CN112003505A - DSP-based electric bicycle digital control system - Google Patents
DSP-based electric bicycle digital control systemDownload PDFInfo
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- CN112003505A CN112003505ACN202010857527.1ACN202010857527ACN112003505ACN 112003505 ACN112003505 ACN 112003505ACN 202010857527 ACN202010857527 ACN 202010857527ACN 112003505 ACN112003505 ACN 112003505A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
- H02P6/085—Arrangements for controlling the speed or torque of a single motor in a bridge configuration
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
- H02P25/024—Synchronous motors controlled by supply frequency
- H02P25/026—Synchronous motors controlled by supply frequency thereby detecting the rotor position
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/16—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using DC to AC converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using DC to AC converters or inverters with pulse width modulation
- H02P27/12—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using DC to AC converters or inverters with pulse width modulation pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
Translated fromChinese
Description
Translated fromChinese技术领域technical field
本发明涉及DSP技术领域，具体是一种基于DSP的电动自行车数字控制系统。The invention relates to the technical field of DSP, in particular to a digital control system for electric bicycles based on DSP.
背景技术Background technique
调压调速是无刷直流电机最常用的调速方式其主要是通过改变加在电机电枢绕组两端的电压来改变电机的转速其通常是将电机的电压由额定电压向下调节以控制电机转速由额定转速向下变化这种调速方式能够实现驱动系统转速的大范围平滑调节，以下两种：Voltage regulation and speed regulation is the most commonly used speed regulation method for brushless DC motors. It mainly changes the speed of the motor by changing the voltage applied across the armature windings of the motor. Usually, the voltage of the motor is adjusted downward from the rated voltage to control the motor. The speed is changed downward from the rated speed. This speed regulation method can realize a wide range of smooth adjustment of the speed of the drive system, the following two:
1、旋转变流机构调节方式：1. Adjustment method of rotary converter mechanism:
旋转变流机构主要由一台原动机与一台发电机共同组成其实际上是一组输出电压可调的发电机组。其能够很好地实现调压调速的功能但其有体积庞大、系统复杂、维护不便的缺点限制了它的应用。The rotary converter mechanism is mainly composed of a prime mover and a generator, which is actually a set of generator sets with adjustable output voltage. It can well realize the function of voltage regulation and speed regulation, but its disadvantages such as bulky volume, complex system and inconvenient maintenance limit its application.
2、静止变流机构调节方式：2. Adjustment method of static converter mechanism:
静止变流机构是使用晶闸管的一种变流装置。其在调速性能、经济性和可靠性上都较旋转变流机构有优势但其仍存在功率因素低、电压脉动大的缺点。A static converter mechanism is a converter device using thyristors. Compared with the rotary converter mechanism, it has advantages in speed regulation performance, economy and reliability, but it still has the disadvantages of low power factor and large voltage pulsation.
发明内容SUMMARY OF THE INVENTION
本发明的目的在于提供一种基于DSP的电动自行车数字控制系统，以解决上述背景技术中提出的问题。The purpose of the present invention is to provide a digital control system for electric bicycles based on DSP to solve the problems raised in the above background art.
为实现上述目的，本发明提供如下技术方案：To achieve the above object, the present invention provides the following technical solutions:
一种基于DSP的电动自行车数字控制系统，包括人机交互界面、DSP芯片、直流电源、逆变电路和驱动模块，所述DSP芯片上分别连接人机交互界面和驱动模块，驱动模块还连接逆变电路，逆变电路还分别连接直流电源和电机M，DSP芯片输出PWM信号，经过驱动模块调理、放大后送至逆变电路，控制 MOSFET 管的通断，逆变电路根据驱动信号输出电源，驱动电机M转动，相电压、相电流及母线电压经检测电路输送给DSP芯片的ADC端口，经DSP芯片处理后获取转子位置信号，对电机进行闭环控制。A digital control system for electric bicycles based on DSP, comprising a human-computer interaction interface, a DSP chip, a DC power supply, an inverter circuit and a driving module, the DSP chip is respectively connected with the human-computer interaction interface and the driving module, and the driving module is also connected with an inverter. The inverter circuit is also connected to the DC power supply and the motor M respectively. The DSP chip outputs the PWM signal, which is conditioned and amplified by the drive module and sent to the inverter circuit to control the on-off of the MOSFET. The inverter circuit outputs the power according to the drive signal. The motor M is driven to rotate, and the phase voltage, phase current and bus voltage are sent to the ADC port of the DSP chip through the detection circuit, and the rotor position signal is obtained after being processed by the DSP chip, and the motor is closed-loop controlled.
