CN201383784Y - Motor driver - Google Patents
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- CN201383784Y CN201383784Y CN200920105810U CN200920105810U CN201383784Y CN 201383784 Y CN201383784 Y CN 201383784Y CN 200920105810 U CN200920105810 U CN 200920105810U CN 200920105810 U CN200920105810 U CN 200920105810U CN 201383784 Y CN201383784 Y CN 201383784Y
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Abstract
The utility model discloses a motor driver, which belongs to the motor control field. The motor driver comprises a DSP controller, a PWM signal driver, a motor driving circuit, a drive protection circuit, a rotor detection circuit, a code wheel tachometer circuit and a multi-driver network interface. The pulse width modulation PWM signal output end of the DSP controller is connected with the motor driving circuit via the PWM signal driver, the drive protection circuit is connected between the PWM signal driver and the motor driving circuit, the rotor detection circuit is connected with a detecting end of the DSP controller, the code wheel tachometer circuit is connected with the controlled motor, and the multi-driver network interface is connected with a data communication port of the DSP controller. The motor driver utilizes the DSP controller to be combined into an integrated circuit, and is simple in structure, low in cost, easy in maintenance, flexible in control mode of combing software and hardware and fine in control effect. In addition, the motor driver can be used as a controller for alternating current servo motors, permanent magnet synchronous motors and alternating current induction motors.
Description
Technical field
The utility model relates to the Motor Control field, relates in particular to a kind of motor driver that can be used as motor control system.
Background technology
DC motor has obtained application widely with its good torque characteristics in motion control field, but common DC motor is owing to adopt the commutation of electric brush type machinery, poor reliability, often maintenance; Produce electromagnetic interference during commutation, noise is big, has influenced the further application of DC motor in control system.
In order to overcome the shortcoming that mechanical commutation brings, the brushless motor that replaces mechanical commutation with the electronics commutation arises at the historic moment.Afterwards, in the world brushless DC motor is carried out deep research, successively be developed into square wave brushless motor and sinusoidal wave DC Brushless Motor.20 for many years, and along with the particularly development of high-power switch device of permanent magnetism new material, microelectric technique, automatic control technology and power electronic technology, brushless motor has obtained significant progress.Brushless DC motor has not been specially to refer to have the DC motor of electronics commutation, but general reference possesses the electronics commutation motor that brush DC motor external behavior is arranged.Brushless DC motor has not only kept traditional DC motor good dynamic and static governor control characteristics, and simple in structure, reliable, be easy to control.It is used from initial war industry, develops rapidly to Aero-Space, medical treatment, information, household electrical appliances and industrial automation field.
Brushless DC motor generally is made up of electronics commutation circuit, rotor position detection circuit and motor body three parts, and the electronics commutation circuit generally is made up of control section and drive part, and the detection of rotor-position is generally finished with position transducer.During work, each power tube in the orderly triggering drive circuit of the motor rotor position that controller records according to position transducer carries out the orderly change of current, to drive DC motor.
Is the most direct effective method with position transducer as the position detecting device of rotor.But owing to the existence of position transducer, increased the weight and the physical dimension of brushless DC motor, be unfavorable for the miniaturization of motor; Transducer has wearing and tearing unavoidably during rotation, and easy care not; Simultaneously, the installation accuracy of transducer and sensitivity directly influence the runnability of motor; On the other hand, because transmission line is too many, introduce interference signal easily; Owing to be the hardware acquired signal, more reduced the reliability of system.For adapting to further developing of brushless motor, DC motor having no brush and no position sensing device arises at the historic moment, the induction back electromotive force of its general using armature winding obtains rotor magnetic pole position indirectly, compare with direct Detection Method, saved position transducer, simplified the motor body structure, obtained good effect, and obtained using widely.And in recent years, along with the development of electronic technology, control technology, position probing can cooperate suitable algorithm to realize by chip.But the existing general circuit imperfection that just exists of control system that is used for DC motor having no brush and no position sensing device, the hardware circuit complexity does not have the more high relatively shortcoming of correspondent voltage, current protecting circuit and cost.
Summary of the invention
In view of above-mentioned existing in prior technology problem; the utility model execution mode provides a kind of motor driver; its objective is to solve existing motor driver hardware circuit complexity, cost high the problem that does not have aspects such as correspondent voltage, current protecting circuit to exist.
