CN113630046A - Integrated fault protection driving device and control method for direct-current brushless motor - Google Patents

Integrated fault protection driving device and control method for direct-current brushless motor Download PDF

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Publication number
CN113630046A
CN113630046A CN202110769834.9A CN202110769834A CN113630046A CN 113630046 A CN113630046 A CN 113630046A CN 202110769834 A CN202110769834 A CN 202110769834A CN 113630046 A CN113630046 A CN 113630046A
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voltage
circuit
protection
logic
signal
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张东阁
栾婷
林强强
张巍
曲政
赵晓瑞
岳宗帅
陈庆浩
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Beijing Research Institute of Precise Mechatronic Controls
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Beijing Research Institute of Precise Mechatronic Controls
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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
    • H02P6/085—Arrangements for controlling the speed or torque of a single motor in a bridge configuration
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
    • H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
    • H02H7/0833—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors for electric motors with control arrangements
    • H02H7/0838—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors for electric motors with control arrangements with H-bridge circuit
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
    • H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
    • H02H7/0833—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors for electric motors with control arrangements
    • H02H7/0844—Fail safe control, e.g. by comparing control signal and controlled current, isolating motor on commutation error
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
    • H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
    • H02H7/085—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load
    • H02H7/0852—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load directly responsive to abnormal temperature by using a temperature sensor
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
    • H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
    • H02H7/085—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load
    • H02H7/0856—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load characterised by the protection measure taken
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
    • H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
    • H02H7/09—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against over-voltage; against reduction of voltage; against phase interruption
    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
    • H02P29/028—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the motor continuing operation despite the fault condition, e.g. eliminating, compensating for or remedying the fault
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H02P29/032—Preventing damage to the motor, e.g. setting individual current limits for different drive conditions
    • 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

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

The invention provides a comprehensive fault protection driving device and a control method for a direct current brushless motor, which belong to the technical field of motor control. The invention can realize the monitoring of various fault modes and output fault state codes for alarming, carries out corresponding protection control according to the fault state, adopts double-fusion position feedback for closed-loop control, solves the problems of limited fault protection function, no fault state logic output function and zero drift in the prior art, and has outstanding substantive characteristics and remarkable progress.

Description

Integrated fault protection driving device and control method for direct-current brushless motor
Technical Field
The invention belongs to the technical field of motor control, and particularly relates to a comprehensive fault protection driving device and a control method for a direct-current brushless motor.
Background
The direct current brushless motor driving circuit consists of a driving circuit and a power circuit, and the circuit scheme of the driving circuit and the power device can realize the driving effect of the power tube, but the direct current brushless motor driving circuit cannot carry out self-protection when overcurrent, undervoltage, overvoltage or Hall signals are abnormal, so that the circuit cannot work normally due to abnormality.
In the prior art, when some direct current brushless motor driving and controlling systems are designed, a driving circuit is combined with a current protection circuit, an undervoltage protection circuit, an overvoltage protection circuit and other protection circuits, so that the function of circuit protection can be achieved, but the types of fault states which occur cannot be monitored.
The existing direct current brushless motor generally adopts a position closed-loop control method, an angular displacement sensor is used for measuring an actual rotating angle, closed-loop control is carried out after the actual rotating angle is calculated with an instruction difference value, and when the power supply of the angular displacement sensor is unstable, the zero drift problem exists, so that the acquisition position is inaccurate.
In summary, the conventional dc brushless motor driving and controlling system has limited fault protection function, does not have a fault state logic output function, has a zero drift problem, and needs to be improved.
Disclosure of Invention
The invention provides a comprehensive fault protection driving device and a control method for a direct current brushless motor, and aims to solve the problems that the prior art is limited in fault protection function, does not have a fault state logic output function, and has zero drift.
