CN209419514U - A kind of motor controller without position sensor - Google Patents

Abstract

The utility model provides a kind of motor controller without position sensor, including DC power supplier, rotational speed regulation module, steering switching module, detent torque module, electric machine controller, driving circuit, counter electromotive force acquisition module, current acquisition module and inverter；Rotational speed regulation module connects electric machine controller and DC power supplier, it turns to switching module and connects electric machine controller, start matrix module and connects electric machine controller, electric machine controller connects driving circuit, counter electromotive force acquisition module, current acquisition module, the electric current in counter electromotive force and winding for obtaining motor, and counter electromotive force acquisition module connects inverter, current acquisition module connects inverter, inverter makes to generate corresponding electric current in winding, driving motor rotation for connecting machine winding.The utility model, it can be achieved that the normal of brshless DC motor starts and control, has the characteristics that reliable starting performance, acceleration for stabilization, control precision height, strong robustness under conditions of being not necessarily to mechanical position sensor.

Description

A kind of motor controller without position sensor

Technical field

The utility model relates to brshless DC motor control field, specifically a kind of motor without position sensor control Device.

Background technique

Currently, the brshless DC motor of domestic military products grade mostly uses the control mode of position sensor.Currently, domestic The design of outer unmanned helicopter full envelope flight control system control law is most of to use traditional gain scheduler (gain Schedule) scheme, especially domestic winged control design all using this method.Past thinks that always gain scheduling is a kind of Open loop self adaptive control, because the dynamic characteristic of process changes with the service condition of process in many cases, but this change The relationship of change is known.One kind of dynamic characteristic variation is the reason is that as caused by known nonlinear characteristic, and at this moment, we are just The parameter of controller can be changed by the service condition of monitoring process, this thought is known as gain scheduling.In compensating parameter Oneself knows non-linear aspect for variation or object, the gain scheduling control based on the measurement to process operation condition be usually it is a kind of effectively Method.Oneself by many successful engineering practices proves a kind of highly effective and widely used method to gain scheduling, it Advantage is not limited by computer speed.

Utility model content

Aiming at the defects existing in the prior art, the technical problem to be solved by the present invention is to provide one kind Motor controller without position sensor.

The utility model technical solution used for the above purpose is: a kind of motor without position sensor control Device, including DC power supplier, rotational speed regulation module, steering switching module, detent torque module, electric machine controller, driving electricity Road, counter electromotive force acquisition module, current acquisition module and inverter；The rotational speed regulation module turns to switching module and starting The output end of torque module connects electric machine controller, and the output end of the electric machine controller connects driving circuit, the driving electricity The output end on road connects inverter, and the output end of the inverter is for connecting machine winding, the counter electromotive force acquisition module Inverter and electric machine controller are connected with current acquisition module.

It further include the temperature collecting module and state display module for acquiring motor winding temperature, the temperature acquisition mould Block connection status display module.

The state display module is also connected with current acquisition module and electric machine controller.

The electric machine controller is also used to connect host computer.

Further include filtering anti-circnit NOT, connects DC power supplier.

Further include power supply characteristic circuit, connects DC power supplier.

The utility model have the following advantages that and the utility model has the advantages that

1, the utility model is under conditions of being not necessarily to mechanical position sensor, it can be achieved that the normal starting of brshless DC motor With control, have the characteristics that reliable starting performance, acceleration for stabilization, control precision height, strong robustness.

2, the utility model can realize that LED light shows the powering on, run of motor, four overtemperature, failure states, comprehensively It realizes starting, acceleration and the closed-loop control three phases of motor, there is speed regulation, overcurrent protection, overvoltage protection, short-circuit protection, electricity Source counnter attack, overtemperature alarm function, and the communication with host computer, the electricity of real-time display motor are realized using the communication module of product The parameters such as pressure, electric current, revolving speed, temperature.