The utility model execution mode is achieved through the following technical solutions:
The utility model execution mode provides a kind of motor driver, comprising: dsp controller, pwm signal driver, motor drive circuit, Drive Protecting Circuit, rotor testing circuit, code-disc tachometer circuit and multiple driver network interface;
Described dsp controller, its pulse width modulation (PWM) signal output part is connected with motor drive circuit through the pwm signal driver, be used to export correct PWM control square wave, break-make through pwm signal driver control motor drive circuit, realization is to the correct feed of motor, and the control motor moves;
Described Drive Protecting Circuit is connected between pwm signal driver and the motor drive circuit, is used for voltage, the electric current of motor drive circuit feedback are detected, and motor drive circuit overvoltage, overcurrent are protected;
Described rotor testing circuit is connected with the test side of described dsp controller, and the speed feedback of rotor that is used for the motor of being controlled that will detect is to described dsp controller, as the control foundation;
Described code-disc tachometer circuit is connected with the motor of described control, is used for the measurement of motor and the rotating speed of demonstration motor;
Described multiple driver network interface is connected with the data communication port of described dsp controller, is used to make described dsp controller to connect external network.
Described dsp controller adopts the TMS320C2000 family chip.
Described dsp controller adopts the TMS320LF2407/TMS320F2812 chip.
Described Drive Protecting Circuit is made of current detection circuit and counter electromotive force detection circuit; Wherein, current detection circuit is made up of shunt resistance and amplifying circuit; Described counter electromotive force detection circuit is by resistance or voltage sensor and the terminal voltage bleeder circuit that the electric capacity that strobes is formed.
Described pwm signal driver is the M57962L module.
Described motor driver also comprises: interface circuit, be used to connect external equipment, and specifically comprise keyboard and display circuit and internal memory expanded circuit.
Described motor drive circuit is the three phase full bridge inverter circuit.
By the enforcement of technical solution of the present invention, existing motor control system cost height, hardware circuit complexity have well been solved, the problem that does not have aspects such as correspondent voltage, current protecting circuit to exist; The utility model motor driver passes through dsp controller; the pwm signal driver; motor drive circuit; Drive Protecting Circuit; the cooperation of rotor testing circuit; adopt conducting in twos; the PWM modulation system of three-phase six states; after handling, dsp controller obtains back electromotive force zero-crossing through the measured terminal voltage signal that obtains of analog/digital converter ADC by counter electromotive force detection circuit; and then obtain the commutation point; according to the commutation rule; the PWM control square wave that control output is correct; through pwm signal driver control respective electrical motor drive circuit break-make; realization is to the correct feed of motor, and the control motor normally moves.Drive Protecting Circuit can be judged voltage, the current conditions of motor drive circuit and determines whether to implement overvoltage, overcurrent protection.Like this, whole motor driver can be realized motor is carried out closed-loop control accurately.It is simple in structure to have integrated circuit, and cost is low, is convenient to safeguard that control mode is flexible, controls effective advantage.
Description of drawings
Fig. 1 is the schematic block circuit diagram of the motor driver of the utility model embodiment;
Fig. 2 is the circuit theory diagrams of the motor driver of the utility model embodiment;
Fig. 3 is the circuit theory diagrams of the pwm signal driver of the utility model embodiment;
Fig. 4 is the counter electromotive force detection circuit schematic diagram in the Drive Protecting Circuit of the utility model embodiment;
The control method flow chart of Fig. 5 for using in the motor driver of the utility model embodiment.
Embodiment
The utility model execution mode provides a kind of motor driver; be based on the motor driver of DSP (digital signal processor); can be used as the control system of drive motor; have that control circuit is simple, control mode flexibly and can be to the characteristics of voltage, current protection; by adjusting the Control Software of this motor driver; can realize closed-loop control to AC servo motor, permagnetic synchronous motor and AC induction motor, and can be by adopting the application of motor drive circuit realization from tens watts to 50k watt of power grade Electric Machine Control of different capacity.
