CN206332631U - One kind digitlization thyristor dc motor speed control device - Google Patents
One kind digitlization thyristor dc motor speed control device Download PDFInfo
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- CN206332631U CN206332631U CN201620641353.4U CN201620641353U CN206332631U CN 206332631 U CN206332631 U CN 206332631U CN 201620641353 U CN201620641353 U CN 201620641353U CN 206332631 U CN206332631 U CN 206332631U
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- 238000004422 calculation algorithm Methods 0.000 abstract description 17
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- 238000005457 optimization Methods 0.000 description 4
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Abstract
The utility model embodiment discloses a kind of digitlization thyristor dc motor speed control device, is related to motor control technology field, realizes and fast verification is carried out to the algorithm under actual conditions, and flexibility is high and saves time and the workload of personnel.The utility model includes：Computer equipment (1), virtual protection circuit (2), motor drive controller (3), controllable rectifier module (4) and data acquisition module (5)；Wherein, computer equipment (1) is connected in series by controllable rectifier module (4) with motor drive controller (3); data acquisition module (5), computer equipment (1), virtual protection circuit (2), motor drive controller (3), direct current generator (17) are sequentially connected in series, and direct current generator (17) is connected with data acquisition module (5).The utility model is applied to the Digital Control of direct current generator.
Description
Technical field
The utility model is related to motor control technology field, more particularly to a kind of digitlization thyristor dc motor speed adjusting
Control device.
Background technology
Direct current generator is the staple product developed in field of electromechanical integration, major scientific research institutions and technology company all pins
Substantial amounts of research is carried out to DC MOTOR CONTROL scheme, its research mode is nothing more than two kinds：
One is the ontology model and Controlling model of the lower structure direct current generator under special simulation software environment, in the model
In be controlled realization, the parameter optimization scheduling theory analog simulation of algorithm.But only can be from theoretical algorithm by simulation software
The feasibility of access control scheme, and be generally all analog simulation ideally, it is impossible to result is applied in real time
Into the control of real direct current generator.
Two be to design corresponding controller using special motor control chip, so as to realize the control to direct current generator.
This method is the control system based on special chip, can meet the experiment demand of true environment to a certain extent, but
Adjustment in experiment for modification and the load of algorithm and algorithm parameter needs to expend the huge time and efforts of researcher, and
Cost is higher, very flexible and be difficult to under actual conditions algorithm carry out fast verification.
Utility model content
Embodiment of the present utility model provides a kind of digitlization thyristor dc speed regulation control device of motor and controlling party
Method, realizes and fast verification is carried out to the algorithm under actual conditions, and flexibility is high and saves time and the workload of personnel.
To reach above-mentioned purpose, embodiment of the present utility model is adopted the following technical scheme that：
One kind digitlization thyristor dc speed regulation control device of motor, including：Computer equipment (1), virtual protection electricity
Road (2), motor drive controller (3), controllable rectifier module (4) and data acquisition module (5)；Wherein, computer equipment (1) is led to
Cross controllable rectifier module (4) to be connected in series with motor drive controller (3), data acquisition module (5), computer equipment (1), patrol
Iho protection circuit (2), motor drive controller (3), direct current generator (17) are sequentially connected in series, and direct current generator (17) is adopted with data
Collect module (5) connection；
Virtual protection circuit (2) is made up of the peripheral circuit of logic chip and the connection logic chip, for backward
During the control signal that continuous IPM modules are sent, one of conducting in the upper and lower bridge arm of same bridge arm is triggered；
Motor drive controller (3) is by photoelectric isolation module (7), power chip power supply module (8), power driver module
(9), protection circuit module (13) is constituted；Wherein, photoelectric isolation module (7), power chip power supply module (8) and protection circuit mould
Block (13) is connected with power driver module (9), and power driver module (9) is connected with direct current generator (17), computer equipment (1)
Photoelectric isolation module (7) is connected by logic protection module (2)；
Controllable rectifier module (4) is by high voltage supply module (6), single phase full bridge semi controlled rectifier (14) and triggers circuit
(15) constitute；
Data acquisition module (5) include coder module (10), current measurement module (11), voltage measurement module (12) and
Synchronous signal acquisition module (16), wherein, coder module (10), current measurement module (11) and voltage measurement module (12) are
Joint test direct current generator (17) and computer equipment (1), Synchronous signal acquisition module (16) are supplied while connecting high pressure respectively
Electric module (6) and computer equipment (1).
