CN100440079C - Finite angle driving controller of direct-drive triple redundant brushless DC torque motor - Google Patents
Finite angle driving controller of direct-drive triple redundant brushless DC torque motor Download PDFInfo
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- CN100440079C CN100440079C CNB2007100627569A CN200710062756A CN100440079C CN 100440079 C CN100440079 C CN 100440079C CN B2007100627569 A CNB2007100627569 A CN B2007100627569A CN 200710062756 A CN200710062756 A CN 200710062756A CN 100440079 C CN100440079 C CN 100440079C
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Abstract
This invention relates to direct drive three remaining brushless torque motor limit rotation controller, which uses same structure in three channel forms, wherein, the control structure adopts three remaining linear difference rotation transducer and current sensor as sensor to realize system position ring and current ring control with each channel composed of digital signal processor minimum system, controller area bus communication module, cross channel data linkage module, current signal adjust module, rotor position adjust module, A/D module and power drive module.
Description
One, technical field
The present invention relates to a kind of direct drive-type triple redundant brushless DC torque motor finite angle driving governor, belong to motor automatic control technology field.
Two, background technology
Volume is little, in light weight, control performance is good because brushless direct current motor has, no-spark is disturbed, the efficient advantages of higher, makes its application prospect widely that has in various fields such as Aero-Space, medicine equipment, industrial automations.And brushless direct current motor does not directly drive the control model and the redundancy management The Application of Technology of load by reducing gear, is an important developing direction, especially in the fields higher to dynamic property, precision and reliability requirement such as Aero-Space.
Existing brushless direct current motor position servo driving governor generally adopts tricyclic structure, i.e. position ring, speed ring, electric current loop.The effect of electric current loop and speed ring is the non-linear and external disturbance that the rigidity of raising system suppresses system, and position ring guarantees the precision of control system.But this three-loop system also has significant disadvantages, and is promptly slower to the response of control action.This will influence the control performance of motor under the finite angle greatly.
Existing brushless direct current motor driving governor generally adopts simulating signal to carry out data transfer, causes the antijamming capability of system not strong like this, has also increased extra A/D, D/A link.
Existing brushless direct current motor driving governor does not generally have remaining structure and redundancy management The Application of Technology, has influenced the security and the reliability of system greatly.
Three, summary of the invention
A kind of direct drive-type triple redundant brushless DC torque motor finite angle driving governor of the present invention, its purpose is: overcome the deficiency of existing brushless direct current motor driving governor, the direct drive-type triple redundant brushless DC torque motor finite angle driving governor that a kind of dynamic property is good, precision is high, interference rejection ability is strong, reliability is high is provided.
Principle of work of the present invention is: adopt three redundancy architectures and two closed-loop control, with the DSP minimum system is core, receive the steering order of host computer by the CAN bus communication module, the motor winding current and the rotor-position that collect are analyzed, and carry out calculation process according to certain control algolithm, send corresponding PWM then, work in the finite angle scope through the power driver module driving motor, utilize the CCDL module that whole motor driving controller is carried out redundancy management simultaneously.
