CN201667633U - Brushless DC motor as well as controller thereof and textile machine using brushless DC motor - Google Patents
Brushless DC motor as well as controller thereof and textile machine using brushless DC motor Download PDFInfo
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- CN201667633U CN201667633U CN2010201291463U CN201020129146U CN201667633U CN 201667633 U CN201667633 U CN 201667633U CN 2010201291463 U CN2010201291463 U CN 2010201291463U CN 201020129146 U CN201020129146 U CN 201020129146U CN 201667633 U CN201667633 U CN 201667633U
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Abstract
The utility model discloses a brushless DC motor controller which includes an input and display module, a communication module, a CPU control module, a square wave and sine wave generator module, a Hall sensor detection and operational processing module, as well as a three phase rectifier inversion and IGBT drive protection module; the brushless DC motor controller is characterized in that the CPU control module consists of a main control CPU and a plurality of secondary CPUs; wherein the input and display module, the Hall sensor detection and operational processing module, and the square wave and sine wave generator module are respectively provided with a secondary CPU; and all the secondary CPUs implement parallel processing on all events under the control and coordination so as to improve the running speed and response speed. The utility model aims at providing a brushless DC motor as well as a controller thereof and a textile machine using the brushless DC motor which has multi-CPU parallel processing capacity, works under bad environmental conditions (high temperature, high humidity, dust, narrow space, etc,) is simple and convenient to be mounted, and has high reliability.
Description
Technical field
The utility model relates to a kind of brshless DC motor and control device and a kind of weaving loom that uses described brshless DC motor.
Background technology
Existing weaving loom, mainly comprise braiding and looping mechanism, give yarn mechanism, the head with drive motors, draw-off mechanism, control and MA monitoring agency with tractive motor, its drive motors and/or tractive motor require its torque relative with rotating speed uniform and stable and guarantee its long service life.
And present brshless DC motor generally comprises the rotor assembly with permanent magnet and has stator module and the control device thereof that is used for heterogeneous drive coil, the main control part of the control device of this brshless DC motor generally is data processing and the control model that adopts single CPU simultaneously, cause processing speed relatively slow, can not satisfy the more complicated work of product and the demand of data processing timely, and the detection of the motor position of this control device and rotating speed generally realizes by grating encoder, but complexity is installed because of grating encoder exists, reliability is lower, the shortcoming of suitable environment difference, make that its result of use is not very good, can not satisfy the society need that is showing improvement or progress day by day.
Summary of the invention
The purpose of this utility model is the existence at the problems referred to above, a kind of many CPU of having parallel processing capability is provided, and can be comparatively harsh at environment work under condition such as (as high temperature, high humidity, dust, space narrow and small) and install simple and convenient, its commercial indoor set of air-conditioner of brshless DC motor that reliability is high and control device thereof and use.
The purpose of this utility model is achieved through the following technical solutions:
A kind of control device for brushless direct current machine; comprise input and display module; communication module; the CPU control module; square wave and sine-wave generator module; Hall element detects and the calculation process module; rectification three-phase inversion and IGBT drive protection module; it is characterized in that described CPU control module is made up of a master cpu and a plurality of secondary CPU; wherein import and display module; Hall element detects and the calculation process module; square wave and sine-wave generator module are respectively arranged with separately independently secondary CPU, and each secondary CPU carries out parallel processing to improve the speed of service and response speed in the control of master cpu with under coordinating to all incidents.
Reliability wherein for guaranteeing that better its motor position and rotating speed detect, above-mentioned Hall element detects and the calculation process module comprise be used for detecting motor rotor position and rotating speed pass through that wiring board is embedded in two couple of rotor or be the circle distribution Hall element by preface arrangement between polarity more than two pairs;
Be used for the detected signal of each Hall element is carried out the amplifier of processing and amplifying;
Be used for the signal of each amplifier output is carried out analog-to-digital A/D change-over circuit;
Be used for the output signal of each A/D change-over circuit is carried out calculation process and generate the digital signal processor DSP of the analog position signal of motor;
Wherein, the amplifier of the detected motor rotor position signal of each Hall element through connecting in regular turn; output to above-mentioned master cpu, input and display module, square wave and sine-wave generator module, communication module after A/D change-over circuit digital signal processor DSP is handled and carry out computing and produce control signal corresponding with given rotating speed, this control signal is exported rectification three-phase inversion and IGBT again and is driven protection module and export desired electric current and voltage and come the controlling and driving motor.