Below in conjunction with accompanying drawing embodiment of the present utility model is done ground one step explanation:
Embodiment
Present embodiment provides a kind of motor driver, can be used as the control system of motor, this motor driver is based on the control system of digital information processor DSP, as shown in Figure 1, this motor driven implement body comprises: dsp controller, pwm signal driver, motor drive circuit, Drive Protecting Circuit, rotor testing circuit, code-disc tachometer circuit and multiple driver network interface;
Described dsp controller, its pulse width modulation (PWM) signal output part through the pwm signal driver be connected, be used to export correct PWM control square wave, through the break-make of pwm signal driver control motor drive circuit, realization is to the correct feed of motor, and the control motor moves;
Described Drive Protecting Circuit is connected between pwm signal driver and the motor drive circuit, is used for voltage, the electric current of motor drive circuit feedback are detected, and motor drive circuit overvoltage, overcurrent are protected;
Described rotor testing circuit is connected with the test side of described dsp controller, and the speed feedback of rotor that is used for the motor of being controlled that will detect is to described dsp controller, as the control foundation;
Described code-disc tachometer circuit is connected with the motor of described control, is used for the measurement of motor and the rotating speed of demonstration motor;
Described multiple driver network interface is connected with the data communication port of described dsp controller, is used to make described dsp controller to connect external network.
Wherein the motor drive circuit output that is connected to motor is connected with Drive Protecting Circuit by feedback line; Above-mentioned Drive Protecting Circuit calculates the back electromotive force zero-crossing of motor through the program of dsp controller stored through the measured terminal voltage signal that obtains of analog/digital converter ADC; and then calculate the commutation point; according to the commutation rule; by the correct PWM control square wave of the program control output of dsp controller stored; the break-make of the corresponding power switching tube in pwm signal driver control motor drive circuit; realization is to the correct feed of motor, and the control motor normally moves.
In the reality, dsp controller can adopt TMS320LF240x or TMS320F280xx family chip, is a kind of fixed-point DSP chip under the TMS320C2000 platform.This 240x series DSP chip has low cost, low consumption, high performance disposal ability, Digital Control effect to motor is very outstanding, and the function that it is essential that this microprocessor will be controlled motor is made in the chip, picture analog/digital converter (Analog-to-Digitalconverter, ADC), pulse width modulation (Pulse Wide Modulator, PWM) etc., and volume is more and more littler, has saved the space of the equipment that uses it.
Shown in Figure 2 is the motor control system of the motor driver formation of the utility model embodiment, model among the figure is that TMS320F2812 is motor driver, it adopts TMS320LF2407 as dsp controller, handles the data and the transmitting control commands that collect.The TMS320LF2407 controller is at first caught Hall element H1, the H2 on the DC motor, the high-speed pulse signal of H3 by three I/O ports, the turned position of detection rotor, and send the currency that the control corresponding word changes pwm signal according to the position of rotor, thereby change the conducting order of power tube in the motor drive circuit (the full-bridge control circuit MOSFET in the motor drive circuit), realize control motor speed and rotation direction.Code-disc signal A, the B of motor catches by CAP1, the CAP2 port of dsp controller.The deposit data that captures is in register, by the A that relatively captures, positive-negative rotation state and the rotating speed that B two-phase pulse value can be determined current motor.In the running of system, Drive Protecting Circuit can detect the running status of current system.If occur overcurrent or undervoltage condition in the system; the pwm signal driver can start internal protection circuitry; pin the output of follow-up pwm signal, drag down the PDPINT pin voltage of dsp controller simultaneously by the FAULT pin, start the power drives protection of dsp controller.At this moment all EV module output pins will be changed to high-impedance state by hardware, realize the protection to control system.The protective circuit that designs in this system is mainly used in protection dsp controller and motor drive circuit.
Dsp controller can adopt TMS320LF2407 chip and formations such as peripheral circuit, back-emf zero cross detection circuit, velocity setting and display circuit thereof in actual the use.The TMS320LF2407A chip is the dsp chip at the motor Digital Control that American TI Company is released, compare with common 24x chip before this, machine cycle is shorter, the integrated level of peripheral components is higher, on-chip memory is bigger, analog-to-digital conversion rate is faster, is more suitable for rapidity and the higher occasion of required precision are used as motor controller.
Pwm signal driver in the above-mentioned motor driver shown in Figure 1 is formed (see figure 3) by six M95640L; The three phase full bridge inverter circuit that constitutes motor drive circuit is made up of IPM module or IGBT module; Comprise current detection circuit and counter electromotive force detection circuit in the Drive Protecting Circuit; Wherein, current detection circuit is made up of shunt resistance and amplifying circuit between the power amplifier board ground wire of inverter bridge lower end that is connected on the three phase full bridge inverter circuit and motor drive circuit; Counter electromotive force detection circuit wherein as shown in Figure 4, it is actually by two resistance and the terminal voltage bleeder circuit that electric capacity is formed, electric capacity strobes, the sampled voltage transducer is realized in Great Power Driver.Also comprise interface circuit in the above-mentioned motor driver; it mainly is by keyboard and display circuit and internal memory expanded circuit (be used for Installed System Memory not enough and use when needing exented memory), and Drive Protecting Circuit is mainly protected the overvoltage of motor, overcurrent etc.