The purpose of the invention is realized by the following technical scheme:
a DC brushless motor comprehensive fault protection driving device and control method, the DC brushless motor comprehensive fault protection driving device includes the master control circuit block, bus driving circuit block, power tube driving circuit block, three-phase bridge type power circuit block and comprehensive fault protection block, the comprehensive fault protection block includes undervoltage and overvoltage protection circuit, current monitoring and overcurrent protection circuit, power tube short-circuit protection processing circuit, temperature monitoring and protection circuit, logic processing and protection circuit, the control method of the DC brushless motor comprehensive fault protection driving device adopts the closed-loop control method of the feedback of double-fusion position to realize the motor position control;
the main control circuit block is based on an STM32F407, collects feedback signals and potentiometer feedback signals output by the comprehensive fault protection block, performs data algorithm processing, outputs control signals PWM waves, direction control signals and protection signals, and realizes the output of control and protection signals of the motor;
a logic processing and protecting circuit in the comprehensive fault protecting block processes Hall signals acquired by the Hall device into signals which can be read by a main control chip, and judges and outputs Hall logic fault states according to the acquired Hall signals; the undervoltage and overvoltage protection circuit processes the bus voltage V1 signal by collecting and is connected with the input voltage threshold signal VREF_UComparing and outputting a signal representing the voltage state; the current monitoring and overcurrent protection circuit processes the current signal Ic through acquisition and is connected with an input current threshold signal VREF_IComparing and outputting a signal representing the current state; the power tube short-circuit protection processing circuit controls the corresponding analog switch through the PWM wave control signal and is connected with the input threshold voltage VREF_DSComparing and outputting a signal representing whether the power tube works abnormally; the temperature monitoring and protecting circuit processes the temperature voltage signal by collecting and is connected with the input voltage threshold signal VREF_TComparing and outputting a signal representing the temperature state;
the under-bus driving circuit block converts the PWM wave, the direction signal and the protection control signal output by the main control circuit block into a level signal which can be used for directly controlling the power tube driving circuit block and realizes the isolation of a power supply;
the power tube driving circuit block converts the PWM wave control signal into a voltage signal capable of driving a power tube switch, and emergently stops when receiving a protection signal;
the three-phase bridge type power circuit block converts the bus voltage into a chopping signal capable of driving the motor to rotate, and drives the motor to rotate;
the closed-loop control method for double-fusion position feedback comprises the following steps: the motor position acquisition is independently carried out through a Hall device and an angular displacement sensor, the information acquired by the angular displacement sensor is directly transmitted to a main control circuit block, the information acquired by the Hall device is transmitted to a logic processing circuit, the processed Hall device acquisition signal is transmitted to the main control circuit block by the logic processing circuit, and the received angular displacement signal and the Hall logic signal are fused by the main control circuit block according to an algorithm to be used as a position closed loop feedback signal, so that double-fusion position feedback is realized.
Furthermore, the DC brushless motor comprehensive fault protection driving device adopts a double-fusion position feedback control method, a Hall signal is introduced to acquire a motor corner for compensating angular displacement corner feedback, the corner feedback acquired by an angular displacement sensor is S1, the motor corner acquired by a Hall device is S2, the mechanical gap from a motor shaft to a rotating shaft of the angular displacement sensor is delta, and double-fusion position feedback is adopted to be S ═ alpha S1+(1-α)[β(S2+δ)]Wherein alpha is the weight proportion of the angular displacement feedback in the double-fusion feedback, beta is the conversion coefficient from the shaft rotation angle of the motor to the angular displacement rotation angle, and alpha is more than or equal to 0.6 and less than 0.8.
Furthermore, when the Hall signals are all logic '0' or '1', the logic processing and protection circuit in the comprehensive fault protection block is in an abnormal fault state;
when all the Hall signals are logic '1', the logic '1' is output through the logic AND gate of the U13, the analog switch S4 is closed, the logic '1' outputs '0' through the inverter U14, and the S3 is disconnected, so that the fault state F5 outputs low level to represent that the Hall signals are abnormal;
when the Hall signals are not completely logic "1", the analog switch S4 is switched off, the S3 is switched on, only when the Hall signals are all logic "0", the Hall signals are logic "0" through the logic OR gate U10, the Hall signals pass through the inverters UA3, UA4 and UA5 and then pass through the logic NAND gate U12 to output logic "0", the two paths of logic "0" pass through the logic AND gate U11 to output logic "0", so that the fault state F5 outputs low level, and the Hall signals are represented to be abnormal;
and in other Hall signal conditions, S4 is opened, S3 is closed, and the fault state F5 outputs high level, which indicates that the Hall signal is normal.
Further, the undervoltage and overvoltage protection circuit in the integrated fault protection block refers to the voltage V through the resistors R3 and R4REF_UPartial pressure of VREF1_LAs a lower threshold of the supply voltage, a reference voltage V is applied via resistors R5 and R6, respectivelyREF_UPartial pressure of VREF1_HThe upper threshold of the power supply voltage is obtained by dividing the power supply bus voltage V1 by resistors R1 and R2 to obtain a divided bus voltage
Figure BDA0003153022140000031
Comparing the bus voltage with upper and lower thresholds using U1A and U1B, respectively;
when the bus voltage
Figure BDA0003153022140000032
Below a lower threshold value
Figure BDA0003153022140000033
When the voltage is high, the U1A outputs low level, otherwise, the high level is output; when the bus voltage
Figure BDA0003153022140000041
Above an upper threshold
Figure BDA0003153022140000042
When the voltage is high, the U1B outputs low level, otherwise, the high level is output;
resistors R7 and R8 are current limiting resistors and are respectively arranged between U1A and U1B and a logic AND gate UA1, the voltage comparison results output by U1A and U1B are input into UA1 for logic AND, and an output junction is formedIf the bus voltage is at the reference threshold V, the fault state F1 is setREF1_L～VREF1_HIn between, F1 is logic high, indicating normal; otherwise, logic low, indicating an exception.