A kind of brshless DC motor with above-mentioned control device for brushless direct current machine, this brshless DC motor comprises the rotor assembly with permanent magnet and has the stator module that is used for heterogeneous drive coil, it is characterized in that described stator module and rotor assembly are few groove multi-polar structure.Wherein, 4 grooves of said stator assembly or 6 grooves or 8 grooves or 9 grooves or 10 grooves or 12 grooves or 14 grooves or 16 grooves or 18 grooves or 20 grooves or 22 grooves or 24 groove structures, rotor assembly is 6 utmost points or 8 utmost points or 10 utmost points or 12 utmost points or 14 utmost points or 16 utmost points or 18 utmost points or 20 electrode structures; The said stator assembly is 12 groove structures, and above-mentioned rotor assembly is 10 utmost points or 14 electrode structures.
A kind of weaving loom with above-mentioned brshless DC motor, mainly comprise braiding and looping mechanism, give yarn mechanism, head, draw-off mechanism, control and MA monitoring agency, it is characterized in that described drive motors and/or tractive motor adopt above-mentioned brshless DC motor with tractive motor with drive motors.
The utility model compared with prior art has following beneficial effect
(1) integrated design, integrated level height, good reliability.The data acquisition of the utility model collection, Digital Signal Processing has reduced the outside line physical connection, has very high stability.
(2) adopt multi-CPU structure to realize all incidents being carried out the parallel processing raising speed of service and response speed system in the control and the coordination of master cpu module.
Detect in the position of rotor and speed and to have adopted Hall element detection calculations processing module and original grating encoder ratio to have the following advantages:
A: the way of output is versatile and flexible
B:360 ℃ of angular surveying able to programme
C: contactless, high reliability
D: volume is little, is easy to installing/dismounting
E: be fit to be applied to vibration, high temperature, various harsh industrial environments such as dust
F: price is low, is more suitable for the industrial control field large-scale application
Describe specific implementation of the present utility model in detail below in conjunction with accompanying drawing:
Description of drawings
Fig. 1 is that the structure of control device for brushless direct current machine described in the utility model is formed schematic diagram;
Fig. 2 is that the Hall element of control device for brushless direct current machine described in the utility model detects and the structure of calculation process module is formed schematic diagram;
Fig. 3 is that the rectification three-phase inversion of control device for brushless direct current machine described in the utility model is formed schematic diagram by the structure that IGBT drives protection module;
Fig. 4 is that the structure of the master cpu of control device for brushless direct current machine described in the utility model is formed schematic diagram;
Fig. 5-the 1st, the Clarke mapped structure schematic diagram of control device for brushless direct current machine described in the utility model;
Fig. 5-the 2nd, the Clarke coordinate transforming schematic diagram of control device for brushless direct current machine described in the utility model;
Fig. 6-the 1st, the Clarke inverse transformation structural representation of control device for brushless direct current machine described in the utility model;
Fig. 6-the 2nd, the Clarke inverse transformation coordinate schematic diagram of control device for brushless direct current machine described in the utility model;
Fig. 7-the 1st, the Park mapped structure schematic diagram of control device for brushless direct current machine described in the utility model;
Fig. 7-the 2nd, the Park coordinate transforming schematic diagram of control device for brushless direct current machine described in the utility model;
Fig. 8-the 1st, the Park inverse transformation structural representation of control device for brushless direct current machine described in the utility model;
Fig. 8-the 2nd, the Park inverse transformation coordinate schematic diagram of control device for brushless direct current machine described in the utility model;
Fig. 9-the 1st, the fundamental space vector distribution schematic diagram of control device for brushless direct current machine described in the utility model;
Fig. 9-the 2nd, the mean space vector distribution schematic diagram of control device for brushless direct current machine described in the utility model.