3, the utility model can be widely applied to the rotational speed regulation and control of brshless DC motor, and the entirety of system can be improved Performance reduces the volume of motor product, improves resistance to environment capacity, has a wide range of application, and market prospects are good.

Detailed description of the invention

Fig. 1 is the system principle diagram of the utility model；

Fig. 2 is the system closed-loop drive control block diagram of the utility model；

Fig. 3 is the circuit diagram of the rotational speed regulation module of the utility model；

Fig. 4 is the circuit diagram of the steering switching module of the utility model；

Fig. 5 is the circuit diagram of the detent torque module of the utility model；

Fig. 6 is the circuit diagram of the driving circuit of the utility model；

Fig. 7 is the circuit diagram of the counter electromotive force acquisition module of the utility model；

Fig. 8 is the circuit diagram of the current acquisition module of the utility model；

Fig. 9 is the circuit diagram of the inverter of the utility model；

Figure 10 is the circuit diagram of the anti-circnit NOT of filtering of the utility model；

Figure 11 is the circuit diagram of the power supply characteristic circuit of the utility model.

Specific embodiment

The utility model is described in further detail with reference to the accompanying drawings and embodiments.

As shown in Figure 1, DC power supplier is divided into main circuit power and two parts of control circuit power supply, and separately design Power filter and anti-reflection function, power supply characteristic part improve the performance of system resistance to over-voltage and spike；System core member Part electric machine controller can input speed, detent torque, turn around parameters, pass through inverter and acquire counter electromotive force information and electric current and join Number exports corresponding control signal to driving circuit, to constitute closed loop feedback control；System also has motor in real time Running temperature, the operating status for showing motor and host computer communication function.The utility model further includes temperature collecting module and shape State display module, the temperature collecting module are used to acquire the temperature of machine winding, are compared with the temperature of setting, judgement is No overtemperature, and the light on and off of control instructions lamp, the bright expression motor overheating operation of indicator light.

The utility model includes DC power supplier, rotational speed regulation module, turns to switching module, detent torque module, electricity Machine controller, driving circuit, counter electromotive force acquisition module, current acquisition module and inverter；The rotational speed regulation module, connection Electric machine controller and DC power supplier, for the analog voltage inputted by DC power supplier to be adjusted to different moulds Quasi- voltage value；The steering switching module connects electric machine controller, for passing through the switching control motor positive and inverse of low and high level Switching；The starting matrix module connects electric machine controller, and the height of torque is controlled for the height by voltage value；Institute Electric machine controller is stated, driving circuit is connected, for driving inverter work on startup；Connect counter electromotive force acquisition module, electricity Flow acquisition module, the electric current in counter electromotive force and winding for obtaining motor；It connects rotational speed regulation module, turn to adjustment module With detent torque adjustment module, for adjusting revolving speed, the steering, detent torque parameter of motor；The counter electromotive force acquisition module, Inverter is connected, for acquiring counter electromotive force from inverter；The current acquisition module connects inverter, is used for from inversion Winding current is acquired in device；The inverter makes to generate corresponding electric current, driving motor in winding for connecting machine winding Rotation.

The utility model further includes temperature collecting module and state display module, and the temperature collecting module connection status is aobvious Show module, the temperature collecting module is used to acquire the temperature of machine winding, is compared with the temperature of setting, judges whether to surpass Temperature, and the light on and off of control instructions lamp.The state display module is also connected with current acquisition module and electric machine controller, for showing It powers on, run and malfunction.The electric machine controller is also used to connect host computer.

As shown in Fig. 2, the utility model uses the control mode of two close cycles, wherein inner ring is electric current loop, and outer ring is revolving speed Ring is greatly improved the control precision of system, strong robustness.

Fig. 3 is the circuit diagram of the rotational speed regulation module of the utility model, and 5V power supply passes through two resistance and an electricity Position device is input in rear class sample circuit after being divided, to carry out motor speed adjusting.

