CN101969290A - Speed sensor-free speed regulation device and method for DC motor - Google Patents

Abstract

Translated fromChinese

一种直流电机无速度传感器调速装置及方法，适用于旋转电枢式直流电动机使用。包括控制器，控制器的输入端分别连接有电枢回路电压和电流传感器、励磁回路电压和电流传感器和全数字式键盘，其输出端分别连接有电枢直流电源和励磁直流电源，电枢回路电压和电流传感器与电枢直流电源相连接，励磁回路电压和电流传感器与励磁直流电源相连接，枢回路电压和电流传感器与励磁回路电压和电流传感器将分别采集到的电压、电流信号发送至控制器。无需速度传感器，结构及方法简单，可靠性强。

A speed sensorless speed regulating device and method for a direct current motor, suitable for use in a rotating armature direct current motor. Including the controller, the input end of the controller is respectively connected with the armature circuit voltage and current sensor, the excitation circuit voltage and current sensor and the full digital keyboard, and the output end of the controller is respectively connected with the armature DC power supply and the excitation DC power supply, the armature circuit The voltage and current sensors are connected to the armature DC power supply, and the excitation circuit voltage and current sensors are connected to the excitation DC power supply. The voltage and current sensors of the armature circuit and the excitation circuit voltage and current sensors send the voltage and current signals collected respectively to the control panel. device. No speed sensor is needed, the structure and method are simple, and the reliability is strong.

Description

A kind of direct current machine Speedless sensor speed regulating device and method

Technical field

The present invention relates to a kind of dc motor drive, be particularly useful for the direct current machine Speedless sensor speed regulating device that the revolving-armature type DC motor is used.

Background technology

In the direct current machine double closed-loop control system, the closed-loop control link of spinner velocity need detect the rotating speed of motor signal.At present, the control system of DC motor control system is many by the dc excitation power of not controlling, the armature power supply of micro core processor control, and direct current machine and rotating speed, voltage-current sensor are formed.Dc excitation power is connected with the motor excitation winding, is connected with the armature winding by micro core processor control armature power supply, and speed probe is connected with motor coaxle.The micro core processor receives rotating speed, voltage and current signal, the armature power supply is controlled, and then the operation of control motor, this method of testing is based on the control system of velocity transducer, need install mechanical speed transducers such as photoelectric code disk, tachogenerator additional and carry out the motor speed detection on direct current machine, and feedback tach signal, this method need be added speed measuring device, has not only improved system cost, and difficulty is installed.

Realize that high performance DC MOTOR CONTROL must detect in real time to armature resistance in circuit value.Have only and detect the armature resistance in circuit accurately, just can accurately calculate the actual speed of motor.Detecting armature resistance in circuit value is to realize the key of direct current machine Speedless sensor control.Direct current machine inner armature resistance in circuit value is along with the operating mode of motor operation constantly changes, and its temperature with motor internal is directly related.Usually detect the motor internal temperature and need install special transducer additional, not only improved system cost and increased the complexity of system again, and increased the maintenance workload of system.

Summary of the invention

The purpose of this invention is to provide a kind of structure and method simple, be easy to safeguard, direct current machine Speedless sensor speed regulating device and method that cost is low.

For achieving the above object, direct current machine Speedless sensor speed regulating device of the present invention comprise: comprise controller, the input of controller is connected with armature circuit voltage and current transducer respectively, energized circuit voltage and current transducer and full digital keyboard, its output is connected with armature DC power supply and excitation dc power respectively, armature circuit voltage and current transducer is connected with the armature DC power supply, energized circuit voltage and current transducer is connected with excitation dc power, and pivot loop voltage and current sensor and energized circuit voltage and current transducer are with the voltage that collects respectively, current signal is sent to controller.

Described controller comprises low-pass filter circuit, digital sample circuit, micro core processor and the Schmidt trigger circuit that is linked in sequence; Described micro core processor model is TMS320F2812; The model of described armature circuit voltage and current transducer is the Hall-type voltage-current sensor; The model of energized circuit voltage and current transducer is the Hall-type voltage-current sensor.

The method of direct current machine Speedless sensor of the present invention speed governing: on the armature DC power supply of direct current machine and excitation dc power, armature circuit voltage and current transducer and energized circuit voltage and current transducer are installed respectively, respectively the voltage and current numerical value of armature DC power supply and excitation dc power is sampled by armature circuit voltage and current transducer and energized circuit voltage and current transducer, and sample information is sent in the controller; Controller carries out calculation process to sample information, obtains the rotating speed number of direct current machine, and rotating speed number and setting speed revolution value are compared; If the rotating speed number is inconsistent with setting revolution value, then controller calculate this moment armature DC power supply and excitation dc power should put on the voltage swing of motor, to armature DC power supply and excitation dc power output control signal, change the armature voltage and the exciting voltage of motor, make the rotating speed of motor number change, reach consistent with setting revolution value.

Beneficial effect: the present invention does not have mechanical velocity transducer, utilize the resistance value of winding and the linear and electromagnetic relationship of direct current machine of temperature of winding itself own, estimate spinner velocity indirectly, control effectively, omitted velocity transducer for the DC motor closed loop speed control system, not only has the accuracy of detection height, the characteristics of good reliability, and simple in structure, operation and easy to maintenance, cost is low, has practicality widely.