Technical solution of the present invention is: directly drive-type triple redundant brushless DC torque motor finite angle driving governor adopts isomorphism type triple channel pattern on redundancy architecture; Adopt three remaining linear differential formula rotary transformers (RVDT) and current sensor to realize the position ring of system and two closed-loop controls of electric current loop on the control structure; Each passage carries out data communication by the connection of CCDL module by compositions such as digital signal processor (DSP) minimum system, controller area net (CAN) bus communication module, cross aisle data chainning (CCDL) module, current signal conditioning module, rotor-position conditioning module, A/D module, power driver modules between triple channel; The DSP minimum systematic module receives the control angle instruction of host computer, to the motor winding current and the rotor-position that collect analyze, calculation process, send control signal corresponding then, make motor instruction works on request, and, also to carry out redundancy management simultaneously to whole motor driving controller to host computer transmission information; The CAN bus communication module is the passage that information is transmitted between host computer and the motor driving controller, and the CCDL module is the data transfer that is used for realizing between the inner triple channel of three remaining motor driving controllers; The current signal conditioning module is nursed one's health the current signal of motor winding, and the rotor-position signal conditioning module provides the desired frequency of RVDT sensor to exchange excitation voltage with amplitude, and the alternating voltage of RVDT output is nursed one's health into d. c. voltage signal; The A/D module receives simulating signal after the conditioning and is converted into digital signal and sends the DSP minimum system to and handle; Power driver module carries out power amplification with driving motor to the control signal of DSP minimum system, it receives width modulation (PWM) signal of DSP minimum system, and, move by three phase power bridge driving motor by being converted to the gate drive signal of three phase power bridge after light-coupled isolation and the driving amplification.
Wherein, this redundancy architecture is characterized as:
Adopt the isomorphism type passage, three redundancy unit structures that promptly constitute direct drive-type triple redundant brushless DC torque motor finite angle driving governor are identical, and each passage all has and works alone, and finishes the function of same instruction.Adopt initiatively paired running mode between triple channel.
Wherein, this control structure is characterized as:
Employing need not speed probe by two closed loop controlling structures that position ring and electric current loop constitute, and can realize the direct drive controlling of motor in the finite angle scope.
Wherein, this DSP minimum system is characterized as:
(1) the DSP minimum system mainly comprises 64K program storage, 64K data-carrier store and the emulation interface etc. of dsp chip TMS320LF2407A, expansion.
(2) be the interface sequence that external multipath high-speed A/D converter is realized steering logic.
(3) adjust the switching time that the width of pwm signal comes the power controlling pipe by resolving motor winding current, rotor-position and employing control algolithm.
(4) whether the data of analysis and the voting CCDL module that receives break down to differentiate, and take the respective handling solution.
(5) utilize the CAN controller module that carries, and external CAN transceiver, with the communication of realization with host computer.
Wherein, A/D module and electric current, rotor-position signal conditioning module are characterized as:
(1) select for use AD7891-1 as external A/D converter, it is 12 high-speed data acquistion systems with 454.5kSPS sampling rate of 8 passages, each passage input measurement voltage range is-and 10V～+ 10V.
(2) utilize amplifier 0P27 that the output of closed loop Hall current sensor is nursed one's health.
(3) utilize the measurement of RVDT realization to motor rotor position.By utilize the AD698 circuit to produce the excitatory alternating voltage of RVDT and to RVDT output nurse one's health.
Wherein, this CCDL module is characterized as:
(1) the independent CAN bus controller SJA1000 of employing realizes the communication between the inner triple channel of motor driving controller, by expanding two-way CAN bus module to realize CCDL.
(2) signal that utilizes GAL to generate to satisfy CAN bus controller sequential to require, again by bidirectional bus driver to solve bus incompatibility.
(3) utilize the high-speed CAN bus transceiver to solve interface problem, and between CAN bus controller and transceiver, adopt high speed photo coupling,, strengthen the anti-interference and the reliability of data communication to realize electrical isolation.
Wherein, this power driver module is characterized as:
(1), adopts the at a high speed two light-coupled isolations of HCPL-2531 for the pwm signal of DSP output.
(2) pwm signal after the isolation is through overdrive circuit and three phase power bridge circuit driving motor.
A kind of direct drive-type triple redundant brushless DC torque motor finite angle driving governor of the present invention, its advantage is:
(1) realizes three redundancy architectures and redundancy management The Application of Technology, improved the reliability of system greatly.(2) adopt two closed loop controlling structures to realize the direct drive controlling of motor in the finite angle scope, need not speed probe, and improved the dynamic property of system.(3) adopt CAN bus communication mode to simplify circuit, improved antijamming capability.(4) adopt dsp chip TMS320LF2407A can realize the control algolithm of more complicated fast, satisfy the system real time requirement, and debug flexible.
