CN218526250U - Motor controller with safe redundant position estimation - Google Patents
Motor controller with safe redundant position estimation Download PDFInfo
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- CN218526250U CN218526250U CN202222236298.9U CN202222236298U CN218526250U CN 218526250 U CN218526250 U CN 218526250U CN 202222236298 U CN202222236298 U CN 202222236298U CN 218526250 U CN218526250 U CN 218526250U
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Abstract
The utility model discloses a motor controller who possesses safe redundant position estimation, including control panel, drive plate, power module, current sampling circuit and position sensor, the control panel includes main control unit, position speed detecting element and position speed estimation unit, main control unit respectively with position speed detecting element position speed estimation unit reaches the drive plate is connected, position speed detecting element still passes through position sensor is connected with the motor, position speed estimation unit still passes through current sampling circuit with power module's output is connected, power module's output still with the motor is connected, power module's drive end with the drive plate is connected, power module's input and battery are connected. The utility model provides a machine controller possesses safe heavy surplus position estimation function, can avoid the catastrophic consequence that causes after the position sensor inefficacy.
Description
Technical Field
The utility model relates to a motor technical field, specific theory relates to a motor controller who possesses safe redundant position estimation.
Background
The rapid development of the electric automobile industry promotes the prosperity of the motor industry, wherein the permanent magnet synchronous motor becomes the most important electric automobile driving motor type at present. The commutation of the motor is determined by the position of the rotor, so that the rotor position must be in real time to achieve closed loop control. To rotate the motor, the current mainstream method is that firstly, the control board must turn on (or turn off) the power transistors in the power module according to the current position of the motor rotor sensed by the sensor, and then the sequence of the power transistors in the power module is determined according to the winding of the stator, so that the current flows through the motor coil in sequence to generate a forward (or reverse) rotating magnetic field, and interacts with the magnet of the rotor, and thus the motor can rotate clockwise/counterclockwise.
At present, a rotary transformer is generally adopted by a permanent magnet synchronous motor as a position sensor, a vector control technology based on a rotary coordinate system is adopted for control, the principle is that a controller decodes signals transmitted by the rotary transformer through a decoding circuit, outputs electrical angle and speed signals and provides correct reversing information for a logic switching circuit, a control board calculates and controls the on and off of the switching circuit through obtaining information, so that current in a motor winding sequentially changes along with the change of the position of a rotor, a rotary magnetic field is formed in an air gap, and a permanent magnet rotor is driven to continuously rotate.
Since the rotary position sensor must give an appropriate electrical signal based on the measured position, the detection of the rotary position sensor needs to be sufficiently accurate, and therefore the position sensor needs to be durable enough for the environment in which it is placed to maintain accuracy and precision over its design life. However, the detection accuracy of many current rotary position sensors changes with specific use environments, which may even result in the rotary position sensor not working normally, and this brings about a serious safety hazard to the safe operation of the electric vehicle.
SUMMERY OF THE UTILITY MODEL
The detection accuracy of a lot of rotating position sensor in order to overcome prior art can change along with specific service environment, and serious or even result in rotating position sensor can not normally work, can bring the problem of serious potential safety hazard for electric automobile's safe operation, the utility model provides a motor controller who possesses safe redundant position estimation.
The utility model discloses technical scheme as follows:
the utility model provides a motor controller who possesses safe redundant position estimation, includes control panel, drive plate, power module, current sampling circuit and position sensor, the control panel includes main control unit, position speed detecting element and position speed estimation unit, main control unit respectively with position speed detecting element, position speed estimation unit reach the drive plate is connected, position speed detecting element still passes through position sensor is connected with the motor, position speed estimation unit still passes through current sampling circuit with power module's output is connected, power module's output still with the motor is connected, power module's drive end with the drive plate is connected, power module's input is connected with the battery.
According to above-mentioned scheme the utility model discloses, current sampling circuit includes shunt, filter circuit, isolating device, power supply and operational amplifier circuit, power module's output is connected the shunt, the shunt process filter circuit isolating device reaches behind the operational amplifier circuit with position speed estimation unit connects, power supply with the isolating device is connected.