Further, in the current monitoring and overcurrent protection circuit, the resistor R9 is a current collection resistor, the VCC1 is an internal reference voltage, and the current collection conversion voltage V is obtained by processing the current collection conversion voltage V through the resistors R10, R11 and U22＝ICR9-2VCC1Resistors R13 and R14 for a reference voltage VREFPerforming partial pressure to obtain
Figure BDA0003153022140000043
As a current reference threshold voltage, the resistor R12 is a current limiting resistor, and the voltage V is measured2And a threshold voltage VREF2Comparing and outputting the result as a fault state F2 when V2Less than VREF2When the current is normal, the high level of F2 is output to represent that the current is normal; otherwise, the output F2 is low level, which is characteristic of overcurrent abnormity.
Further, in the current monitoring and overcurrent protection circuit in the comprehensive fault protection block, the resistances of the resistors R10 and R11 are the same, so that current collection can be realized, a threshold current value is set, and overcurrent protection processing is performed after the threshold current value is exceeded.
Furthermore, in a power tube short-circuit protection circuit in the comprehensive fault protection block, the PWM wave controls S1 and S2 analog switches to be closed at a high level, opened at a low level and VCC3Providing 250uA constant current source I, VREF_DSFor reference threshold voltage, U4 is a voltage comparator, and R18 is a gate resistor, and is used to configure the switching time of the power transistor M1;
when the PWM is at a low level, the inverter UA2 is used for closing the S2 and disconnecting the S1, the power tube M1 is switched off, and a fault state F3 high level is output through the voltage comparator U4, so that the power tube is represented to work normally; when the PWM is at a high level, S2 is disconnected through an inverter UA2, S1 is closed, and a capacitor C1 charges a voltage VC1＝C1It, voltage V across resistor R173＝IR17D1 tube pressure drop VD1M1 conduction voltage drop VDSComparing the voltage VREF3＝IC1t+IR17+VD1+ICRgWherein: t is charging time, ICIs power tube current, RgFor internal resistance of power tube, when power tube source is connected directlyCV is caused by the fact that the capacitor C1 is charged for too longREF3Greater than a reference voltage VREF_DSAnd the voltage comparator U4 outputs a fault state F3 low level, which indicates that the power tube works abnormally.
Furthermore, the over-temperature detection and protection circuit comprises a signal isolation circuit, a temperature acquisition signal processing circuit and a signal amplification processing circuit, can realize temperature acquisition, performs temperature acquisition protection according to a set voltage signal representing threshold temperature, and performs control protection when over-temperature occurs.
Furthermore, in the over-temperature detection and protection circuit, the temperature sensor in the signal isolation circuit has corresponding resistance values R at different temperaturesxResistance RxThe power supply is divided by the resistor R21 and the resistors R19 and R20 respectively, the generated two voltages are respectively used as differential input signals of the operational amplifier U5, and the resistor R22 is used for configuring the gain G of the operational amplifier U51＝1+(100kΩ/R22) The output voltage V is processed by the temperature acquisition circuito1Isolating the collected and processed temperature voltage by using an isolation amplifier U6, configuring the gain of the isolation amplifier as 1, and correspondingly outputting a differential voltage signal voltage as Vout+-Vout-＝Vo2The resistors R23 and R24 perform output current limiting, U7 is an operational amplifier that converts a differential voltage signal into a single-ended voltage signal, and the resistor R25 is used for configuring an operational amplifier gain, wherein the corresponding gain is G ═ 1+ (49.4k Ω/R +)25) The resistors R26 and R27 divide the voltage of the output of U7, and the output is finally output through the operational amplifier U8, and the corresponding size is UADC_wenduPassing through voltage comparator U9 and setting temperature threshold VREF_TComparing, and collecting temperature voltage UADC_wenduExceeds a set threshold value VREF_TThe time fault state F4 outputs low level to represent over-temperature abnormity; conversely, fault state F4 outputs a high level indicating normal operation.
Further, in the over-temperature detection and protection circuit, the voltage is output through the processing of the temperature acquisition circuit
Vo1＝G1×VCC[Rx/(Rx+R19)-R21/(R20+R21)]
＝5[1+(100kΩ/R22)][Rx/(Rx+R19)-R21/(R20+R21)]。
Furthermore, in the over-temperature detection and protection circuit, the resistors R26 and R27 divide the voltage of the output of U7, and finally the voltage U output by the operational amplifier U8ADC_wendu＝[1+(49.4kΩ/R25)]R27VO1/(R26+R27)。
Furthermore, each protection circuit in the integrated fault protection block outputs signals F1, F2, F3, F4 and F5 corresponding to the represented fault state, and the master control circuit module collects five fault state signals and sends the signals to the upper computer to realize fault monitoring.