Four, description of drawings
Fig. 1 is an one-piece construction block diagram of the present invention;
Fig. 2 A and Fig. 2 B are single pass CCDL modular circuit of the present invention;
Fig. 3 A and Fig. 3 B are single pass rotor-position signal conditioning module circuit of the present invention;
Fig. 4 is a single pass current signal conditioning module circuit of the present invention;
Fig. 5 is a single pass A/D modular circuit of the present invention;
Fig. 6 is a single pass power driver module circuit of the present invention.
Five, embodiment
The invention will be further described below in conjunction with accompanying drawing.
As shown in Figure 1, a kind of direct drive-type triple redundant brushless DC torque motor finite angle driving governor of the present invention is to be made of three identical passages; Each passage is by compositions such as DSP minimum system, CAN bus communication module, CCDL module, current signal conditioning module, rotor-position signal conditioning module, A/D module, power driver modules; Carry out data communication by the connection of CCDL module between triple channel; Carry out data communication by the CAN bus communication module between each passage and the host computer; Each passage is connected with three phase windings of each section motor by power driver module; Utilize RVDT and current sensor to realize the position ring of system and two closed-loop controls of electric current loop.
Shown in Fig. 2 A and Fig. 2 B, D7-D0 is the least-significant byte data bus of DSP minimum system; A0, A12, A14, A15 are wherein 4 of 16 bit address buses of DSP minimum system; IS, WE, RD, R/W, STRB are the timing control signal of DSP minimum system; INT1, INT2 are the interrupt instruction signal that the CAN bus controller SJA1000 in the CAN bus communication module sends the DSP minimum system to; CANHB and CANLB, CANHC and CANLC are two-way CAN bus communication interface, link to each other with the CCDL module of two other passage respectively.Single pass CCDL module is made of the two-way CAN bus module of expansion; Each CAN bus module all is to be core with CAN bus controller SJA1000, and PCA82C250 is connected to the CAN bus by the CAN bus transceiver; Adopt high speed photo coupling 6N137 to realize electrical isolation between CAN bus controller and the CAN bus transceiver, strengthen the anti-interference and the reliability of data communication; Utilize GAL16V8 to generate and satisfy the control signal that CAN bus controller sequential requires, again by the conversion of bidirectional bus driver SN74LVCC4245A with signal level between realization DSP minimum system and the CAN bus controller.
As shown in Figure 3A, EXC2, EXC1 are the interchange excitation voltage signal of RVDT; AIN+, AIN-are the secondary alternating voltage output signal of RVDT; ANGLE is through the rotor-position signal after the demodulation.The AD698 chip produces and exchanges excitation voltage EXC1, EXC2 by pin two, 3 outputs, links to each other with the former limit of RVDT.The output of the secondary alternating voltage of RVDT AIN+, AIN-are connected to AD698 by pin one 6,15, by AD698 with this AC signal conditioning for-10V～+ direct current signal of 10V, with coupling A/D input range; And utilize amplifier OP27 to follow output to improve signal to noise ratio (S/N ratio), see Fig. 3 B.
As shown in Figure 4, CRT_HALL is the output signal of current sensor (seeing Fig. 6 B); CRT is the current signal after nursing one's health.Chip U8 is amplifier OP27, is used for following the 2.5V fiduciary level that the external perimysium reference voltage source produces.Chip U7 also is amplifier OP27, is used for signal CRT_HALL is carried out level conversion, signal amplification and Filtering Processing, thereby generates output signal CRT.