Embodiment
Shown in Fig. 1～Fig. 9-2; a kind of control device for brushless direct current machine described in the utility model; comprise input and display module; communication module; the CPU control module; square wave and sine-wave generator module; Hall element detects and the calculation process module; rectification three-phase inversion and IGBT drive protection module; it is characterized in that described CPU control module is made up of a master cpu and a plurality of secondary CPU; wherein import and display module; Hall element detects and the calculation process module; square wave and sine-wave generator module are respectively arranged with separately independently secondary CPU, and each secondary CPU carries out parallel processing to improve the speed of service and response speed in the control of master cpu with under coordinating to all incidents.Reliability wherein for guaranteeing that better its motor position and rotating speed detect, above-mentioned Hall element detects and the calculation process module comprise be used for detecting motor rotor position and rotating speed pass through that wiring board is embedded in two couple of rotor or be the circle distribution Hall element by preface arrangement between polarity more than two pairs;
Be used for the detected signal of each Hall element is carried out the amplifier of processing and amplifying;
Be used for the signal of each amplifier output is carried out analog-to-digital A/D change-over circuit;
Be used for the output signal of each A/D change-over circuit is carried out calculation process and generate the digital signal processor DSP of the analog position signal of motor;
Wherein, the amplifier of the detected motor rotor position signal of each Hall element through connecting in regular turn; output to above-mentioned master cpu, input and display module, square wave and sine-wave generator module, communication module after A/D change-over circuit digital signal processor DSP is handled and carry out computing and produce control signal corresponding with given rotating speed, this control signal is exported rectification three-phase inversion and IGBT again and is driven protection module and export desired electric current and voltage and come the controlling and driving motor.At this moment,
1. the input display module is mainly by the LED nixie display, and button and a secondary cpu control circuit are formed, main running status and the operating mode of being responsible for each operational factor of input and showing motor.
2. communication module mainly adopts RS-485, can multiple electric motors be connected with host computer by RS-485, host computer can read the running status and the operating mode of each motor, issue each control command and parameter changes the electrode speed of service, direction, start-up time etc. to each motor respectively, thereby realize the multiple electric motors interlock.
3. Hall element detection calculations processing module is the Hall element that preface is arranged between circle distribution and reversed polarity by embed 4 or 8 in wiring board, employing is installed in the magnet steel in motor shaft front along the magnetized magnet of diametric(al), the magnet two-way phase of output signal that will rotatablely move above two linear hall sensor axis that become 90 degree differs from 90 degree, promptly provide sinusoidal signal of angle and cosine signal by differentiating amplifier rise combine sinusoidal and cosine signal by two ADC converter digitalizations and by digital filter minimizing noise, DSP transforms sinusoidal and cosine signal output angle and digital quantity, its characteristics are: the way of output exportable U/V/W versatile and flexible and A/B/Z signal, 360 ℃ of angular surveying able to programme, contactless, the high reliability volume is little, is easy to installing/dismounting.Be fit to be applied to various harsh industrial environments.
4. rectification three-phase inversion and IGBT driving protection module mainly comprises: IGBT driving, overcurrent protection, under-voltage overvoltage protection, IGBT virtual protection circuit, rectification and power factor (PF) emphasizer circuit and three-phase inverting circuit.
5. master cpu and pid control module and square wave and sine-wave generator module
(1) one velocity ring PID control
Master cpu mainly is responsible for the PID control of motor speed, when motor moves, deducts rotary speed setting value (expectation rotating speed) from rotating speed measured value, and the PID controller is handled speed error, and its output is as the given controlled quentity controlled variable of sinusoidal wave amplitude.