Further, the isolation device is an isolation optocoupler.
Furthermore, the operational amplifier circuit is composed of a resistor, a capacitor and an operational amplifier.
According to above-mentioned scheme the utility model discloses, the control panel still includes temperature sampling circuit, main control unit with temperature sampling circuit connects.
Furthermore, the temperature sampling circuit comprises an ambient temperature sampling circuit, a power module temperature sampling circuit and a motor temperature sampling circuit, and the main control unit is respectively connected with the ambient temperature sampling circuit, the power module temperature sampling circuit and the motor temperature sampling circuit.
Furthermore, the driving board comprises a driving chip and a plurality of driving circuits, the driving chip is respectively connected with the plurality of driving circuits and the main control unit, and the plurality of driving circuits are also respectively connected with corresponding power tubes on the power module.
According to above-mentioned scheme the utility model discloses, power module's input pass through DC input circuit with the battery is connected, power module's output pass through three-phase AC output circuit with the motor is connected.
According to above-mentioned scheme the utility model discloses, position sensor is rotary transformer.
According to above-mentioned scheme the utility model discloses, the motor is PMSM.
Compared with the prior art, the beneficial effects of the utility model reside in that:
the utility model provides a motor controller, which has a safe and heavy position estimation function by adding a position and speed estimation unit and a current sampling circuit; under normal conditions, the position and the speed of the motor rotor detected by the position and speed detection unit are controlled; and after the position sensor is found to be invalid, the position and the speed of the motor rotor calculated by the position and speed estimation unit are switched to be controlled, so that the motor can still normally operate, and the catastrophic consequences caused by the invalid position sensor and the decoding circuit are avoided.
Drawings
FIG. 1 is a schematic diagram of the present invention;
fig. 2 is a schematic diagram of a current sampling circuit according to the present invention;
fig. 3 is a schematic diagram of motor control according to a conventional scheme.
Detailed Description
In order to make the technical problem, technical solution and beneficial effects to be solved by the present invention more clearly understood, the following description is made in conjunction with the accompanying drawings and embodiments.
It is to be noted that the terms "comprises" and "comprising" and any variations thereof in the description and claims of the invention are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus. The terms "disposed" and "connected" should be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise.
Please refer to fig. 1, the embodiment of the utility model provides a motor controller who possesses safe redundant position estimation, which comprises a control panel, the drive plate, the power module, current sampling circuit and position sensor, the control panel includes main control unit, position speed detecting element and position speed estimation unit, main control unit respectively with position speed detecting element, position speed estimation unit and drive plate are connected, position speed detecting element still is connected with the motor through position sensor, position speed estimation unit still is connected with the output of power module through current sampling circuit, the output of power module still is connected with the motor, the drive end and the drive plate of power module are connected, the input and the battery of power module are connected.
The control board is used for receiving control instructions of the system, collecting input voltage and current of the battery, three-phase output current, rotating speed and rotating position of the motor, ambient temperature, power module temperature, motor temperature and the like, completing torque control on the motor through a high-performance control algorithm, and meanwhile achieving fault protection of the system.
Specifically, the position and speed detecting unit of the control board detects the position and speed of the motor rotor through the position sensor. And the position and speed estimation unit of the control panel estimates the position and speed of the motor rotor according to the information acquired by the current sampling circuit, uploads the position and speed to the main control unit of the control panel, and compares the position and speed of the motor rotor detected by the position and speed estimation unit to perform safe redundant backup. Under normal conditions, the main control unit controls the position and the speed of the motor rotor detected by the position and speed detection unit, and simultaneously calculates the position and the speed of the motor rotor through the position and speed estimation unit, compares the position and the speed with the detected position and speed of the motor rotor, and judges whether the position sensor fails; if the main control unit compares the data deviation of the position sensor and finds that the data deviation of the position sensor and the position sensor reaches a certain numerical value proportion (when the data deviation reaches the certain numerical value proportion, the position sensor is possibly failed), the main control unit switches the control mode of the motor controller from the control with the position sensor to the control without the position sensor, the position and the speed of the motor rotor calculated by the position and speed estimation unit are used for controlling, the motor can still normally run, and therefore disastrous results caused by the failure of the position sensor and a decoding circuit are avoided.