作为本发明的进一步技术方案：所述DSP芯片采用3.3V直流电供电。As a further technical solution of the present invention: the DSP chip is powered by 3.3V direct current.
作为本发明的进一步技术方案：所述DSP芯片采用TIC2000系列DSP中的TMS320F28335芯片。As a further technical solution of the present invention, the DSP chip adopts the TMS320F28335 chip in the TIC2000 series DSP.
作为本发明的进一步技术方案：所述驱动模块采用DRV8301驱动器。As a further technical solution of the present invention: the driving module adopts a DRV8301 driver.
作为本发明的进一步技术方案：所述逆变电路采用三相逆变电路。As a further technical solution of the present invention: the inverter circuit adopts a three-phase inverter circuit.
作为本发明的进一步技术方案：所述直流电源为6-60V电源。As a further technical solution of the present invention: the DC power supply is a 6-60V power supply.
作为本发明的进一步技术方案：所述电机采用三相无刷直流电机。As a further technical solution of the present invention: the motor adopts a three-phase brushless DC motor.
与现有技术相比，本发明的有益效果是：本发明基于DSP的电动自行车数字控制系统精度高，速度快，以高性能的DSP为核心、以软件控制为导向；可编程，对环境不敏感，可以实现准确的操作，采用先进的算法，采用多级辅助功能，易于升级；能够用软件实现复杂控制算法，而不需采用复杂的模拟电路设计；可以通过软件程序修改实现不同的控制算法，无需更改硬件电路；可降低体积、重量和功耗。Compared with the prior art, the beneficial effects of the present invention are: the DSP-based electric bicycle digital control system of the present invention has high precision and high speed, takes high-performance DSP as the core, and is guided by software control; Sensitive, can achieve accurate operation, adopts advanced algorithm, adopts multi-level auxiliary functions, and is easy to upgrade; can use software to realize complex control algorithm without using complex analog circuit design; can realize different control algorithms through software program modification , no need to change the hardware circuit; it can reduce the volume, weight and power consumption.
附图说明Description of drawings
图1是系统硬件电路整体结构图；Fig. 1 is the overall structure diagram of the system hardware circuit;
图2是电动机驱动器系统图；Figure 2 is a system diagram of a motor driver;
图3是三相无刷直流电动机驱动原理图。Figure 3 is a schematic diagram of a three-phase brushless DC motor drive.
图4为电动自行车调速电路图。Figure 4 is a circuit diagram of electric bicycle speed regulation.
图5是系统软件设计总流程图。Fig. 5 is the overall flow chart of system software design.
图6是电子换向程序流程图。Figure 6 is a flow chart of the electronic commutation procedure.
图7是速度电流控制流程图。FIG. 7 is a flow chart of speed current control.
具体实施方式Detailed ways
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
请参阅图1-7，实施例1：一种基于DSP的电动自行车数字控制系统，包括人机交互界面、DSP芯片、直流电源、逆变电路和驱动模块，所述DSP芯片上分别连接人机交互界面和驱动模块，驱动模块还连接逆变电路，逆变电路还分别连接直流电源和电机M，DSP芯片输出PWM信号，经过驱动模块调理、放大后送至逆变电路，控制 MOSFET 管的通断，逆变电路根据驱动信号输出电源，驱动电机M转动，相电压、相电流及母线电压经检测电路输送给DSP芯片的ADC端口，经DSP芯片处理后获取转子位置信号，对电机进行闭环控制。Please refer to Figs. 1-7. Embodiment 1: A digital control system for electric bicycles based on DSP, including a human-computer interaction interface, a DSP chip, a DC power supply, an inverter circuit and a drive module. The DSP chips are respectively connected to the human-machine interface The interactive interface and the drive module, the drive module is also connected to the inverter circuit, and the inverter circuit is also connected to the DC power supply and the motor M respectively. The DSP chip outputs a PWM signal, which is conditioned and amplified by the drive module and sent to the inverter circuit to control the MOSFET's conduction. The inverter circuit outputs the power according to the driving signal, and drives the motor M to rotate. The phase voltage, phase current and bus voltage are sent to the ADC port of the DSP chip through the detection circuit, and the rotor position signal is obtained after being processed by the DSP chip, and the motor is closed-loop controlled. .