The beneficial technical effects obtained by the invention are as follows:
compared with the prior art, the monitoring of multiple fault modes can be realized, the fault state code is output to give an alarm to the fault, and the corresponding protection control can be realized according to the fault state. And closed-loop control is performed by adopting double-fusion position feedback, so that the zero drift problem is effectively improved. The adopted basic circuit technology is mature and easy to realize. The method has the advantages of improving the system control effect, enhancing the fault protection function, having the fault state logic output function, realizing zero drift compensation, solving the problems in the prior art, and having outstanding substantive characteristics and remarkable progress.
Drawings
FIG. 1 is a block diagram of a drive and control system according to one embodiment of the present invention;
FIG. 2 is a block diagram of an embodiment of an under-voltage and over-voltage protection circuit according to the present invention;
FIG. 3 is a block diagram of an embodiment of a current monitoring and over-current protection circuit according to the present invention;
fig. 4 is a block diagram of a power transistor short-circuit protection processing circuit according to an embodiment of the present invention;
FIG. 5 is a block diagram of a temperature monitoring and protection circuit according to an embodiment of the present invention;
FIG. 6 is a block diagram of one embodiment of a logic processing and protection circuit according to the present invention;
FIG. 7 is a flow chart of one of the closed loop control methods of the present invention using dual fusion position feedback.
Detailed Description
The technical solution of the present invention will be further described in detail with reference to the accompanying drawings and the detailed description. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the invention without making creative efforts, shall fall within the scope of the claimed invention.
As shown in fig. 1, one embodiment of a dc brushless motor integrated fault protection driving apparatus and a control method thereof includes a main control circuit block, a bus driving circuit block, a power driving circuit block, a three-phase bridge power circuit block, and an integrated fault protection block, where the integrated fault protection block in this embodiment includes an under-voltage and over-voltage protection circuit, a current monitoring and over-current protection circuit, a power tube short-circuit protection processing circuit, a temperature monitoring and protection circuit, and a logic processing circuit.
In the embodiment, the motor position acquisition is independently performed through a Hall device and an angular displacement sensor, the information acquired by the angular displacement sensor is directly transmitted to a control circuit block, the information acquired by the Hall device is simultaneously transmitted to a main control circuit block and a logic processing and protecting circuit, and the main control circuit block outputs a Hall signal and an angular displacement signal acquired by the Hall device according to a double-fusion position feedback closed-loop control method to output a control signal PWM (Pulse Width Modulation).
Undervoltage and overvoltage protection circuit input V in this embodimentREF_UAnd bus voltage V1, current monitoring and overcurrent protection circuit input VREF_IAnd a current acquisition signal Ic, a power tube short-circuit protection processing circuit input threshold voltage VREF_DSTemperature monitoring and protection circuitInto VREF_TAnd a temperature voltage signal.
In the embodiment, fault state signals output by the undervoltage and overvoltage protection circuit, the current monitoring and overcurrent protection circuit, the power tube short-circuit protection processing circuit, the temperature monitoring and protection circuit and the logic processing circuit are all transmitted to the main control circuit block, the main control circuit block transmits PWM (pulse-width modulation) and direction signals and protection control signals to the bus driving circuit block, and the bus driving circuit block simultaneously transmits the PWM signals to the power tube short-circuit protection processing circuit and the power tube driving circuit block.
As shown in FIG. 2, the under-voltage and over-voltage protection circuit in this embodiment refers to the voltage V through resistors R3 and R4REF_UPartial pressure of VREF1_LAs a lower threshold of the supply voltage, a reference voltage V is applied via resistors R5 and R6, respectivelyREF_UPartial pressure of VREF1_HThe upper threshold of the power supply voltage is obtained by dividing the power supply bus voltage V1 by resistors R1 and R2 to obtain a divided bus voltage
Figure BDA0003153022140000071
The bus voltage is compared to the upper and lower thresholds using U1A and U1B, respectively.
When the bus voltage
Figure BDA0003153022140000072
Below a lower threshold value
Figure BDA0003153022140000073
When the voltage is high, the U1A outputs low level, otherwise, the high level is output; when the bus voltage
Figure BDA0003153022140000074
Above an upper threshold
Figure BDA0003153022140000075
U1B outputs a low level when not otherwise outputting a high level.
Resistors R7 and R8 are current limiting resistors and are respectively arranged between U1A and U1B and a logic AND gate UA1, voltage comparison results output by U1A and U1B are input into UA1 for logic AND, and the output result is outputAs a fault condition F1, when the bus voltage is at the reference threshold VREF1_L～VREF1_HIn between, F1 is logic high, indicating normal; otherwise, logic low, indicating an exception.