The driving board is used for electrically isolating and amplifying a plurality of output driving signals and then sending the signals to the gate poles of the corresponding power tubes on the power module, and generally has a short-circuit protection function, an under-voltage protection function, a Vce voltage monitoring function and an NTC temperature detection function at the same time.
Specifically, the driving board comprises a driving chip and a plurality of driving circuits, the driving chip is respectively connected with the plurality of driving circuits and the control board, and the plurality of driving circuits are respectively connected with the corresponding power tubes on the power module through an electrical isolation circuit and a power amplification circuit, so that the plurality of output driving signals are sent to the gate poles of the corresponding power tubes on the power module after being electrically isolated and power amplified. Meanwhile, the drive board further comprises a short-circuit protection circuit, an under-voltage protection circuit, a Vce voltage monitoring circuit and an NTC temperature detection circuit, wherein the short-circuit protection circuit, the under-voltage protection circuit, the Vce voltage monitoring circuit and the NTC temperature detection circuit are all connected with the drive chip, so that the drive board has a short-circuit protection function, an under-voltage protection function, a Vce voltage monitoring function and an NTC temperature detection function.
The power module is used for inverting the direct current input by the battery into three-phase alternating current with variable frequency through the three-phase full-bridge inverter circuit according to the control instruction of the control board, and controlling the torque of the motor in real time. Specifically, the input end of the power module is connected with the battery through a DC input circuit, and the output end of the power module is connected with the motor through a three-phase AC output circuit.
Referring to fig. 2, in the present embodiment, the current sampling circuit includes a current divider, a filter circuit, an isolation device, a power supply, and an operational amplifier circuit. The output end of the power module is connected with a shunt, the shunt is connected with the position and speed estimation unit after passing through the filter circuit, the isolation device and the operational amplifier circuit, and the power supply is connected with the isolation device. Specifically, a shunt is connected in series with three paths of U, V and W of the three-phase AC output circuit, voltage drop can be generated when current passes through the shunt, voltage signals can be generated, voltage interference signals are filtered out by the voltage signals through a filter circuit, then the voltage signals pass through an isolating device and are amplified for the first time, the voltage signals enter an operational amplifier circuit and are amplified again, and then the voltage signals are transmitted to a position and speed estimation unit of a control board to be used for estimating the position and speed of a motor rotor.
The shunt is a resistor with very small resistance, the precision is high, the temperature drift is small, and when current flows through the shunt, the magnitude of the current can be accurately calculated by detecting the voltage drop at two ends.
The isolation device adopts an isolation optocoupler, can play a role in isolating a high-voltage signal circuit and a low-voltage signal circuit of the output circuit, ensures the safety of the circuit and can amplify and collect signals.
The power supply is used for providing a working power supply for the isolation optocoupler and is provided by an auxiliary power supply circuit of the control panel.
The operational amplifier circuit is composed of a resistor, a capacitor and an operational amplifier, is an amplifier with a special coupling circuit and feedback, is a circuit unit with high amplification factor, and mainly plays a role in carrying out multiple amplification processing on signals so as to be beneficial to amplifying detected tiny signals to be capable of being used for operation.
In this embodiment, the control board further includes a temperature sampling circuit, and the main control unit is connected with the temperature sampling circuit. Specifically, the temperature sampling circuit comprises an ambient temperature sampling circuit, a power module temperature sampling circuit and a motor temperature sampling circuit, and the main control unit is respectively connected with the ambient temperature sampling circuit, the power module temperature sampling circuit and the motor temperature sampling circuit. The environment temperature sampling circuit is used for collecting the ambient temperature around the motor controller, the power module temperature sampling circuit is used for collecting the temperature of the power module, and the motor temperature sampling circuit is used for collecting the temperature of the motor.
