The working condition for closing pipe, rotates decelerating through motor, reaches the stabilization of speed operation of setting, and decelerating through motor process terminates；
(3) when the revolving speed of motor is less than setting speed, electric current that current detection circuit and voltage detecting circuit will test and
Voltage after treatment, is sent to DSP, and DSP receives voltage and current signals, carries out CLARK transformation, changes into corresponding α β and sits
Electric current and voltage value under mark system, synthesize corresponding magnetic linkage.It is exported, make magnetic linkage and turned according to magnetic linkage and the sliding mode controller of torque
Square increases, and by the modulation of space voltage vector, the PWM for exporting power driving circuit changes, and changes inverter circuit and opens
The working condition for closing pipe makes motor accelerate rotation, reaches the stabilization of speed operation of setting, and motor accelerator terminates.
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| CN201910399648.3A CN110277942A (en) | 2019-05-14 | 2019-05-14 | Simplified three-level inverter drives control system for permanent-magnet synchronous motor |
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| CN201910399648.3A CN110277942A (en) | 2019-05-14 | 2019-05-14 | Simplified three-level inverter drives control system for permanent-magnet synchronous motor |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110902279A (en) * | 2019-11-28 | 2020-03-24 | 安徽中车瑞达电气有限公司 | Permanent magnet synchronous motor direct drive system applied to belt conveyor |
| CN112072984A (en) * | 2020-08-27 | 2020-12-11 | 西安工业大学 | Permanent magnet synchronous motor control system based on silicon carbide device |
| CN114204879A (en) * | 2021-11-17 | 2022-03-18 | 武汉科技大学 | Three-level variable frequency speed control system of permanent magnet synchronous motor for magnetic suspension blower |
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| CN207994811U (en) * | 2018-04-03 | 2018-10-19 | 哈尔滨理工大学 | A kind of energy accumulation device for fly wheel of wind-light complementary system |
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| CN207994811U (en) * | 2018-04-03 | 2018-10-19 | 哈尔滨理工大学 | A kind of energy accumulation device for fly wheel of wind-light complementary system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110902279A (en) * | 2019-11-28 | 2020-03-24 | 安徽中车瑞达电气有限公司 | Permanent magnet synchronous motor direct drive system applied to belt conveyor |
| CN112072984A (en) * | 2020-08-27 | 2020-12-11 | 西安工业大学 | Permanent magnet synchronous motor control system based on silicon carbide device |
| CN114204879A (en) * | 2021-11-17 | 2022-03-18 | 武汉科技大学 | Three-level variable frequency speed control system of permanent magnet synchronous motor for magnetic suspension blower |
| CN114204879B (en) * | 2021-11-17 | 2024-05-24 | 武汉科技大学 | Three-level variable-frequency speed regulation system of permanent magnet synchronous motor for magnetic suspension blower |
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Application publication date: 20190924 |