Above-mentioned dsp controller chip TMS320LF2407A can produce 6 road PWM ripples, by the photoelectricity buffer action in PS21255 control input end T1～T6, output U at IPM, V, W output three-phase differs 120 ° PWM ripple and drives square wave direct current motor (BLDCM), by changing each phase average value of output voltage, realize Variable Frequency and Speed Adjusting of Electromotor.Because IPM has overheated, mistake (owing) pressure, overcurrent and overheat detection and protective circuit; when any fault takes place; will block 6 inner IGBT; send the PDPINTA end that fault-signal F0 gives TMS320LF2407A simultaneously; interrupt to the TMS320LF2407A request, TMS320LF2407A will stop the output of PWM ripple immediately.The three-phase output end of inverter is with respect to DC side cathode voltage (hereinafter to be referred as terminal voltage); back-emf zero cross detection circuit in Drive Protecting Circuit is sent into 3 tunnel of dsp controller and is caught mouth, and the conducting that the state of catching mouthful by detection is determined 6 IGBT constantly.
Inverter control method in the above-mentioned motor driver adopts the PWM technology, and it can realize pressure regulation easily, and torque pulsation is diminished, and speed adjustable range broadens.Utilize the task manager module (EV) of TMS320LF2407A can realize the PWM of three phase full bridge inverter circuit is controlled.The timer 1 of EVA has 3 associated comparing units, each comparing unit all can be arranged to the PWM pattern separately, under the certain situation of period register T1PR value, just can change the output pwm signal pulse duration by the value that changes comparand register, thereby the mean value of control inverter three-phase output voltage is realized motor speed adjusting.
Above-mentioned motor driver adopts conducting in twos, the PWM modulation system of three-phase six states, calculate back electromotive force zero-crossing through the measured terminal voltage signal that obtains of ADC conversion through program by counter electromotive force detection circuit, and then calculate the commutation point, according to the commutation rule, by the correct PWM control square wave of program control output, through the break-make of drive circuit control corresponding power switching tube, realization is to the correct feed of motor, and the control motor normally moves.At current detection circuit on the basis of the current signal that ADC conversion is fed back, by the electric current of program control real-time regulated stator winding and judge whether to implement overcurrent protection.Like this, whole numerical control system is realized the closed-loop control to motor under the coordinated of soft, hardware.
In the reality, the control mode of the motor driver among the utility model embodiment can adopt the mode of software to realize, its Control Software can adopt sample space vector control algolithm, just can make this motor driver be applicable to that the encoder feedback SERVO CONTROL of AC servo motor, the Hall of dc brushless motor feed back the position Sensorless Control of the back electromotive force detection of speed regulating control, magneto, the servo and speed regulating control of AC induction motor by revising parameter.As long as according to the motor difference of institute's application controls, it is just passable that hardware components is changed different power driving circuits, and this motor driver can be realized the application from tens watts to 50k watt of power grade Electric Machine Control.The control mode of this motor driver is specific as follows:
(1) control strategy: the control of brushless DC motor is identical with the control strategy of DC motor, also is a double loop speed-regulating system that comprises a speed regulation ring and a current regulation loop, as shown in Figure 6.
Three-phase voltage of at first utilize gathering and current signal are determined the position of rotor by executive program, calculate the present speed of motor; Compare with speed reference then, obtain speed error signal, through behind the speed regulator, obtain corresponding current reference signal, this current reference signal and actual motor phase current signal compare, and error is after current regulator is regulated, produce suitable substance P WM signal, be applied on the power of electric motor electronic switching circuit,, thereby realize of the control of DC Brushless Motor rotating speed with the output torque by opening shutoff order and time of power controlling pipe.
(2) systems soft ware flow chart: the software control flow chart in the system that is obtained by above-mentioned control strategy as shown in Figure 5.
(3) the softening strategy study of control system:
1. software open loop commutation starts strategy and realizes:
The obtaining of the utility model control system rotor-position signal is based on that back electromotive force zero passage detection algorithm realizes.When counter electromotive force detection circuit after ADC conversion feeds back to the three phase terminals voltage signal, program is calculated the back electromotive force of not conducting phase, judge whether its symbol changes, to determine the zero passage moment of back electromotive force, after detecting zero crossing, promptly obtain the commutation point from the suitable electrical degree of zero crossing time-delay, the commutation of program control this moment motor realizes the correct commutation of DC motor having no brush and no position sensing device.