Fig. 4 is the circuit diagram of the steerings switching module of the utility model, use in figure two 0 Ohmic resistances respectively with GND and VCC5V connection requires can weld corresponding 0 Ohmic resistance progress course changing control according to turning to.

Fig. 5 is the circuit diagram of the detent torque module of the utility model, and 5V power supply passes through a resistance and an electricity Position device is input in rear class sample circuit after being divided, to carry out electric motor starting torque adjusting.

Fig. 6 is the circuit diagram of the driving circuit of the utility model, and U11 is special driving chip IR2110PBF in figure, Electric machine controller output signal is connected to chip I R2110PBF (CT and CB in figure), and output end is connected to rear class inverter circuit (H3U and H3D in figure).

Fig. 7 is the circuit diagram of the counter electromotive force acquisition module of the utility model, and A interfaces pass through electric resistance partial pressure in figure After be input to comparator anode, resistance R24, R30, R42 simulation threephase load are simultaneously input to comparator negative terminal, comparator output terminal Signal is exported to electric machine controller, remaining two-phase is identical as A facies principle.

Fig. 8 is the circuit diagram of the current acquisition module of the utility model, and current signal is converted to electricity by sampling resistor Signal output is pressed, amplifies signal by amplifier circuit, protects circuit output to late-class circuit by diode (D1, D4) In.

Fig. 9 is the circuit diagram of the inverter of the utility model, and inverter circuit is mainly made of six field-effect tube, Driving end is separately connected 100 ohm of build-out resistors, and sampling resistor is used for sampled current signals in major loop.It is each in inverter Bridge arm is respectively connected to motor A, B, C three-phase windings, with the on-off of electric current in control winding, and then controls motor rotation.

The utility model further includes filtering anti-circnit NOT and power supply characteristic circuit.As shown in Figure 10,11, anti-circnit NOT is filtered DC power supplier is all connected with power supply characteristic circuit.Anti- circnit NOT is filtered for filtering out the clutter in DC power supply, and is provided Reverse power connection defencive function.Power supply characteristic circuit is used for the overvoltage protection to late-class circuit.

Figure 10 is filtering counnter attack circuit diagram, and diode (D2) is protected for reverse power connection in figure, and two capacitors are used for Power filter.

Figure 11 is power supply characteristic circuit diagram, and transient voltage suppressor diode (D3) is used for overvoltage protection, resistance in figure For dividing.

The utility model effectively realizes brshless DC motor and stablizes starting and fortune under the conditions of position-sensor-free Row.The mating control equipment that the utility model can be used as brshless DC motor uses, using box structure, mating connector, side Just connection, replacement and repair.

Claims (6)

1. a kind of motor controller without position sensor, which is characterized in that including DC power supplier, rotational speed regulation module, turn To switching module, detent torque module, electric machine controller, driving circuit, counter electromotive force acquisition module, current acquisition module and inverse Become device；The rotational speed regulation module, steering switching module connect electric machine controller, the electricity with the output end of detent torque module The output end of machine controller connects driving circuit, and the output end of the driving circuit connects inverter, the output of the inverter For connecting machine winding, the counter electromotive force acquisition module connects inverter and electric machine controller with current acquisition module at end.

2. a kind of motor controller without position sensor according to claim 1, which is characterized in that further include for acquiring The temperature collecting module and state display module of motor winding temperature, the temperature collecting module connection status display module.

3. a kind of motor controller without position sensor according to claim 2, which is characterized in that the status display mould Block is also connected with current acquisition module and electric machine controller.

4. a kind of motor controller without position sensor according to claim 1, which is characterized in that the electric machine controller It is also used to connect host computer.

5. a kind of motor controller without position sensor according to claim 1, which is characterized in that further include filtering counnter attack Circuit connects DC power supplier.

6. a kind of motor controller without position sensor according to claim 1, which is characterized in that further include power supply characteristic Circuit connects DC power supplier.