如图2所示，系统的结构不仅包括电机本体，还包括控单元、驱动单元（电源电路）、位置信号检测于一体的机电控制系统。电动机的驱动模块呈现模块化设计，硬件的简化与功能的大幅提升，扩展了未来软件伺服的发展空间。整体考虑到效率、功率密度、稳定度、带宽。伺服刚度等与均衡的设计符合一定的价格和可靠度先决条件。能明显降低控制器硬件成本，可显著改善控制的可靠性，数字电路温度漂移小，使信息的双向传递能力大大增强，提高了信息存储、监控、诊断以及分级控制的能力，使系统更加趋于智能化。As shown in Figure 2, the structure of the system not only includes the motor body, but also includes a control unit, a drive unit (power circuit), and an electromechanical control system integrating position signal detection. The drive module of the motor presents a modular design, the simplification of hardware and the substantial improvement of functions expand the development space of software servo in the future. The overall consideration is efficiency, power density, stability, and bandwidth. Servo stiffness, etc. and balanced design meet certain price and reliability prerequisites. It can significantly reduce the hardware cost of the controller and improve the reliability of control. The temperature drift of the digital circuit is small, which greatly enhances the bidirectional transmission ability of information, improves the ability of information storage, monitoring, diagnosis and hierarchical control, and makes the system more inclined to Intelligent.
本发明采用DSP 型号为TI公司的C2000系列，TMS320F28335.将各种高级数字控制功能集成与一颗IC上，强大的信号处理能力可大幅提高应用效率，降低功耗。该系列DSP芯片是目前控制领域性能最高的处理器，具有精度高、速度快、集成度高等特点，为不同控制领域提供了高性能解决方案。集成了多种外设，能够单片实现绝大多数的典型控制系统。同时经过优化的内核可以有效提高系统的可靠性和灵活性。TMS320F28335浮点处理器，极大简化了开发周期，对控制应用的平均处理能力提高了近50%.TMS320F28335 由 3．3 V单电源供电，拥有高32 位中央处理单元，运算主频达 150 MHz，片上集成有丰富的外设资源，包括 SPI、ePWM、eCAP、ADC 等等，提高了数字信号的响应及处理过程，增强了控制器对电机的实时调控能力。本文采用3 对 PWM 输出电机控制信号，7 路 ADC 分别采集驱动电路三相交流相电压、直流输入电压和三相电流。The present invention adopts DSP model C2000 series of TI company, TMS320F28335. Various advanced digital control functions are integrated into one IC, and the powerful signal processing capability can greatly improve application efficiency and reduce power consumption. This series of DSP chips is the processor with the highest performance in the control field at present. It has the characteristics of high precision, fast speed and high integration, and provides high-performance solutions for different control fields. A variety of peripherals are integrated, and most typical control systems can be implemented on a single chip. At the same time, the optimized kernel can effectively improve the reliability and flexibility of the system. The TMS320F28335 floating-point processor greatly simplifies the development cycle and increases the average processing capacity of control applications by nearly 50%. The TMS320F28335 is powered by a 3.3 V single power supply, has a high 32-bit central processing unit, and has a main operating frequency of 150 MHz. , The chip integrates a wealth of peripheral resources, including SPI, ePWM, eCAP, ADC, etc., which improves the response and processing of digital signals, and enhances the controller's real-time control capability for the motor. In this paper, 3 pairs of PWM are used to output motor control signals, and 7 ADCs are used to collect the three-phase AC phase voltage, DC input voltage and three-phase current of the drive circuit respectively.
DSP芯片采用3.3V直流电供电。DSP芯片采用TIC2000系列DSP中的TMS320F28335芯片。驱动模块采用DRV8301驱动器。逆变电路采用三相逆变电路。直流电源为6-60V电源。电机采用三相无刷直流电机。The DSP chip is powered by 3.3V DC. DSP chip adopts TMS320F28335 chip in TIC2000 series DSP. The driver module adopts DRV8301 driver. The inverter circuit adopts a three-phase inverter circuit. The DC power supply is 6-60V power supply. The motor adopts a three-phase brushless DC motor.