Description of drawings

Fig. 1 is a structural principle schematic diagram of the present invention.

Fig. 2 is a controller architecture schematic diagram of the present invention.

Among the figure: 1-armature DC power supply, 2-direct current machine armature winding, 3-excitation of direct current generator winding, 4-excitation dc power, 5-armature circuit voltage and current transducer, 6-energized circuit voltage and current transducer, 7-controller, 8-full digital keyboard.

Embodiment

The invention will be further described below in conjunction with the embodiment in the accompanying drawing:

As shown in the figure, direct current machine Speedless sensor speed regulating device of the present invention comprise armature circuit voltage andcurrent transducer 5, energized circuit voltage andcurrent transducer 6,controller 7 and fulldigital keyboard 8;Controller 7 comprises low-pass filter circuit, digital sample circuit, micro core processor and the Schmidt trigger circuit that is linked in sequence, and wherein the micro core processor model is the TMS320F2812 of TI company production.The input of low-pass filter circuit is connected with energized circuit voltage andcurrent transducer 6 with armature circuit voltage andcurrent transducer 5 respectively in thecontroller 7, and fulldigital keyboard 8 is connected with micro core processor in thecontroller 7, in order to the input reference velocity; Armature circuit voltage andcurrent transducer 5 is connected withexcitation dc power 4 with armatureDC power supply 1 respectively with energized circuit voltage andcurrent transducer 6, the Schmidt trigger circuit output ofcontroller 7 is connected with armatureDC power supply 1 andexcitation dc power 4 respectively, armatureDC power supply 1 directly is connected with direct current machine armature winding 2, andexcitation dc power 4 directly is connected with excitation of direct current generator winding 3.Armature circuit voltage andcurrent transducer 5 is connected with armatureDC power supply 1, energized circuit voltage andcurrent transducer 6 is connected withexcitation dc power 4, and armature circuit voltage andcurrent transducer 5 is sent tocontroller 7 with energized circuit voltage andcurrent transducer 6 with voltage, the current signal that collects respectively.The model of armature circuit voltage andcurrent transducer 5 is the Hall-type voltage-current sensor; The model of energized circuit voltage andcurrent transducer 6 is the Hall-type voltage-current sensor.

The method of direct current machine Speedless sensor of the present invention speed governing: on the armatureDC power supply 1 of direct current machine andexcitation dc power 4, armature circuit voltage andcurrent transducer 5 and energized circuit voltage andcurrent transducer 6 are installed respectively, respectively the voltage and current numerical value of armatureDC power supply 1 andexcitation dc power 4 is sampled by armature circuit voltage andcurrent transducer 5 and energized circuit voltage andcurrent transducer 6, and sample information is sent in thecontroller 7; 7 pairs of sample information of controller are carried out calculation process, and the micro core processor in thecontroller 7 calculates motor excitation resistance in circuit value R according to voltage and current signal that the energized circuit voltage andcurrent transducer 6 that receives sends_f, measure the terminal voltage U of energized circuit_fWith exciting current I_f, utilize the Ohm's law calculating formula again:

$R_f=\frac{U_f}{I_f}$Calculate motor excitation resistance in circuit value R_f

According to resistance value R_fJust can calculate motor temperature T with the variation of temperature relation, the temperature of the resistance value of excitation winding and excitation winding itself is linear, by measuring the resistance value of excitation winding, and just can be according to the relational expression of resistance and temperature:

R_f=R_F0+ (1+ α T) calculates the temperature of motor excitation winding.

In the formula: R_fExcitation winding resistance when being motor temperature T ℃; R_F0Be that motor temperature is 0 ℃ a resistance; α is a temperature coefficient of resistance, if temperature coefficient of resistance α is 4.27 * 10^-3(℃^-1),

According to formula (1) (2) and the resistance R measured in advance_F0, the temperature that can calculate the motor excitation winding is:

$T=234\×\frac{R_f-R_{f0}}{R_{f0}}$

Just can calculate armature resistance resistance R according to armature resistance and variation of temperature relation_aBecause the stator excitation winding is positioned on the motor stator magnetic pole, it is very near apart from rotor core, and therefore, the temperature of rotor core in normal operation and motor excitation winding temperature are basic identical.According to the linear relationship of direct current machine armature winding resistance and temperature, the resistance of the armature winding in the time of can calculating motor temperature T ℃:

R_a＝R_a0+(1+α·T)

In the formula: R_aArmature winding resistance when being t ℃; R_A0Be the resistance of 0 ℃ of armature winding; α is a temperature coefficient of resistance.

Armature circuit voltage andcurrent transducer 5 is sent to controller 7 with the armature circuit voltage and current signal that detects, and the micro core processor in thecontroller 7 is according to the DC armature voltage and the current signal that receive and calculate armature resistance R_aResistance, again according to the rate equation of DC motor:

$n=\frac{1}{{\mathrm{kI}}_f}\·(U-i_a{R}_a-L\frac{{\mathrm{di}}_a}{\mathrm{dt}})$Calculate motor speed.