During the brushless DC motor starting, earlier give any two-phase stator winding electrifying of motor and another turn-offs mutually by program control, then stator composite magnetic power axis has one to determine direction rotor magnetic pole to be dragged to the position that overlaps with it in the space, through determining the initial position of rotor after a while.Give the corresponding windings feed according to the predetermined commutation order that turns to of motor by program control then, make motor starting, program is not carried out the zero passage detection of back electromotive force during this time, commutation is not subjected to the control of back electromotive force detection signal, the commutation time interval is controlled by software delay, and should the time interval constant, program control PWM ripple duty ratio increases gradually to improve voltage, the start mode of taking constant frequency to boost.After the open loop commutation process continues a commutating period, motor has had certain rotating speed, back electromotive force reaches a certain size, can measure, this moment, program was jumped out the open loop commutation process, enter autocontrol running status, finish the starting process of motor by the commutation of back electromotive force detection signal control motor.
2. the softening strategy and the realization of the commutation of closed loop automatic control state:
At first point out: the zero crossing of back electromotive force is not the commutation point, but will be only the commutation point from the electrical degree that it is suitable that zero crossing is delayed time.And time-delay can adopt the mode of hardware or software to realize, but the scheme of using the hardware delay circuit can increase the complexity of system, control circuit, and circuit itself can bring phase displacement error, increased the difficulty of phase shift correction problem, the flexibility of hardware circuit is also relatively poor in addition, is difficult in case circuit has been fixed change to adapt to actual environment change the phase shift variations of being brought.Therefore, in the reality, can adopt by the software program calculation mode and realize that the phase angle time-delay is to obtain the commutation point.
The concrete commutation point that calculates is: the time of a storage of variables (for example EPE2R IOD) with an electric required usefulness of cycle of record motor operation is set in the utility model control program, because corresponding 360 ° of electrical degrees of electric cycle, according to the time-delay electrical degree of determining (for example 18 °), can calculate by program and try to achieve the pairing delay time of time-delay electrical degree, and a storage of variables (for example SH IFTTIME) is set in program deposits this delay time, then SH IFTTIME=EPER IOD/20.The commutation delay time that should be noted that the current operation of motor obtains according to previous electric computation of Period, because motor is in the electric cycle that current operation the time can not obtain current operation.But the prerequisite of Chu Liing is like this, compare with dynamic performance face mutually that pairing electromotor velocities of two electric cycles change can not be too greatly.And this prerequisite hypothesis and practical operation situation normally conform to, generally the acceleration of motor or moderating process are smoother stable, so the velocity variations of motor can be too inviolent, especially stable face the electricity cycle when traveling at the uniform speed state mutually and equate when motor is in.Detect the zero crossing of back electromotive force when system control program after, delay time constantly from zero passage by program control and to calculate resulting delay time, after delay time arrives, promptly obtain the commutation point, start the correct commutation of commutation program control motor this moment.
When adopting the control mode of above-mentioned commutation point, also improved the robustness of whole brushless direct current motor system naturally.The brushless DC motor of supposing to be in stable operation is owing to being subjected to extraneous random disturbances speed is descended, then the last electricity cycle of the current operation of motor will be littler than the current operation electricity cycle, the commutation delay time that calculates in other words is shorter than actual commutation delay time, make commutation point in advance, the commutation electricity cycle reduces.In fact brushless DC motor itself is a synchronous motor, by the operation logic of synchronous motor as can be known, because the reducing of commutation electricity cycle is equivalent to stator rotating magnetic field rotating speed and increases, thereby the rotating speed of brushless DC motor is risen, be interfered like this and the motor that causes speed to descend can return to steady operational status.When random disturbances rose brushless DC motor speed, commutation point lagged behind, and the commutation electricity cycle increases, motor speed descends, can return to steady operational status equally, so just play natural robust control effect, also embody the advantage of " hardware softening " design simultaneously.