As shown in Figure 5, ANGLE, CRT are respectively rotor-position, the current signal after the conditioning; AD_WR, AD_RD, AD_CS, AD_CONVST are the timing control signal of A/D converter AD7891-1; D11-D0 is 12 bit data bus between A/D converter and the DSP minimum system.The high-speed a/d conversion chip that A/D converter AD7891-1 is 8 passages, 12, have the 454.5kSPS sampling rate, each input gap voltage measurement range be-10V～+ 10V.Utilize the existing access control of I/O cause for gossip of dsp chip TMS320LF2407A to AD7891-1; SN74LVCC4245A is a bus driver, to realize the signal level conversion between dsp chip and the AD7891-1.
As shown in Figure 6A, six road pwm control signals that PWM11, PWM22, PWM33, PWM44, PWM55, PWM66 export for the DSP minimum system, by becoming signal HIN1, LIN1, HIN2, LIN2, HIN3, LIN3 respectively after three optocoupler HCPL-2531 isolation, these six signals are as the input of MOSFET chip for driving IR2136, through drive signal HO1, LO1, HO2, LO2, HO3, the LO3 of IR2136 power amplification and insertion dead band formation three phase power bridge.Shown in Fig. 6 B, six drive signal HO1, LO1 of three phase power bridge, HO2, LO2, HO3, LO3 drive six MOSFET Q1～Q6 of three phase power bridge respectively, and MOSFET adopts the IRF540N of American I R company.Current sensor LTS6-NP string is used for measuring in real time bus current on the dc bus of three phase power bridge, CRT_HALL is the output signal of current sensor, and current sensor adopts the closed loop Hall current sensor LTS6-NP of LEM company; The A of three phase power bridge, B, C end link to each other with three-phase terminal of motor respectively.
Claims (9)
1, a kind of direct drive-type triple redundant brushless DC torque motor finite angle driving governor, it is characterized in that: it adopts isomorphism type triple channel pattern on redundancy architecture, adopts three remaining linear differential formula rotary transformers and current sensor to realize the position ring of system and two closed-loop controls of electric current loop on the control structure; Each passage is formed by digital signal processor minimum system, controller area net bus communication module, cross aisle data chainning module, current signal conditioning module, rotor-position signal conditioning module, A/D module, power driver module, carries out data communication by the connection of cross aisle data chainning module between triple channel; The digital signal processor minimum systematic module receives the control angle instruction of host computer, to the motor winding current and the rotor-position that collect analyze, calculation process, send control signal corresponding then, make motor instruction works on request, and, also to carry out redundancy management simultaneously to whole motor driving controller to host computer transmission information; The controller area net bus communication module is the passage that information is transmitted between host computer and the motor driving controller, and cross aisle data chainning module is the data transfer that is used for realizing between the inner triple channel of three remaining motor driving controllers; The current signal conditioning module is nursed one's health the current signal of motor winding, the rotor-position signal conditioning module provides the desired frequency of linear differential formula rotary transformer to exchange excitation voltage with amplitude, and the alternating voltage of linear differential formula rotary transformer output is nursed one's health into d. c. voltage signal; The A/D module receives simulating signal after the conditioning and is converted into digital signal and sends the digital signal processor minimum system to and handle; Power driver module carries out power amplification with driving motor to the control signal of digital signal processor minimum system, the pulse-width signal of its receiving digital signals processor minimum system, and, move by three phase power bridge driving motor by being converted to the gate drive signal of three phase power bridge after light-coupled isolation and the driving amplification.
2, a kind of direct drive-type triple redundant brushless DC torque motor finite angle driving governor according to claim 1, it is characterized in that: this redundancy architecture is characterized as: adopt the isomorphism type passage, three redundancy unit structures that promptly constitute direct drive-type triple redundant brushless DC torque motor finite angle driving governor are identical, each passage all has and works alone, finish the function of same instruction, adopt initiatively paired running mode between triple channel.
3, a kind of direct drive-type triple redundant brushless DC torque motor finite angle driving governor according to claim 1, it is characterized in that: this control structure is characterized as: adopt the two closed loop controlling structures that are made of position ring and electric current loop, need not speed probe, can realize the direct drive controlling of motor in the finite angle scope.