In this embodiment, position sensor is resolver or other position sensor, the utility model discloses do not limit this, can detect electric motor rotor's position, speed data can. The motor is a permanent magnet synchronous motor. In this embodiment, the current sampling device is the shunt, also can use electric current hall device etc. the utility model discloses do not limit to this, can detect motor phase current can.
The utility model discloses increased the circuit of no position sensor estimation control on the basis of traditional scheme (as shown in fig. 3), position and speed through the estimation and the data that have position sensor to detect carry out the comparison, when the data deviation reaches a certain degree, explain that there is position sensor probably to break down, through switching control mode to no position sensor control by having position sensor control this moment, can reach safe redundant purpose.
It will be understood that modifications and variations can be made by persons skilled in the art in light of the above teachings and all such modifications and variations are considered to be within the scope of the invention as defined by the following claims.
The above description is given for the exemplary application of the present invention with reference to the accompanying drawings, and it is obvious that the present invention is not limited by the above method, as long as the present invention adopts various improvements of the method concept and the technical solution, or the present invention is directly applied to other occasions without improvement, and all of them are within the protection scope of the present invention.
Claims (9)
1. A motor controller with safe redundant position estimation is characterized by comprising a control panel, a drive board, a power module, a current sampling circuit and a position sensor, wherein the control panel comprises a main control unit, a position speed detection unit and a position speed estimation unit, the main control unit is respectively connected with the position speed detection unit, the position speed estimation unit and the drive board, the position speed detection unit is further connected with the motor through the position sensor, the position speed estimation unit is further connected with the output end of the power module through the current sampling circuit, the output end of the power module is further connected with the motor, the drive end of the power module is connected with the drive board, and the input end of the power module is connected with a battery;
the current sampling circuit comprises a shunt, a filter circuit, an isolating device, a power supply and an operational amplifier circuit, the output end of the power module is connected with the shunt, the shunt passes through the filter circuit, the isolating device and the operational amplifier circuit and then is connected with the position speed estimation unit, and the power supply is connected with the isolating device.
2. The motor controller with safe redundant position estimation according to claim 1, wherein the isolation device is an isolation optocoupler.
3. The motor controller with safe redundant position estimation according to claim 1, wherein the operational circuit is composed of a resistor, a capacitor and an operational amplifier.
4. The motor controller with safe redundant position estimation according to claim 1, wherein the control board further comprises a temperature sampling circuit, and the main control unit is connected with the temperature sampling circuit.
5. The motor controller with safe redundant position estimation according to claim 4, wherein the temperature sampling circuit comprises an ambient temperature sampling circuit, a power module temperature sampling circuit and a motor temperature sampling circuit, and the main control unit is connected to the ambient temperature sampling circuit, the power module temperature sampling circuit and the motor temperature sampling circuit respectively.
6. The motor controller with safe redundant position estimation according to claim 5, wherein the driving board includes a driving chip and a plurality of driving circuits, the driving chip is connected to the plurality of driving circuits and the main control unit, and the plurality of driving circuits are further connected to corresponding power tubes on the power module.
7. The motor controller with safe redundant position estimation according to claim 1, wherein the input of the power module is connected to the battery through a DC input circuit and the output of the power module is connected to the motor through a three-phase AC output circuit.
8. The motor controller with safe redundant position estimation according to claim 1, wherein the position sensor is a resolver.
9. The motor controller with safe redundant position estimation according to claim 1, wherein the motor is a permanent magnet synchronous motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222236298.9U CN218526250U (en) | 2022-08-23 | 2022-08-23 | Motor controller with safe redundant position estimation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222236298.9U CN218526250U (en) | 2022-08-23 | 2022-08-23 | Motor controller with safe redundant position estimation |
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| Publication Number | Publication Date |
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| CN218526250U true CN218526250U (en) | 2023-02-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202222236298.9U Active CN218526250U (en) | 2022-08-23 | 2022-08-23 | Motor controller with safe redundant position estimation |
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| CN (1) | CN218526250U (en) |
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2022
- 2022-08-23 CN CN202222236298.9U patent/CN218526250U/en active Active
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