3. the realization of software filtering during commutation:
In commutation moment, the sudden change of electric current can produce reactance potential (comprising self-induced e.m.f L di/dt and mutual inductance electromotive force M di/dt), make back electromotive force owing to spike appears in the stack of reactance potential, when the peak voltage amplitude of ratio inverse is big mutually with back electromotive force, adopt the above-mentioned algorithm that detects zero crossing by the back electromotive force sign modification, then might calculate unnecessary zero crossing and influence phase change logic, therefore must take appropriate measures and eliminate this interference.Adopt electromotive force filtering and shaping circuit and logic lockout circuit, can eliminate interference certainly, but just increased the complexity of hardware circuit like this, and filter circuit can bring phase shift and influence phase change logic.For this reason, the utility model adopts the method for software filtering to eliminate above-mentioned interference.When the commutation incident took place, program control was not calculated back-emf value in commutation a period of time constantly, just skipped back electromotive force zero passage detection block during disturbing, to avoid interference effect.Owing to disturb the time that continues very short, that therefore abandons detecting is also unsuitable long during this period of time, decide on concrete system, can be with reference to by the minimum back electromotive force periodic quantity of controlled motor (can by the maximum speed of motor by simply calculating this minimum period value).The experiment motor of being studied when the utility model is implemented is three pairs of pole motors, maximum speed is 2000rpm, the then corresponding minimum back electromotive force cycle is 10ms, when abandoning being selected in detection time between 200～500ns, proof adopts above-mentioned software filtering algorithm can eliminate the commutation reactance potential interference of moment well during enforcement.
4. speed regulation strategy and realization:
In the speed regulation subprogram, first task is exactly the Machine cycle T that rotates a circle according to motor, thereby tries to achieve motor speed, i.e. the feedback rotating speed of motor; To finish the main task of speed regulation then exactly.The utility model takes relatively simple fuzzy segmentation speed to regulate strategy.Definition error rotating speed is poor for expectation rotating speed and feedback rotating speed, and the error rotating speed is carried out suitable segmentation, and error of calculation rotating speed all when at every turn calling the speed regulation subprogram judges which segmentation it drops in, calls corresponding block again and carries out speed regulation.It is suitable that the number of noting segmentation will be chosen, segmentation is many not only can to make software program be tending towards complicated, and increased the amount of calculation of program, influence the real-time of system, and segmentation too carefully may cause in speed regulation process and to occur disturbing too sensitive phenomenon, causes the adjusting vibration in the speed regulation process and influences the rapidity of system; The flatness that then can influence speed regulation has been lacked in segmentation, so the segments purpose is chosen the consideration of compromising.
5. control algolithm
Algorithm can be realized the accurately control in real time to motor.Therefore, use reasonable, advanced algorithm, not only can improve the performance of system, can also reduce the components and parts number in the circuit, reduce cost.In the algorithm of threephase motor control, commonly used have sine pulse width modulation (PWM) algorithm, space vector PWM algorithm, pid control algorithm, PFC (power factor correction) algorithm, fuzzy logic algorithm, an adaptive control algorithm etc.
To be TI company be the dsp chip of a kind of novel, cheap, efficient, the low-power consumption of satisfying that the digital control requirement of complicated motor designs to the 240xDSP that adopts among the utility model embodiment, characteristics such as it has that fast operation, memory space are big, low-power consumption and 12 road PWM, to High Accuracy Control, DSP can satisfy the arithmetic speed that control algolithm requires, realize the high real-time energy, guarantee control precision, be particularly suitable for the complexity control of brushless motor.The utility model control system can adopt one or more above-mentioned algorithms to combine as required, to reach the control requirement.
The utility model mainly adopts pid control algorithm:
Proportion integration differentiation control is promptly adopted in PID control, and its output is the function of ratio, integration and the differential of input.PID adjuster control structure is simple, and parameter is adjusted easily, needn't obtain the Mathematical Modeling of controlled device, so the PID adjuster has obtained using widely.
General P.I.D control is as follows:
(dutycycle)＝(dutycycle)p+(dutycycle)i+(dutycycle)d
Wherein dutycycle represents duty ratio;
P. control (proportional control): output is proportional with the error originated from input signal, be about to the correction of error fixed proportion, but system has steady-state error.
I. control (integral control): when system enters stable state when steady-state error is arranged, error is got the integration of time, even if very little also can the increasing in time of error and strengthening reduces up to being zero steady-state error.
D. control (differential control): when system when overcoming error, it changes and always to lag behind error and change, the expression system exist greatly the inertia assembly or (and) lag module arranged.Differential promptly is that the trend that changes of predicated error is so that preact avoids controlled volume seriously to break through head.
For the control method that makes this classics is adapted to more complicated controling environment, and improve its precision and adaptivity, and realize, many new digital PID control methods occurred with computer technology.For example Adaptive PID Control, Intelligent PID Control etc. are applied to this control system to modern control theory, fuzzy control theory and neural network theory, constantly controller parameter are proofreaied and correct according to the control effect, make its control effect reach best.