4, a kind of direct drive-type triple redundant brushless DC torque motor finite angle driving governor according to claim 1, it is characterized in that: this digital signal processor minimum system is characterized as:
(1) the digital signal processor minimum system mainly comprises 64K program storage, 64K data-carrier store and the emulation interface etc. of DSP chip TMS320LF2407A, expansion;
(2) be the interface sequence that external multipath high-speed A/D converter is realized steering logic;
(3) adjust the switching time that the width of pulse-width signal comes the power controlling pipe by resolving motor winding current, rotor-position and employing control algolithm;
(4) whether the data of analysis and the voting cross aisle data chainning module that receives break down to differentiate, and take the respective handling solution;
(5) utilize the controller area net controller module that carries, and external controller regional network transceiver, with the communication of realization with host computer.
5, a kind of direct drive-type triple redundant brushless DC torque motor finite angle driving governor according to claim 1, it is characterized in that: this A/D module is characterized as: select for use AD7891-1 as external A/D converter, it is 12 high-speed data acquistion systems with 454.5kSPS sampling rate of 8 passages, each passage input measurement voltage range is-and 10V～+ 10V.
6, a kind of direct drive-type triple redundant brushless DC torque motor finite angle driving governor according to claim 1, it is characterized in that: this current signal conditioning module is characterized as: utilize amplifier OP27 that the output of closed loop Hall current sensor is nursed one's health.
7, a kind of direct drive-type triple redundant brushless DC torque motor finite angle driving governor according to claim 1, it is characterized in that: this rotor-position signal conditioning module is characterized as: utilize the measurement of linear differential formula rotary transformer realization to motor rotor position; By utilize the AD698 circuit to produce the excitatory alternating voltage of linear differential formula rotary transformer and to linear differential formula rotary transformer output nurse one's health.
8, a kind of direct drive-type triple redundant brushless DC torque motor finite angle driving governor according to claim 1, it is characterized in that: this cross aisle data chainning module is characterized as:
(1) employing independent control regional network bus controller SJA1000 realizes the communication between the inner triple channel of motor driving controller, by expanding two-way controller area net bus communication module to realize the cross aisle data chainning;
(2) signal that utilizes logic gate array to generate to satisfy controller area net bus controller sequential to require, again by bidirectional bus driver to solve bus incompatibility;
(3) utilize high-speed controller regional network bus transceiver to solve interface problem, and between controller area net bus controller and transceiver, adopt high speed photo coupling,, strengthen the anti-interference and the reliability of data communication to realize electrical isolation.
9, a kind of direct drive-type triple redundant brushless DC torque motor finite angle driving governor according to claim 1, it is characterized in that: this power driver module is characterized as:
(1), adopts the at a high speed two light-coupled isolations of HCPL-2531 for the pwm signal of digital signal processor minimum system output;
(2) pulse-width signal after the isolation is through overdrive circuit and three phase power bridge circuit driving motor.
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| CNB2007100627569A CN100440079C (en) | 2007-01-16 | 2007-01-16 | Finite angle driving controller of direct-drive triple redundant brushless DC torque motor |
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| CNB2007100627569A CN100440079C (en) | 2007-01-16 | 2007-01-16 | Finite angle driving controller of direct-drive triple redundant brushless DC torque motor |
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| CN100440079C true CN100440079C (en) | 2008-12-03 |
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| CN104579029A (en) * | 2013-10-29 | 2015-04-29 | 北京精密机电控制设备研究所 | Tri-redundancy brushless DC servo drive controller |
| CN104597850A (en) * | 2013-10-30 | 2015-05-06 | 北京精密机电控制设备研究所 | Data exchange and synchronization method and data exchange and synchronization device for three-redundancy servo controller |
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| CN113346795A (en) * | 2020-03-03 | 2021-09-03 | 兰剑智能科技股份有限公司 | Brushless driving device and drive control integrated system |
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