A kind of control method based on above-mentioned digitlization thyristor dc speed regulation control device of motor, methods described bag
Include：Pass through the synchronizing signal U of data acquisition module (5) collection high voltage supply module (6), the actual measurement speed w of DC motor rotor
With direct current generator hall signal d1, d2, d3；And zero passage detection is carried out according to synchronizing signal U, and obtain positive/negative zero cross signal；Together
When calculate obtain error e=wref- w, wherein wrefFor the reference velocity of DC motor rotor, and speed ring PI computings are carried out, obtained
To fixed phase shifting control amount
Sent by computer equipment (1) according to the phase shifting control amount θ of the positive/negative zero cross signal and the fixation to can
Control rectification module (4) and send trigger signal, and obtain by controllable rectifier module (4) the direct current supply voltage of direct current generator (17)；
The positional information of direct current generator (17) is obtained further according to described hall signal d1, d2, d3, and is believed according to the position
Breath obtains the commutation signals of direct current generator (17), then by the commutation signal through logic protection module (2) to drive and control of electric machine
Device (3) is sent.
Also include：Synchronizing signal U, the DC motor rotor of high voltage supply module (6) are gathered by data acquisition module (5)
Actual measurement speed w and direct current generator hall signal d1, d2, d3；And zero passage detection is carried out according to synchronizing signal U, and obtain positive/negative
Zero cross signal；Calculate simultaneously and obtain error e=wref- w, wherein wrefFor the reference velocity of DC motor rotor, scanning frequency of going forward side by side degree
Ring PI computings, obtain controlled quentity controlled variable output
PWM controls are obtained according to the commutation signal and the control output quantity u of direct current generator (17) by computer equipment (1)
Signal processed；And send the pwm control signal to motor drive controller (3) through logic protection module (2).
Digitlization thyristor dc speed regulation control device of motor and control method that the utility model embodiment is provided, it is real
Showed direct current generator to quickly access, and set up closed-loop simulation model, can by real time execution parameter feedback to real-time controlling unit,
Actual hardware in loop experiment is realized, the control system relative to special DSP chip will be simple and saves time and the work of personnel
Measure.And can control to change algorithm parameter in real time, it is parameter optimization, the Performance comparision of various algorithms, realizes to actual feelings
Algorithm under condition carries out fast verification, and the parameter regulation of control algolithm is provided conveniently.And can be by pressure regulation come speed governing
Also speed governing can be realized by adjusting PWM (Pulse Width Modulation, pulse width modulation), flexibility is high.
Brief description of the drawings
, below will be to make needed for embodiment in order to illustrate more clearly of the technical scheme in the utility model embodiment
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present utility model,
For those of ordinary skill in the art, on the premise of not paying creative work, it can also be obtained according to these accompanying drawings
Other accompanying drawings.
Fig. 1 is is the structural representation for the device that the utility model embodiment is provided；
Fig. 2 is is the refinement structural representation for the device that the utility model embodiment is provided；
Fig. 3 is is the variable voltage control control flow schematic diagram for the direct current generator that the utility model embodiment is provided；
Fig. 4 is is the PWM speed regulating control schematic flow sheets for the direct current generator that the utility model embodiment is provided.
Embodiment
It is below in conjunction with the accompanying drawings and specific real to make those skilled in the art more fully understand the technical solution of the utility model
Mode is applied to be described in further detail the utility model.Embodiment of the present utility model is described in more detail below, it is described
The example of embodiment is shown in the drawings, wherein from beginning to end same or similar label represent same or similar element or
Element with same or like function.The embodiment described below with reference to accompanying drawing is exemplary, is only used for explaining
The utility model, and can not be construed to limitation of the present utility model.Those skilled in the art of the present technique are appreciated that unless specially
Statement, singulative " one " used herein, " one ", " described " and "the" may also comprise plural form.Should further it manage
The wording " comprising " used in solution, specification of the present utility model refers to there is the feature, integer, step, operation, member
Part and/or component, but it is not excluded that in the presence of or add one or more other features, integer, step, operation, element, component
And/or their group.It should be understood that when we claim element to be " connected " or during " coupled " to another element, it can directly connect
Other elements are connect or be couple to, or there can also be intermediary element.In addition, " connection " used herein or " coupling " can be wrapped
Include wireless connection or coupling.Wording "and/or" used herein includes one or more associated any lists for listing item
Member and all combination.Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including
Technical term and scientific terminology) there is the general understanding identical with the those of ordinary skill in the utility model art to anticipate
Justice.It should also be understood that those terms defined in such as general dictionary should be understood that with upper with prior art
The consistent meaning of meaning hereinafter, and unless defined as here, will not with idealization or excessively formal implication come
Explain.