Can set rotary speed setting value by voltage, the motor speed measurement value is then calculated every 1 millisecond according to the feedback signal of hall effect sensor and carry out a PID rotating speed control in interrupt service routine.This interrupt service routine will be handled given rotating speed and the current actual speed of motor that the symbol fractional format is arranged.Deduct the actual speed value determining the speed error value by read the given rotating speed value from memory, this error amount can determine that motor answers raising speed still to slow down.For guaranteeing that motor can even running, error amount with resolved for ratio, integration and differential component to produce a synthetic output controlled quentity controlled variable, this output variable is used for the compensating rotational speed error.The formula that is used for producing the controller output valve according to first three time interrupt the current speed error of three error amounts obtaining, preceding speed error (before the 1ms) and the preceding secondary speed error (2ms is preceding) of once interrupting calculates.
(2) field orientation PID control
By a series of coordinate transforms, can determine time-independent torque and flux value indirectly, and can adopt classical PI control ring that it is controlled.Control procedure originates in the measurement of 3 phase current of electric.In the practical application, three current values instantaneous and be zero.So only measuring wherein, two electric currents can obtain the 3rd current value.Therefore, can reduce hardware cost by removing the 3rd current sensor.Coordinate transform for the first time is called the Clarke conversion, and wherein ia, ib and ic are each phase current as shown in the figure in its stator coordinate system with one 3, the stator coordinate system transformations to 2 of 2 dimensions spool
Now, stator current in being denoted as 2 rhombic systems of α, β, one two reference axis is expressed.Next step transforms to another in 2 axle systems along with rotor flux rotation with it.This conversion is exactly the Park conversion, and as shown in the figure, the reference axis of these 2 rotating coordinate systems is called the dq axle.
Use three PI rings to control interactional three variablees respectively.Rotor speed, rotor flux and rotor torque are respectively by independent PI module controls.
The response of the P gain setting whole system of PID controller.When for the first time controller being carried out parameter tuning, I and D gain are set to 0.Can increase the P gain subsequently, the variation up to system can respond set point does not well exist excessive overshoot or vibration.Use less P yield value control system " pine ", bigger value is control system " tightly " then.At this moment, system might not converge to set point.After having chosen suitable P gain, can increase the I gain lentamente to eliminate the error of system.For most systems, only need less I gain.If I gain value is excessive, then may offset the effect of P item, slow down the response of The whole control system, and system is vibrated near set point.If vibrate, can deal with problems usually by reducing the I gain and increasing the P gain.Should with in comprised the saturated item of restriction integration, can to produce integration when integral error makes output parameter saturated saturated.At this moment, increase integral error again and will can not influence output.When accumulated error reduced, it must reduce (decline) and could exert an influence to output to causing exporting below the saturated value.The Kc coefficient is used to limit the accumulated error that these can not influence output.For most applications, this coefficient value can be identical with Ki.There are three PI control rings that are mutually related.Outer shroud control motor speed.Current of electric Id and Iq in two after the control change of ring difference.As previously mentioned, Id ring control magnetic flux, and Iq value control motor torque.
Through after the PI iteration, can obtain to rotate two components of the voltage vector of d-q coordinate system.At this moment need through inverse transformation its 3 phase electric moter voltages of remapping.At first, need from 2 rotation d-q coordinate system transformation to 2 static alpha-beta coordinate systems.The Park inverse transformation has been used in this conversion, as shown in the figure.
Next step is to static 33 phase reference stator coordinate systems with static 2 alpha-beta coordinate system transformations.From the mathematics angle, this conversion brings realization by the Clarke inversion, as shown in the figure.