The utility model embodiment adopts Digital PID Controller, the Digital PID Controller structure that adopts as shown in Figure 8, one of great advantage of this Digital PID Controller is exactly the changeability of system parameters KP, KI, KD, thereby guaranteed the application of the theory of optimal control, also just improved the optimality and the flexibility of system.The Digital Implementation of the concrete pid algorithm that adopts is as follows:
The PID expression formula of discrete form is:
Wherein: KP, KI, KD are respectively ratio, integration and the differential coefficient of adjuster; Expectation deviate when E (k), E (k-1) are respectively the k time and k-1 time; The output of adjuster when P (k) is the k time.The effect of proportional component is that deviation moment of signal is made a response, and KP is big more, and control action is strong more, but excessive KP can cause system oscillation, destroys the stability of system.Though the effect of integral element can be eliminated static receiver error, also can reduce the response speed of system, increase the overshoot of system, even make system self-sustained oscillation occur, reduce the overshoot that KI can reduce system, but the response process of the system that can slow down.The effect of differentiation element is the variation that stops deviation, helps to reduce overshoot, overcomes vibration, and system is tended towards stability.
The integration saturated phenomenon of classical PID algorithm:
Set point flip-flop when motor speed, or the rotating speed of motor is when undergoing mutation, can cause the step of deviation, make | E (k) | increase, the output P (k) of PID will sharply increase or reduce, to such an extent as to surpass the bound Pmax of controlled quentity controlled variable, the working control amount of this moment can only be limited in Pmax, the rotating speed M (k) of motor is though constantly rise, but because controlled quentity controlled variable is restricted, the speed of its growth slows down, and deviation E (k) will remain on bigger deviate than continuing the longer time under the normal condition, thereby makes the integral in the PID formula constantly obtain accumulation.After motor speed surpasses set point, begin the deviation that occurs bearing, but because the existing sizable accumulated value of integral also will could break away from the saturation region through controlled quentity controlled variable after the quite a while, and Here it is, and the forward integration is saturated, reverse integral is similarly saturated.The way that solves: the one, the sampling period of shortening PID, the suitable pid parameter of adjusting; The 2nd, pid algorithm is improved, can adopt non-linear speed change integral PID algorithm.
The pid algorithm of non-linear speed change integration:
The speed change integration has been eliminated large deviation with proportional action, eliminate little deviation with integral action, can eliminate the integration saturated phenomenon substantially under most of situation, reduced simultaneously overshoot greatly, make system stability easily, improved regulation quality, but the integration saturated phenomenon that produces when changing suddenly on a large scale can not eliminate well still, at this moment can adopt the pid algorithm of non-linear speed change integration.
The basic thought of the pid algorithm of non-linear speed change integration is that the output of PID adjuster is limited in the effective scope, avoids P (k) to exceed actuator's actuating range and produce saturated.
The above; it only is the preferable embodiment of the utility model; but protection range of the present utility model is not limited thereto; anyly be familiar with those skilled in the art in the technical scope that the utility model embodiment discloses; the variation that can expect easily or replacement all should be encompassed within the protection range of the present utility model.Therefore, protection range of the present utility model should be as the criterion with the protection range of claim.
Claims (7)
1, a kind of motor driver is characterized in that: comprising: dsp controller, pwm signal driver, motor drive circuit, Drive Protecting Circuit, rotor testing circuit, code-disc tachometer circuit and multiple driver network interface;
Described dsp controller, its pulse width modulation (PWM) signal output part is connected with motor drive circuit through the pwm signal driver, be used to export correct PWM control square wave, break-make through pwm signal driver control motor drive circuit, realization is to the correct feed of motor, and the control motor moves;
Described Drive Protecting Circuit is connected between pwm signal driver and the motor drive circuit, is used for voltage, the electric current of motor drive circuit feedback are detected, and motor drive circuit overvoltage, overcurrent are protected;
Described rotor testing circuit is connected with the test side of described dsp controller, and the speed feedback of rotor that is used for the motor of being controlled that will detect is to described dsp controller, as the control foundation;
Described code-disc tachometer circuit is connected with the motor of described control, is used for the measurement of motor and the rotating speed of demonstration motor;
Described multiple driver network interface is connected with the data communication port of described dsp controller, is used to make described dsp controller to connect external network.