As shown in fig. 3, which is a current monitoring and overcurrent protection circuit in this embodiment, the resistor R9 is a current collecting resistor, the VCC1 is an internal reference voltage, and the current collecting and converting voltage V is obtained by processing the current collecting and converting voltage V through the resistors R10, R11 and U22＝ICR9-2VCC1In this embodiment, the resistances of the resistors R10 and R11 are the same. Resistors R13 and R14 for reference voltage VREF_IPerforming partial pressure to obtain
Figure BDA0003153022140000081
As a current reference threshold voltage, the resistor R12 is a current limiting resistor, and the voltage V is measured2And a threshold voltage VREF2Comparing and outputting the result as a fault state F2 when V2Less than VREF2When the current is normal, the high level of F2 is output to represent that the current is normal; otherwise, the output F2 is low level, which is characteristic of overcurrent abnormity.
FIG. 4 shows a power transistor short-circuit protection circuit in this embodiment, passing VCC3Providing 250uA constant current sources I, S1 and S2 as analog switches, high level closed, low level open, VREF_DSIs a reference threshold voltage. U4 is a voltage comparator, and R18 is a gate resistor, and is used for configuring the switching time of the power transistor M1.
When the PWM is at a low level, the inverter UA2 is used for closing the S2 and disconnecting the S1, the power tube M1 is switched off, and a fault state F3 high level is output through the voltage comparator U4, so that the power tube is represented to work normally; when the PWM is at a high level, S2 is disconnected through an inverter UA2, S1 is closed, and a capacitor C1 charges a voltage VC1＝C1It, voltage V across resistor R173＝IR17D1 tube pressure drop VD1M1 conduction voltage drop VDSComparing the voltage VREF3＝VC1+V3+VD1+VDS＝IC1t+IR17+VD1+ICRgWherein: t is charging time, ICIs power tube current, RgDo workThe internal resistance is controlled. When power tube source is throughCV is caused by the fact that the capacitor C1 is charged for too longREF3Greater than a reference voltage VREF_DSAnd the voltage comparator U4 outputs a fault state F3 low level, which indicates that the power tube works abnormally.
As shown in fig. 5, the temperature monitoring and protecting circuit in this embodiment includes a signal isolating circuit, a temperature acquisition signal processing circuit, a signal amplifying circuit, and a signal amplifying circuit. The temperature sensor has corresponding resistance values R at different temperaturesxResistance RxThe power supply is divided by the resistor R21 and the resistors R19 and R20 respectively, the generated two voltages are respectively used as differential input signals of the operational amplifier U5, and the resistor R22 is used for configuring the gain G of the operational amplifier U51＝1+(100kΩ/R22) The processed output voltage of the temperature acquisition circuit
Figure BDA0003153022140000082
Isolating the temperature voltage after the acquisition processing by using an isolation amplifier U6, configuring the gain of the isolation amplifier as 1, and correspondingly outputting a differential voltage signal voltage as Vout+-Vout-＝Vo2. Resistors R23 and R24 perform output current limiting, U7 is an operational amplifier which converts a differential voltage signal into a single-ended voltage signal, and resistor R25 is used for configuring an operational amplifier gain, wherein the corresponding gain is G ═ 1+ (49.4k omega/R)25). The resistors R26 and R27 divide the voltage of the output of U7, and the output is finally output through the operational amplifier U8, and the corresponding size is UADC_wendu＝[1+(49.4kΩ/R25)]R27VO1/(R26+R27) Passing through voltage comparator U9 and setting temperature threshold VREF_TComparing, and collecting temperature voltage UADC_wenduExceeds a set threshold value VREF_TThe time fault state F4 outputs low level to represent over-temperature abnormity; conversely, fault state F4 outputs a high level indicating normal operation.
As shown in fig. 6, the logic processing and protection circuit in this embodiment outputs logic "1" through the U13 logic and gate when all hall signals are logic "0" or "1" as abnormal fault state, closes the analog switch S4, outputs "0" through the inverter U14 when all hall signals are logic "1", and opens the S3, so that the fault state F5 outputs low level, which indicates that the hall signal is abnormal. When the hall signals are not completely logic "1", the analog switch S4 is turned off, the analog switch S3 is turned on, only when the hall signals are all logic "0", and are logic "0" through the logic or gate U10, the hall signals pass through the inverters UA3, UA4, UA5, pass through the logic nand gate U12 and output logic "0", and the two logic "0" passes through the logic and gate U11 and output logic "0", so that the fault state F5 outputs low level, which represents that the hall signals are abnormal. And in other Hall signal conditions, S4 is opened, S3 is closed, and the fault state F5 outputs high level, which indicates that the Hall signal is normal.
In the embodiment, a double-fusion position feedback control method is adopted, and in order to prevent the zero offset of the angular displacement in the rotation process of the motor, a Hall signal is introduced to acquire the rotation angle of the motor for compensating the feedback of the rotation angle of the angular displacement. The corner feedback collected by the angular displacement sensor is S1, the motor corner collected by the Hall device is S2, the mechanical gap from the motor shaft to the rotating shaft of the angular displacement sensor is delta, and the double-fusion position feedback is S ═ alpha S1+(1-α)[β(S2+δ)]Wherein alpha is the weight proportion of the angular displacement feedback in the double-fusion feedback, beta is the conversion coefficient from the shaft rotation angle of the motor to the angular displacement rotation angle, and alpha is more than or equal to 0.6 and less than 0.8.