N is a motor speed in the formula; K is a constant coefficient; I_fIt is exciting current; U is an armature voltage; i_aIt is armature supply; R_aIt is armature resistance; L is an armature inductance.

The dc motor speed number that obtains is compared with the setting speed revolution value, if the rotating speed number is inconsistent with setting revolution value, then bycontroller 7 calculate this moment armatureDC power supply 1 andexcitation dc power 4 should put on the voltage swing of motor, and connect armatureDC power supply 1 andexcitation dc power 4 respectively by the transmitting terminal of Schmidt trigger circuit, to armatureDC power supply 1 andexcitation dc power 4 output control signals, change the armature voltage and the exciting voltage of motor, thereby effectively control exerting oneself of direct current machine, make the rotating speed of motor number change, reach consistent with setting revolution value.

Claims (5)

Translated fromChinese

1.一种直流电机无速度传感器调速装置，其特征在于：它包括控制器(7)，控制器(7)的输入端分别连接有电枢回路电压和电流传感器(5)、励磁回路电压和电流传感器(6)和全数字式键盘(8)，其输出端分别连接有电枢直流电源(1)和励磁直流电源(4)，电枢回路电压和电流传感器(5)与电枢直流电源(1)相连接，励磁回路电压和电流传感器(6)与励磁直流电源(4)相连接，枢回路电压和电流传感器(5)与励磁回路电压和电流传感器(6)将分别采集到的电压、电流信号发送至控制器(7)。1. A sensorless speed control device for DC motors, characterized in that: it comprises a controller (7), and the input end of the controller (7) is respectively connected with armature circuit voltage and current sensor (5), excitation circuit voltage And the current sensor (6) and the full digital keyboard (8), the output terminals of which are respectively connected with the armature DC power supply (1) and the excitation DC power supply (4), the armature circuit voltage and current sensor (5) and the armature DC power supply The power supply (1) is connected, the excitation circuit voltage and current sensor (6) is connected with the excitation DC power supply (4), and the armature circuit voltage and current sensor (5) and the excitation circuit voltage and current sensor (6) collect the The voltage and current signals are sent to the controller (7).2.根据权利要求1所述的直流电机无速度传感器调速装置，其特征在于：所述的控制器(7)包括顺序连接的低通滤波电路、数字采样电路、微核心处理器和施密特触发电路。2. The sensorless speed regulating device for DC motors according to claim 1, characterized in that: said controller (7) comprises a sequentially connected low-pass filter circuit, a digital sampling circuit, a micro-core processor and a Schmidt special trigger circuit.3.根据权利要求2所述的直流电机无速度传感器调速装置，其特征在于：所述的微核心处理器型号为TMS320F2812。3. The sensorless speed regulating device for DC motor according to claim 2, characterized in that: the model of the micro-core processor is TMS320F2812.4.根据权利要求1所述的直流电机无速度传感器调速装置，其特征在于：所述的电枢回路电压和电流传感器(5)的型号为霍尔式电压电流传感器；励磁回路电压和电流传感器(6)的型号为霍尔式电压电流传感器。4. The sensorless speed control device for DC motor according to claim 1, characterized in that: the model of the armature circuit voltage and current sensor (5) is a Hall-type voltage and current sensor; the excitation circuit voltage and current The model of the sensor (6) is a Hall-type voltage and current sensor.5.一种直流电机无速度传感器调速的方法，其特征在于：在直流电机的电枢直流电源(1)和励磁直流电源(4)上分别安装电枢回路电压和电流传感器(5)和励磁回路电压和电流传感器(6)，通过电枢回路电压和电流传感器(5)和励磁回路电压和电流传感器(6)分别对电枢直流电源(1)和励磁直流电源(4)的电压和电流数值进行采样，并将采样信息发送到控制器(7)中；控制器(7)对采样信息进行运算处理，得到直流电机的转速数，将转速数与设定转速数值进行比较；若转速数与设定转数值不一致，则控制器(7)计算出此时电枢直流电源(1)和励磁直流电源(4)所应施加于电机的电压大小，对电枢直流电源(1)和励磁直流电源(4)输出控制信号，改变电机的电枢电压和励磁电压，使得电机的转速数发生改变，与设定转数值达到一致。5. A method for DC motor speed sensorless speed regulation, characterized in that: armature circuit voltage and current sensors (5) and The excitation circuit voltage and current sensor (6), through the armature circuit voltage and current sensor (5) and the excitation circuit voltage and current sensor (6), respectively measure the voltage and The current value is sampled, and the sampled information is sent to the controller (7); the controller (7) performs calculation processing on the sampled information to obtain the rotational speed of the DC motor, and compares the rotational speed with the set rotational speed value; if the rotational speed If the number is inconsistent with the set revolution value, the controller (7) calculates the voltage that should be applied to the motor by the armature DC power supply (1) and the excitation DC power supply (4). The excitation DC power supply (4) outputs a control signal to change the armature voltage and the excitation voltage of the motor, so that the rotational speed of the motor changes to be consistent with the set rotational speed.

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