The utility model embodiment provides a kind of digitlization thyristor dc speed regulation control device of motor, as shown in figure 1,
Including：Computer equipment (1), virtual protection circuit (2), motor drive controller (3), controllable rectifier module (4) and data are adopted
Collect module (5).Wherein, computer equipment (1) is connected in series by controllable rectifier module (4) with motor drive controller (3), number
According to acquisition module (5), computer equipment (1), virtual protection circuit (2), motor drive controller (3), direct current generator (17) according to
Secondary to be connected in series, direct current generator (17) is connected with data acquisition module (5).
Specifically, computer equipment (1) produces 2 road Trig control signals is connected to single-phase bridge half by triggers circuit (15)
Control rectifying circuit (14) is completed by pressure regulation come speed governing so as to control the direct current powered to direct current generator.
Further, computer equipment (1) produces 6 road PWM (Pulse Width Modulation, pulse width modulation)
Signal is connect by 6 road interfaces is sent to motor drive controller (3) after virtual protection circuit (2), motor drive controller (3) and straight
Flow motor (17) by three-phase power line, hall signal line to be connected, the operation of controlled motor, coder module (10) is tested
Computer equipment (1) is fed back to the position and velocity information of direct current generator (17)；Computer equipment (1) and data acquisition module
(5) and between virtual protection circuit (2) it is connected by the hardware of real-time control software, by what is set in computer equipment (1)
Each control parameter is transferred to motor drive controller, data acquisition module (5) while by the experiment direct current generator collected
Real time data sends real-time controlling unit to, forms closed-loop control.Virtual protection circuit (2) is patrolled described in logic chip and connection
The peripheral circuit composition of volume chip, for follow-up IPM modules (Intelligent Power Module, intelligent power mould
Block) send control signal when, trigger one of conducting in the upper and lower bridge arm of same bridge arm.
In the present embodiment, computer equipment (1) by run Matlab/Simulink or Labview software environments PC
With Quanser or NI platforms composition.For example：QuaRC real-time softwares and Matlab softwares that Quanser companies produce are installed,
Matlab includes realization, parameter setting part and the dynamic performance parameter display portion of motor control algorithms with QuaRC softwares；Electricity
The realization of machine control algolithm is used for modulation control signal PWM waveform with parameter setting part, and is conveyed by real-time control software
Into motor drive controller；Dynamic performance parameter display portion is used for the motor that display data acquisition module (5) is sent
Operation state data, the operation conditions for observing whole system.
Specifically, as shown in Figure 2, motor drive controller (3) is powered mould by photoelectric isolation module (7), power chip
Block (8), power driver module (9), protection circuit module (13) composition.Wherein, photoelectric isolation module (7), power chip are powered
Module (8) and protection circuit module (13) are connected with power driver module (9), power driver module (9) and direct current generator
(17) it is connected, computer equipment (1) connects photoelectric isolation module (7) by logic protection module (2).
Data acquisition module (5) include coder module (10), current measurement module (11), voltage measurement module (12) and
Synchronous signal acquisition module (16), wherein, coder module (10), current measurement module (11) and voltage measurement module (12) are
Joint test direct current generator (17) and computer equipment (1), Synchronous signal acquisition module (16) are supplied while connecting high pressure respectively
Electric module (6) and computer equipment (1).
Specifically, as shown in Figure 3, controllable rectifier module (4) is by high voltage supply module (6), single-phase bridge half control rectification
Circuit (14) and triggers circuit (15) composition.
What the utility model embodiment was provided is used for a kind of digitlization thyristor dc speed regulation control device of motor, realizes
Direct current generator is quickly accessed, and sets up closed-loop simulation model, can be real by real time execution parameter feedback to real-time controlling unit
The hardware in loop experiment on real border, the control system relative to special DSP chip will be simple and saves time and the work of personnel
Amount.And can control to change algorithm parameter in real time, it is parameter optimization, the Performance comparision of various algorithms, realizes to actual conditions
Under algorithm carry out fast verification, and control algolithm parameter regulation provide it is convenient.And can be by pressure regulation come speed governing
Speed governing can be realized by adjusting PWM, flexibility is high.