速度、电流控制程序设计根据无刷直流电机的数学模型可知，其转速基本上跟电压成正比，转矩基本和相电流成正比。为了使控制精度和动态性能达到最优，本系统选用了转速、电流双闭环调速系统。电流环采用调节器，速度环采用积分分离控制算法。它具有良好的起动和抗干扰性能，可以满足本系统的需要。Speed and current control program design According to the mathematical model of the brushless DC motor, the speed is basically proportional to the voltage, and the torque is basically proportional to the phase current. In order to optimize the control accuracy and dynamic performance, the system adopts the speed and current double closed-loop speed regulation system. The current loop adopts the regulator, and the speed loop adopts the integral separation control algorithm. It has good starting and anti-interference performance, which can meet the needs of this system.
速度、电流控制程序大致的工作过程如下，DSP以每1ms-10ms为一周期循环检测调速转把输出的电压，检测到的电压经采样后通过控制程序的相关算法转化成的占空比，占空比值越大则加载到电机两端的电压就越大，电机转速增加，当占空比达到无法通过调节电压来改变转速时，通过调节电机中的相电流大小来调节电机的转速。速度、电流控制程序流程图图7。The general working process of the speed and current control program is as follows. The DSP detects the voltage output by the speed control switch every 1ms-10ms cycle, and the detected voltage is sampled and converted into a duty cycle by the relevant algorithm of the control program. The larger the duty cycle value is, the greater the voltage applied to both ends of the motor, and the motor speed increases. When the duty cycle reaches that the speed cannot be changed by adjusting the voltage, the motor speed can be adjusted by adjusting the phase current in the motor. The flow chart of speed and current control program is shown in Figure 7.
实施例2，在实施例1的基础上，电动自行车在行驶过程中，需要根据路况进行速度的调节，调速电路跟汽车油门系统相似，在电动自行车中的油门可以近似成一个可变电阻，通过阻值的变化，进而使电压输出量改变，相当于改变电机端电压进行调速。电压量经过信号调节输入到电压跟随器，确保信号的持续稳定，最后进入处理芯片（DSP）的模数转换模块，进行处理运算。如图4所示，稳压管确保了输入DSP 的电压在5V以内。Embodiment 2, on the basis of Embodiment 1, the electric bicycle needs to adjust the speed according to the road conditions during the driving process. The speed regulation circuit is similar to the accelerator system of the car. The accelerator in the electric bicycle can be approximated as a variable resistor. By changing the resistance value, the voltage output is changed, which is equivalent to changing the motor terminal voltage for speed regulation. The voltage is input to the voltage follower through signal conditioning to ensure the continuous stability of the signal, and finally enters the analog-to-digital conversion module of the processing chip (DSP) for processing operations. As shown in Figure 4, the Zener tube ensures that the voltage input to the DSP is within 5V.
对于本领域技术人员而言，显然本发明不限于上述示范性实施例的细节，而且在不背离本发明的精神或基本特征的情况下，能够以其他的具体形式实现本发明。因此，无论从哪一点来看，均应将实施例看作是示范性的，而且是非限制性的，本发明的范围由所附权利要求而不是上述说明限定，因此旨在将落在权利要求的等同要件的含义和范围内的所有变化囊括在本发明内。不应将权利要求中的任何附图标记视为限制所涉及的权利要求。It will be apparent to those skilled in the art that the present invention is not limited to the details of the above-described exemplary embodiments, but that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments are to be regarded in all respects as illustrative and not restrictive, and the scope of the invention is to be defined by the appended claims rather than the foregoing description, which are therefore intended to fall within the scope of the claims. All changes within the meaning and range of the equivalents of , are included in the present invention. Any reference signs in the claims shall not be construed as limiting the involved claim.
此外，应当理解，虽然本说明书按照实施方式加以描述，但并非每个实施方式仅包含一个独立的技术方案，说明书的这种叙述方式仅仅是为清楚起见，本领域技术人员应当将说明书作为一个整体，各实施例中的技术方案也可以经适当组合，形成本领域技术人员可以理解的其他实施方式。In addition, it should be understood that although this specification is described in terms of embodiments, not each embodiment only includes an independent technical solution, and this description in the specification is only for the sake of clarity, and those skilled in the art should take the specification as a whole , the technical solutions in each embodiment can also be appropriately combined to form other implementations that can be understood by those skilled in the art.
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