(3) sine-wave generator
Sine-wave generator is by the usage space Vector Modulation, and the pulsewidth production process of each phase voltage signal will be reduced to several simple formula in the three-phase.In the output of three inverters any one all will be in one of following two states: be connected to+the bus rail or-the bus rail.Therefore, as shown in the table, output can have 8 kinds of possible states.
| C | B | A | Vab | Vbc | Vca | | Vqs | Vector | |
| 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | U(000) | |
| 0 | 0 | 1 | VDC | 0 | -VDC | 2/ |
0 | |
|
| 0 | 1 | 1 | 0 | VDC | -VDC | VDC/3 | VDC/3 | |
|
| 0 | 1 | 0 | -VDC | VDC | 0 | -VDC/3 | VDC | U120 | |
| 1 | 1 | 0 | - |
0 | VDC | -2VDC/3 | 0 | U180 | |
| 1 | 0 | 0 | 0 | -VDC | VDC | -VDC/3 | -VDC/3 | U240 | |
| 1 | 0 | 1 | VDC | - |
0 | VDC/3 | -VDC/3 | U3 | |
| 1 | 1 | 1 | 0 | 0 | 0 | 0 | 0 | U(111) |
The output of all three-phases all is connected to+bus or-two states of bus are considered to disarmed state, because do not have line voltage between the two-phase arbitrarily.The space vector of these two state correspondences is drawn at the star-like initial point of SVM.Remaining six state representation is the fundamental space vector of six space mutual deviations, 60 degree, as shown in the figure
Space vector modulation can adopt the vector of adjacent two fundamental space vectors and characterize arbitrary resultant vector.In figure below, UOUT is the resultant vector of expectation.In the interval of this vector between U60 and U0.If in given PWM period T, the output time of U0 is T1/T and the output time of U60 is T2/T, and the mean vector in the then whole cycle will be UOUT.
The value of T1 and T2 will be obtained from look-up table.This table comprises 172 decimal sine values between 0 to 60 electrical degree.Therefore, for any one interval in 6 intervals, will have an axle corresponding therewith, two other axial symmetry is distributed in this interval border.Along these two border axles the vector component value equal T1 and T2.As shown in figure below, in the PWM period T, vector T1 output time is T1/T, and vector T2 output time is T2/T.To export empty vector in remaining time in one-period.
A kind of brshless DC motor with above-mentioned control device for brushless direct current machine, this brshless DC motor comprises the rotor assembly with permanent magnet and has the stator module that is used for heterogeneous drive coil, it is characterized in that described stator module and rotor assembly are few groove multi-polar structure.Wherein, 4 grooves of said stator assembly or 6 grooves or 8 grooves or 9 grooves or 10 grooves or 12 grooves or 14 grooves or 16 grooves or 18 grooves or 20 grooves or 22 grooves or 24 groove structures, rotor assembly is 6 utmost points or 8 utmost points or 10 utmost points or 12 utmost points or 14 utmost points or 16 utmost points or 18 utmost points or 20 electrode structures; The said stator assembly is 12 groove structures, and above-mentioned rotor assembly is 10 utmost points or 14 electrode structures.A kind of weaving loom with above-mentioned brshless DC motor, mainly comprise braiding and looping mechanism, give yarn mechanism, head, draw-off mechanism, control and MA monitoring agency, it is characterized in that described drive motors and/or tractive motor adopt above-mentioned brshless DC motor with tractive motor with drive motors.
Claims (6)
1. control device for brushless direct current machine; comprise input and display module; communication module; the CPU control module; square wave and sine-wave generator module; Hall element detects and the calculation process module; rectification three-phase inversion and IGBT drive protection module; it is characterized in that described CPU control module is made up of a master cpu and a plurality of secondary CPU; wherein import and display module; Hall element detects and the calculation process module; square wave and sine-wave generator module are respectively arranged with separately independently secondary CPU, and each secondary CPU carries out parallel processing to improve the speed of service and response speed in the control of master cpu with under coordinating to all incidents.
2. control device for brushless direct current machine according to claim 1, it is characterized in that above-mentioned Hall element detects and the calculation process module comprise be used for detecting motor rotor position and rotating speed pass through that wiring board is embedded in two couple of rotor or be the circle distribution Hall element by preface arrangement between polarity more than two pairs;
Be used for the detected signal of each Hall element is carried out the amplifier of processing and amplifying;
Be used for the signal of each amplifier output is carried out analog-to-digital A/D change-over circuit;
Be used for the output signal of each A/D change-over circuit is carried out calculation process and generate the digital signal processor DSP of the analog position signal of motor;
Wherein, the amplifier of the detected motor rotor position signal of each Hall element through connecting in regular turn; output to above-mentioned master cpu, input and display module, square wave and sine-wave generator module, communication module after A/D change-over circuit digital signal processor DSP is handled and carry out computing and produce control signal corresponding with given rotating speed, this control signal is exported rectification three-phase inversion and IGBT again and is driven protection module and export desired electric current and voltage and come the controlling and driving motor.