In the present embodiment, a kind of digitlization thyristor dc motor speed adjusting control method is also provided, this method is specific
For above-mentioned control device, this method includes：
The synchronizing signal U, DC motor rotor of high voltage supply module (6) actual measurement are gathered by data acquisition module (5)
Speed w and direct current generator hall signal d1, d2, d3.And zero passage detection is carried out according to synchronizing signal U, and obtain positive/negative zero passage letter
Number.Calculate simultaneously and obtain error e=wref- w, wherein wrefFor the reference velocity of DC motor rotor, and carry out speed ring PI fortune
Calculate, the phase shifting control amount being fixedWherein KPFor proportionality coefficient, KIFor integral coefficient
Sent by computer equipment (1) according to the phase shifting control amount θ of the positive/negative zero cross signal and the fixation to can
Control rectification module (4) and send trigger signal, and obtain by controllable rectifier module (4) the direct current supply voltage of direct current generator (17).
The positional information of direct current generator (17) is obtained further according to described hall signal d1, d2, d3, and is believed according to the position
Breath obtains the commutation signals of direct current generator (17), then by the commutation signal through logic protection module (2) to drive and control of electric machine
Device (3) is sent.
For example：Based on process structure as shown in Figure 3, the synchronous letter of data acquisition module (5) collection high voltage supply module
Number U, DC motor rotor actual measurement speed w, direct current generator hall signal d1, d2, d3, wherein, it can also add electric machine phase current etc.
Signal, so that electric current loop formation double-closed-loop control can be added in control ring；Software zero passage detection is carried out according to synchronizing signal U,
Send positive/negative zero cross signal；Calculation error e=wref-w；(wrefFor DC motor rotor reference velocity)；Carry out speed ring PI fortune
Calculate, obtain the output of phase shifting control amountComputer equipment (1) is according to positive/negative zero cross signal and phase shift control
Amount θ processed sends the direct current supply voltage that trigger signal obtains direct current generator to controllable rectifier module；Computer equipment (1) is according to suddenly
You are signal d1, and d2, d3 obtains the positional information of direct current generator, so as to obtain the commutation signal of direct current generator；Commutation signal is by counting
Calculate machine equipment (1) to send, deliver to motor drive controller (3) through logic protection module (2) to control the operating of direct current generator.
Further, a kind of PWM control process is also provided in the present embodiment, specifically included：
The synchronizing signal U, DC motor rotor of high voltage supply module (6) actual measurement are gathered by data acquisition module (5)
Speed w and direct current generator hall signal d1, d2, d3.And zero passage detection is carried out according to synchronizing signal U, and obtain positive/negative zero passage letter
Number.Calculate simultaneously and obtain error e=wref- w, wherein wrefFor the reference velocity of DC motor rotor, and carry out speed ring PI fortune
Calculate, obtain controlled quentity controlled variable outputBelieved again by computer equipment (1) according to the commutation of direct current generator (17)
Number and the control output quantity u obtain pwm control signal.And by the pwm control signal through logic protection module (2) to motor
Drive control device (3) is sent.
For example：As shown in figure 4, the synchronizing signal U of data acquisition module (5) collection high voltage supply module, direct current generator turn
Son actual measurement speed w, direct current generator hall signal d1, d2, d3；Software zero passage detection is carried out according to synchronizing signal U, sends positive/negative
Zero cross signal；Calculation error e=wref-w；(wrefFor DC motor rotor reference velocity)；Speed ring PI computings are carried out, are controlled
Amount output processedComputer equipment (1) is sent out according to positive/negative zero cross signal and fixed phase shifting control amount θ
Go out the direct current supply voltage for the direct current generator that trigger signal is fixed to controllable rectifier module；Computer equipment (1) is according to suddenly
You are signal d1, and d2, d3 obtains the positional information of direct current generator, so as to obtain the commutation signal of direct current generator；Computer equipment (1)
Pwm control signal is obtained according to the commutation signal of direct current generator and control output quantity u；Pwm control signal is through logic protection module
(2) motor drive controller (3) is delivered to control the operating of direct current generator.
Further, in computer equipment (1) running, the state of direct current generator (17) is exported and shown to screen
Information, the status information at least includes：The actual measurement speed and electric machine phase current of direct current generator (17).Due to PC and control in real time
The operation interface of software processed is all visual, and motor control algorithms and motor dynamics parameter are shown with image conversion, are easy to
Observation and analysis.
A kind of digitlization thyristor dc motor speed adjusting control method that the utility model embodiment is provided, is realized straight
Stream motor is quickly accessed, and sets up closed-loop simulation model, can realize real time execution parameter feedback to real-time controlling unit real
The hardware in loop experiment on border, the control system relative to special DSP chip will be simple and saves time and the workload of personnel.And
It can in real time control to change algorithm parameter, be parameter optimization, the Performance comparision of various algorithms, realize to the calculation under actual conditions
Method carries out fast verification, and the parameter regulation of control algolithm is provided conveniently.And be able to can also be passed through come speed governing by pressure regulation
Adjust PWM to realize speed governing, flexibility is high.