2, motor driver according to claim 1 is characterized in that: described dsp controller adopts the TMS320C2000 family chip.
3, motor driver according to claim 2 is characterized in that: described dsp controller adopts the TMS320LF2407/TMS320F2812 chip.
4, motor driver according to claim 1 is characterized in that: described Drive Protecting Circuit is made of current detection circuit and counter electromotive force detection circuit; Wherein, current detection circuit is made up of shunt resistance and amplifying circuit; Described counter electromotive force detection circuit is by resistance or voltage sensor and the terminal voltage bleeder circuit that the electric capacity that strobes is formed.
6, motor driver according to claim 1 is characterized in that: described pwm signal driver is the M57962L module.
7, motor driver according to claim 1 is characterized in that: described motor driver also comprises: interface circuit, be used to connect external equipment, and specifically comprise keyboard and display circuit and internal memory expanded circuit.
8, motor driver according to claim 1 is characterized in that: described motor drive circuit is the three phase full bridge inverter circuit.
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| Application Number | Priority Date | Filing Date | Title |
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| CN200920105810U CN201383784Y (en) | 2009-02-18 | 2009-02-18 | Motor driver |
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| CN200920105810U CN201383784Y (en) | 2009-02-18 | 2009-02-18 | Motor driver |
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| CN201383784Y true CN201383784Y (en) | 2010-01-13 |
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| CN101841147A (en) * | 2010-05-18 | 2010-09-22 | 福州欣联达电子科技有限公司 | Anti-lock circuit for permanent magnet motor |
| CN102053630A (en) * | 2011-01-18 | 2011-05-11 | 深圳市爱博科技有限公司 | Device and system for controlling deviation correction of brushless direct current (DC) motor |
| CN102291065A (en) * | 2011-09-01 | 2011-12-21 | 北京信息科技大学 | Brushless direct current motor control device based on DSP (Digital Signal Processor) |
| CN102307034A (en) * | 2011-09-15 | 2012-01-04 | 威海克莱特机电有限公司 | Driving device of integrated brushless direct current motor |
| CN102946220A (en) * | 2012-11-21 | 2013-02-27 | 北京信息科技大学 | Speed control system and method of direct current (DC) motor |
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| CN104333282A (en) * | 2014-11-21 | 2015-02-04 | 杭州电子科技大学 | Precise positioning control method of DC (Direct Current) motor type electronic push rod |
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| CN101841147B (en) * | 2010-05-18 | 2012-08-08 | 福州欣联达电子科技有限公司 | Anti-lock circuit for permanent magnet motor |
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| CN102053630A (en) * | 2011-01-18 | 2011-05-11 | 深圳市爱博科技有限公司 | Device and system for controlling deviation correction of brushless direct current (DC) motor |
| CN102291065A (en) * | 2011-09-01 | 2011-12-21 | 北京信息科技大学 | Brushless direct current motor control device based on DSP (Digital Signal Processor) |
| CN102307034A (en) * | 2011-09-15 | 2012-01-04 | 威海克莱特机电有限公司 | Driving device of integrated brushless direct current motor |
| CN102307034B (en) * | 2011-09-15 | 2013-07-31 | 威海克莱特机电有限公司 | Driving device of integrated brushless direct current motor |
| CN104040873A (en) * | 2012-01-25 | 2014-09-10 | 松下电器产业株式会社 | Motor drive device and refrigerator using the same |
| CN102946220B (en) * | 2012-11-21 | 2016-03-30 | 北京信息科技大学 | Speed Regulation System Based on DC Motor and method for control speed |
| CN102946220A (en) * | 2012-11-21 | 2013-02-27 | 北京信息科技大学 | Speed control system and method of direct current (DC) motor |
| CN103532448A (en) * | 2013-10-23 | 2014-01-22 | 东南大学 | Control method of electric vehicle driving system |
| CN103825513A (en) * | 2013-12-10 | 2014-05-28 | 上海航天测控通信研究所 | Spaceflight mechanism constant speed rotation system |
| CN104333282A (en) * | 2014-11-21 | 2015-02-04 | 杭州电子科技大学 | Precise positioning control method of DC (Direct Current) motor type electronic push rod |
| CN105871266A (en) * | 2016-05-19 | 2016-08-17 | 上海电机学院 | Position-sensor-less fixed-frequency boost starting method and system for brushless direct current motor |
| CN107441726A (en) * | 2016-05-31 | 2017-12-08 | 北京小米移动软件有限公司 | Control the method, apparatus and system of electric toy car |
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