3. brshless DC motor with claim 1 to the described control device for brushless direct current machine of the arbitrary claim of claim 2, this brshless DC motor comprises the rotor assembly with permanent magnet and has the stator module that is used for heterogeneous drive coil, it is characterized in that described stator module and rotor assembly are few groove multi-polar structure.
4. the brshless DC motor of control device for brushless direct current machine according to claim 3, it is characterized in that 4 grooves or 6 grooves or 8 grooves or 9 grooves or 10 grooves or 12 grooves or 14 grooves or 16 grooves or 18 grooves or 20 grooves or 22 grooves or the 24 groove structures of said stator assembly, rotor assembly is 6 utmost points or 8 utmost points or 10 utmost points or 12 utmost points or 14 utmost points or 16 utmost points or 18 utmost points or 20 electrode structures.
5. the brshless DC motor of control device for brushless direct current machine according to claim 4 is characterized in that the said stator assembly is 12 groove structures, and above-mentioned rotor assembly is 10 utmost points or 14 electrode structures.
6. weaving loom with claim 3 to the described brshless DC motor of the arbitrary claim of claim 5, mainly comprise braiding and looping mechanism, give yarn mechanism, head, draw-off mechanism, control and MA monitoring agency, it is characterized in that described drive motors and/or tractive motor adopt above-mentioned brshless DC motor with tractive motor with drive motors.
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| CN2010201291463U CN201667633U (en) | 2010-02-11 | 2010-02-11 | Brushless DC motor as well as controller thereof and textile machine using brushless DC motor |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103243471A (en) * | 2013-05-23 | 2013-08-14 | 杭州鼎炬科技有限公司 | System and method for controlling variable density of fully automatic computerized flat knitting machine |
| CN103268126A (en) * | 2013-05-23 | 2013-08-28 | 杭州鼎炬科技有限公司 | System and method for controlling motion of yarn guide of full-automatic computerized flat knitting machine |
| CN105970452A (en) * | 2016-06-28 | 2016-09-28 | 苍南县华仲机电有限公司 | Special motor for circular weaving machine |
| CN112994560A (en) * | 2019-12-16 | 2021-06-18 | 山东大学 | Vector control algorithm for square wave motor |
-
2010
- 2010-02-11 CN CN2010201291463U patent/CN201667633U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103243471A (en) * | 2013-05-23 | 2013-08-14 | 杭州鼎炬科技有限公司 | System and method for controlling variable density of fully automatic computerized flat knitting machine |
| CN103268126A (en) * | 2013-05-23 | 2013-08-28 | 杭州鼎炬科技有限公司 | System and method for controlling motion of yarn guide of full-automatic computerized flat knitting machine |
| CN103268126B (en) * | 2013-05-23 | 2016-09-07 | 浙江鼎炬电子科技股份有限公司 | The yarn guide kinetic control system of a kind of Full-automatic computerized flat and method |
| CN105970452A (en) * | 2016-06-28 | 2016-09-28 | 苍南县华仲机电有限公司 | Special motor for circular weaving machine |
| CN112994560A (en) * | 2019-12-16 | 2021-06-18 | 山东大学 | Vector control algorithm for square wave motor |
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Effective date of registration: 20110402 Address after: The ancient town of labor South Village 22 River No. 200, building 529700, Guangdong city of Heshan Province Patentee after: Heshan city somp electromechanical Co. Ltd. Address before: Chinese Hongkong central Connaught Road West No. 18-19 Youhua Building 1 building C, room D Patentee before: Lide International Enterprises Limited |
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