Each embodiment in this specification is described by the way of progressive, identical similar portion between each embodiment
Divide mutually referring to what each embodiment was stressed is the difference with other embodiment.It is real especially for equipment
Apply for example, because it is substantially similar to embodiment of the method, so describing fairly simple, related part is referring to embodiment of the method
Part explanation.The above, embodiment only of the present utility model, but protection domain of the present utility model is simultaneously
This is not limited to, any one skilled in the art can think easily in the technical scope that the utility model is disclosed
The change or replacement arrived, should all cover within protection domain of the present utility model.Therefore, protection domain of the present utility model should
It should be defined by scope of the claims.
Claims (3)
1. one kind digitlization thyristor dc motor speed control device, it is characterised in that including：Computer equipment (1), logic are protected
Protection circuit (2), motor drive controller (3), controllable rectifier module (4) and data acquisition module (5)；Wherein, computer equipment
(1) it is connected in series by controllable rectifier module (4) with motor drive controller (3), data acquisition module (5), computer equipment
(1), virtual protection circuit (2), motor drive controller (3), direct current generator (17) are sequentially connected in series, direct current generator (17) with
Data acquisition module (5) is connected；
Virtual protection circuit (2) is by logic chip and connects the peripheral circuit of the logic chip and constitutes, for follow-up
During the control signal that SPM (IPM) is sent, one of conducting in the upper and lower bridge arm of same bridge arm is triggered；
Motor drive controller (3) is by photoelectric isolation module (7), power chip power supply module (8), power driver module (9), guarantor
Protection circuit module (13) is constituted；Wherein, photoelectric isolation module (7), power chip power supply module (8) and protection circuit module (13)
It is connected with power driver module (9), power driver module (9) is connected with direct current generator (17), computer equipment (1) is by patrolling
Collect protection module (2) connection photoelectric isolation module (7)；
Controllable rectifier module (4) is by high voltage supply module (6), single phase full bridge semi controlled rectifier (14) and triggers circuit (15) group
Into；
Data acquisition module (5) includes coder module (10), current measurement module (11), voltage measurement module (12) and synchronization
Signal acquisition module (16), wherein, coder module (10), current measurement module (11) and voltage measurement module (12) are respectively
Joint test direct current generator (17) and computer equipment (1), Synchronous signal acquisition module (16) are while connect high voltage supply mould
Block (6) and computer equipment (1).
2. digitlization thyristor dc motor speed control device according to claim 1, it is characterised in that：
Pass through the synchronizing signal U of data acquisition module (5) collection high voltage supply module (6), the actual measurement speed w of DC motor rotor
With direct current generator hall signal d1, d2, d3；And zero passage detection is carried out according to synchronizing signal U, and obtain positive/negative zero cross signal；Together
When calculate obtain error e=wref- w, wherein wrefFor the reference velocity of DC motor rotor, and speed ring PI computings are carried out, obtained
To controlled quentity controlled variable output
Pulse width is obtained according to the commutation signal and the control output quantity u of direct current generator (17) by computer equipment (1)
Modulate (PWM) control signal；And send out the pwm control signal to motor drive controller (3) through logic protection module (2)
Send.
3. digitlization thyristor dc motor speed control device according to claim 1, it is characterised in that：Set in computer
The status information of direct current generator (17) is exported and shown in standby (1) running to screen, the status information at least includes：Directly
Flow the actual measurement speed and electric machine phase current of motor (17).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620641353.4U CN206332631U (en) | 2016-06-24 | 2016-06-24 | One kind digitlization thyristor dc motor speed control device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620641353.4U CN206332631U (en) | 2016-06-24 | 2016-06-24 | One kind digitlization thyristor dc motor speed control device |
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| CN206332631U true CN206332631U (en) | 2017-07-14 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105958878A (en) * | 2016-06-24 | 2016-09-21 | 南京工程学院 | Speed regulation apparatus and method for digitized thyristor direct current motor |
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2016
- 2016-06-24 CN CN201620641353.4U patent/CN206332631U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105958878A (en) * | 2016-06-24 | 2016-09-21 | 南京工程学院 | Speed regulation apparatus and method for digitized thyristor direct current motor |
| CN105958878B (en) * | 2016-06-24 | 2019-03-22 | 南京工程学院 | A kind of digitlization thyristor dc motor speed control device and method |
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