The power tube driving circuit block in this embodiment converts the PWM wave control signal into an amplified voltage signal that can drive the power tube switch, and outputs the amplified signal to the three-phase bridge power circuit block.
In this embodiment, the three-phase bridge power circuit block converts the bus voltage V1 into a chopper signal that can drive the motor to rotate, so as to drive the motor to rotate.
The specific embodiment has the following beneficial technical effects:
the monitoring processing of the power supply voltage of the driving circuit can be realized, the undervoltage protection and the overvoltage protection are realized by monitoring the power supply voltage, the circuit abnormity caused by overhigh and overlow power supply voltages of the driving circuit and the power circuit is avoided, and the power supply reliability is improved.
The current monitoring of the motor wire can be realized, the overcurrent protection is realized by setting a current threshold value, the power tube is prevented from being burnt due to overcurrent, and the reliable work of the power tube is ensured.
The short-circuit protection of the power tube can be realized, the voltage difference threshold between two stages is set by monitoring the voltage between the source and the drain of the power tube, the short-circuit alarm and protection between the source and the drain of the power tube are realized, and the normal work of the power tube is ensured.
The power circuit over-temperature protection function can be realized, over-temperature alarm and protection are carried out by monitoring the working temperature of the power circuit part and setting a temperature threshold value, and each circuit is ensured to be in an effective working temperature range.
The Hall signal logic processing can be realized, the Hall signal collected by the Hall device is processed by PWM signals according to the commutation table, the invalid Hall signal is alarmed and protected, and the power circuit is protected when the Hall device or the signal is abnormal, so that the system reliability is improved.
The fault state output can be realized, the fault state is output by carrying out logic processing on each fault signal, the fault mode is represented, the fault alarm and protection are realized, and the fault alarm system has the advantage of comprehensive fault alarm.
The main control circuit block identifies the fault state and outputs a protection control signal, so that the power driving circuit part is protected.
The double-fusion position feedback control can be realized, the position feedback control of the single-use angular displacement sensor is compared, zero drift compensation is carried out by collecting the rotation angle through the Hall, the position collection accuracy is improved, and the control effect is improved.
In summary, compared with the prior art, the technical solution provided in the embodiment can implement monitoring of multiple fault modes, output a fault status code to alarm a fault, and implement corresponding protection control according to the fault status. And closed-loop control is performed by adopting double-fusion position feedback, so that the zero drift problem is effectively improved. The adopted basic circuit technology is mature and easy to realize. The method has the advantages of improving the system control effect, enhancing the fault protection function, having the fault state logic output function, realizing zero drift compensation, solving the problems in the prior art, and having outstanding substantive characteristics and remarkable progress.

Claims (12)

1. The comprehensive fault protection driving device for the direct-current brushless motor is characterized by comprising a main control circuit block, a bus driving circuit block, a power tube driving circuit block, a three-phase bridge type power circuit block and a comprehensive fault protection block, wherein the comprehensive fault protection block comprises an under-voltage and over-voltage protection circuit, a current monitoring and over-current protection circuit, a power tube short-circuit protection processing circuit, a temperature monitoring and protection circuit and a logic processing and protection circuit;
the main control circuit block is based on an STM32F407, collects feedback signals and potentiometer feedback signals output by the comprehensive fault protection block, performs data algorithm processing, outputs control signals PWM waves, direction control signals and protection signals, and realizes the output of control and protection signals of a motor;
the logic processing and protecting circuit in the comprehensive fault protecting block processes Hall signals collected by the Hall device into signals which can be read by the main control chip, and judges and outputs Hall logic fault states according to the collected Hall signals; the undervoltage and overvoltage protection circuit processes the bus voltage V1 signal by collecting and is connected with the input voltage threshold signal VREF_UComparing and outputting a signal representing the voltage state; the current monitoring and overcurrent protection circuit processes the current signal Ic through acquisition and is connected with an input current threshold signal VREF_IComparing and outputting a signal representing the current state; the power tube short-circuit protection processing circuit controls the corresponding analog switch through the PWM wave control signal and is connected with the input threshold voltage VREF_DSComparing and outputting a signal representing whether the power tube works abnormally; the temperature monitoring and protecting circuit processes the temperature voltage signal by collecting and is connected with the input voltage threshold signal VREF_TComparing and outputting a signal representing the temperature state;
the under-bus driving circuit block converts PWM waves, direction signals and protection control signals output by the main control circuit block into level signals which can be used for directly controlling the power tube driving circuit block and realizes power supply isolation;
the power tube driving circuit block converts the PWM wave control signal into a voltage signal capable of driving a power tube switch, and emergently stops when receiving a protection signal;
the three-phase bridge type power circuit block converts bus voltage into a chopping signal capable of driving the motor to rotate, and drives the motor to rotate;
the closed-loop control method for the double-fusion position feedback comprises the following steps: the motor position acquisition is independently carried out through a Hall device and an angular displacement sensor, the information acquired by the angular displacement sensor is directly transmitted to a main control circuit block, the information acquired by the Hall device is transmitted to a logic processing circuit, the processed Hall device acquisition signal is transmitted to the main control circuit block by the logic processing circuit, and the received angular displacement signal and the Hall logic signal are fused by the main control circuit block according to an algorithm to be used as a position closed loop feedback signal, so that double-fusion position feedback is realized.
2. The integrated fault protection driving device and the control method for the brushless DC motor according to claim 1, wherein: the DC brushless motor comprehensive fault protection driving device adopts a double-fusion position feedback control method, introduces Hall signals to acquire a motor corner for compensating angular displacement corner feedback, the corner feedback acquired by an angular displacement sensor is S1, the motor corner acquired by a Hall device is S2, the mechanical gap from a motor shaft to a rotating shaft of the angular displacement sensor is delta, and the double-fusion position feedback is S ═ alphaS1+(1-α)[β(S2+δ)]Wherein alpha is the weight proportion of the angular displacement feedback in the double-fusion feedback, beta is the conversion coefficient from the shaft rotation angle of the motor to the angular displacement rotation angle, and alpha is more than or equal to 0.6 and less than 0.8.
3. The integrated fault protection driving device and the control method for the brushless DC motor according to claim 1, wherein: when all Hall signals are logic '0' or '1', the logic processing and protecting circuit in the comprehensive fault protection block is in an abnormal fault state;
when all the Hall signals are logic '1', the logic '1' is output through the logic AND gate of the U13, the analog switch S4 is closed, the logic '1' outputs '0' through the inverter U14, and the S3 is disconnected, so that the fault state F5 outputs low level to represent that the Hall signals are abnormal;
when the Hall signals are not completely logic "1", the analog switch S4 is switched off, the S3 is switched on, only when the Hall signals are all logic "0", the Hall signals are logic "0" through the logic OR gate U10, the Hall signals pass through the inverters UA3, UA4 and UA5 and then pass through the logic NAND gate U12 to output logic "0", the two paths of logic "0" pass through the logic AND gate U11 to output logic "0", so that the fault state F5 outputs low level, and the Hall signals are represented to be abnormal;
and in other Hall signal conditions, S4 is opened, S3 is closed, and the fault state F5 outputs high level, which indicates that the Hall signal is normal.
4. The integrated fault protection driving device and the control method for the brushless DC motor according to claim 1, wherein: the undervoltage and overvoltage protection circuit in the comprehensive fault protection block refers to a reference voltage V through resistors R3 and R4REF_UPartial pressure of VREF1_LAs a lower threshold of the supply voltage, a reference voltage V is applied via resistors R5 and R6, respectivelyREF_UPartial pressure of VREF1_HThe upper threshold of the power supply voltage is obtained by dividing the power supply bus voltage V1 by resistors R1 and R2 to obtain a divided bus voltage
Figure FDA0003153022130000031
Comparing the bus voltage with upper and lower thresholds using U1A and U1B, respectively;
when the bus voltage
Figure FDA0003153022130000032
Below a lower threshold value
Figure FDA0003153022130000033
Time U1A outputLow level, otherwise, high level is output; when the bus voltage
Figure FDA0003153022130000034
Above an upper threshold
Figure FDA0003153022130000035
When the voltage is high, the U1B outputs low level, otherwise, the high level is output;
resistors R7 and R8 are current limiting resistors and are respectively arranged between U1A and U1B and a logic AND gate UA1, the comparison result of the voltage output by U1A and U1B is input into UA1 for logic AND, the output result is taken as a fault state F1, and when the bus voltage is at a reference threshold value VREF1_L～VREF1_HIn between, F1 is logic high, indicating normal; otherwise, logic low, indicating an exception.
5. The integrated fault protection driving device and the control method for the brushless DC motor according to claim 1, wherein: in the current monitoring and overcurrent protection circuit, the resistor R9 is a current acquisition resistor, the VCC1 is an internal reference voltage, and the current acquisition conversion voltage V is obtained by processing the internal reference voltage through the resistors R10, R11 and U22＝ICR9-2VCC1Resistors R13 and R14 for a reference voltage VREFPerforming partial pressure to obtain
Figure FDA0003153022130000036
As a current reference threshold voltage, the resistor R12 is a current limiting resistor, and the voltage V is measured2And a threshold voltage VREF2Comparing and outputting the result as a fault state F2 when V2Less than VREF2When the current is normal, the high level of F2 is output to represent that the current is normal; otherwise, the output F2 is low level, which is characteristic of overcurrent abnormity.
6. The integrated fault protection driving device and the control method for the brushless DC motor according to claim 1, wherein: in the current monitoring and overcurrent protection circuit in the comprehensive fault protection block, the resistances of the resistors R10 and R11 are the same, so that current collection can be realized, a threshold current value is set, and overcurrent protection processing is performed after the threshold current value is exceeded.
7. The integrated fault protection driving device and the control method for the brushless DC motor according to claim 1, wherein: in the short-circuit protection circuit of the power tube in the comprehensive fault protection block, the S1 and S2 analog switches are controlled by PWM (pulse-width modulation) waves, the high level is closed, the low level is opened, and the V isCC3Providing 250uA constant current source I, VREF_DSFor reference threshold voltage, U4 is a voltage comparator, and R18 is a gate resistor, and is used to configure the switching time of the power transistor M1;
when the PWM is at a low level, the inverter UA2 is used for closing the S2 and disconnecting the S1, the power tube M1 is switched off, and a fault state F3 high level is output through the voltage comparator U4, so that the power tube is represented to work normally; when the PWM is at a high level, S2 is disconnected through an inverter UA2, S1 is closed, and a capacitor C1 charges a voltage VC1＝C1It, voltage V across resistor R173＝IR17D1 tube pressure drop VD1M1 conduction voltage drop VDSComparing the voltage VREF3＝IC1t+IR17+VD1+ICRgWherein: t is charging time, ICIs power tube current, RgFor internal resistance of power tube, when power tube source is connected directlyCV is caused by the fact that the capacitor C1 is charged for too longREF3Greater than a reference voltage VREF_DSAnd the voltage comparator U4 outputs a fault state F3 low level, which indicates that the power tube works abnormally.
8. The integrated fault protection driving device and the control method for the brushless DC motor according to claim 1, wherein: the over-temperature detection and protection circuit comprises a signal isolation circuit, a temperature acquisition signal processing circuit and a signal amplification processing circuit, can realize temperature acquisition, performs temperature acquisition protection according to a set voltage signal representing a threshold temperature, and performs control protection when over-temperature occurs.
9. The integrated fault protection driving device of a dc brushless motor according to claim 8The control method is characterized in that: in the over-temperature detection and protection circuit, the temperature sensor in the signal isolation circuit has corresponding resistance values R at different temperaturesxResistance RxThe power supply is divided by the resistor R21 and the resistors R19 and R20 respectively, the generated two voltages are respectively used as differential input signals of the operational amplifier U5, and the resistor R22 is used for configuring the gain G of the operational amplifier U51＝1+(100kΩ/R22) The output voltage V is processed by the temperature acquisition circuito1Isolating the collected and processed temperature voltage by using an isolation amplifier U6, configuring the gain of the isolation amplifier as 1, and correspondingly outputting a differential voltage signal voltage as Vout+-Vout-＝Vo2The resistors R23 and R24 perform output current limiting, U7 is an operational amplifier that converts a differential voltage signal into a single-ended voltage signal, and the resistor R25 is used for configuring an operational amplifier gain, wherein the corresponding gain is G ═ 1+ (49.4k Ω/R +)25) The resistors R26 and R27 divide the voltage of the output of U7, and the output is finally output through the operational amplifier U8, and the corresponding size is UADC_wenduPassing through voltage comparator U9 and setting temperature threshold VREF_TComparing, and collecting temperature voltage UADC_wenduExceeds a set threshold value VREF_TThe time fault state F4 outputs low level to represent over-temperature abnormity; conversely, fault state F4 outputs a high level indicating normal operation.
10. The integrated fault protection driving device and the control method for the brushless direct current motor according to claim 9, wherein: in the over-temperature detection and protection circuit, the voltage is output through the processing of the temperature acquisition circuit
Vo1＝G1×VCC[Rx/(Rx+R19)-R21/(R20+R21)]
＝5[1+(100kΩ/R22)][Rx/(Rx+R19)-R21/(R20+R21)]。
11. The integrated fault protection driving device and control method for dc brushless motor according to claim 10The method is characterized in that: in the over-temperature detection and protection circuit, resistors R26 and R27 divide the voltage of the output of U7, and finally the voltage U is output by an operational amplifier U8ADC_wendu＝[1+(49.4kΩ/R25)]R27VO1/(R26+R27)。
12. The integrated fault protection driving device and the control method for the brushless DC motor according to claim 1, wherein: and each protection circuit in the comprehensive fault protection block outputs signals F1, F2, F3, F4 and F5 corresponding to the represented fault state, and the master control circuit module acquires five fault state signals and sends the signals to the upper computer to realize fault monitoring.
CN202110769834.9A 2021-09-02 2021-09-02 Integrated fault protection driving device and control method for direct-current brushless motor Pending CN113630046A (en)

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