CN109639189A - A kind of brushless dc motor servo system and its control method - Google Patents
A kind of brushless dc motor servo system and its control method Download PDFInfo
- Publication number
- CN109639189A CN109639189A CN201811650650.5A CN201811650650A CN109639189A CN 109639189 A CN109639189 A CN 109639189A CN 201811650650 A CN201811650650 A CN 201811650650A CN 109639189 A CN109639189 A CN 109639189A
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- China
- Prior art keywords
- motor
- brshless
- brushless
- magnetic
- magnetic coder
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 9
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 13
- 239000010959 steel Substances 0.000 claims abstract description 13
- 238000010521 absorption reaction Methods 0.000 claims abstract 2
- 230000009466 transformation Effects 0.000 claims description 12
- 230000005662 electromechanics Effects 0.000 claims description 3
- 238000005070 sampling Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims 2
- 230000010354 integration Effects 0.000 abstract description 3
- 238000009434 installation Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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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
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
A kind of brushless dc motor servo system and its control method, are related to the technical field of direct current generator servo-system.The application includes the motor driver for controlling brshless DC motor operating, and magnetic coder is arranged on one end of motor driving plate absorption magnet steel, motor driving plate on the bearing of brshless DC motor.It is simple that the application realizes structure, and control precision is high, and modular designs, integration degree is high, the purpose of save the cost.
Description
Technical field
This application involves the technical fields of direct current generator servo-system.
Background technique
With the development of industrial automation, robot obtains application energetically.Industrial machinery arm is in crawl or mobile mistake
Cheng Zhong is driven using brshless DC motor.In order to realize the movement of accurate control mechanical arm, the operation to motor is needed
Parameter is read out, and the movement of mechanical arm is further controlled by control motor.Realized currently with Hall encoder and
Motor is synchronous, and then obtains the parameter of motor operation.More complicated on Hall coder structure, operation difficulty is big.
Summary of the invention
It is simple that the application purpose is to provide a kind of structure, and control precision is high, and modular designs, integration degree is high, saves
The brushless dc motor servo system and its control method of cost.
A kind of brushless dc motor servo system, including the motor driver for controlling brshless DC motor operating, nothing
Magnet steel is adsorbed close to one end of motor driver on the bearing of brushless motor, magnetic coder is set on motor driver.
Further, the magnetic coder of the application is located at the middle part of motor driver.
Further, the magnetic coder of the application and the position of magnet steel are corresponding, and magnetic coder is located at the surface of magnet steel.
The control method of brushless dc motor servo system based on the application, firstly, magnetic coder is acquired by magnet steel
To the angle information of brshless DC motor, motor driver calculates brushless dc according to the angle information that magnetic coder obtains
The velocity of rotation information of machine；Then, motor driver carries out AD sampling, obtains the biphase current information of brshless DC motor, into
Row Clark transformation and Park transformation calculate the electric angle that magnetic linkage rotates in conjunction with the electromechanics angle information that magnetic coder obtains
Spend information；Later, motor driver obtains given position information, i.e. the motor angle position to be gone to, given position and angle
Operation is carried out, angular deviation is obtained, does operation by position PID controller, then with motor speed, obtain velocity deviation, is passed through
Speed PI controller obtains quadrature axis current, while being obtained according to the given magnetic linkage of motor driver by magnetic linkage PI controller
Direct-axis current；Finally, quadrature axis current and direct-axis current obtain the PWM of three phase bridge by Park inverse transformation and Clark inverse transformation
Information is exported to three phase bridge, so that brshless DC motor be driven to reach given position.
The application by adopting the above technical scheme, has the advantages that compared with prior art
1, the application will directly fix the motor driver containing magnetic coder on brushless direct current motor, integration degree
Height, it is small in size, it is light-weight, installation cost can be saved.
2, the application facilitates modularization use in each scene using highly integrated design, can voluntarily assemble as machine
The joint motor of tool arm, multi-foot robot etc..
3, the application uses magnetic coder, higher compared to traditional Hall encoder accuracy, available more accurate
Angle realizes more precise control.
4, the application obtains the angle information of motor using magnetic coder, compared to traditional Hall sensor, his essence
Du Genggao.Compared to photoelectric encoder, installation is more flexible and convenient, and cost is lower.To sum up, magnetic coder has precision
Advantage high, small in size and easy for installation.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of the application.
Fig. 2 is the flow chart of the encoder control method of the application.
Specific embodiment
The technical solution of the application is described in detail with reference to the accompanying drawing:
As shown in Figure 1, a kind of brushless dc motor servo system, it is characterised in that including being transported for controlling brshless DC motor 1
The motor driver 3 turned adsorbs magnet steel 2, motor driven close to one end of motor driver 3 on the bearing of brshless DC motor 1
Magnetic coder 4 is set on device 3.
As shown in Figure 1, the magnetic coder 4 of the application is located at the middle part of motor driver 3.
As shown in Figure 1, the magnetic coder 4 of the application is corresponding with the position of magnet steel 2, magnetic coder 4 be located at magnet steel 2 just on
Side.
As shown in Fig. 2, the control method of the brushless dc motor servo system based on the application, firstly, magnetic coder 4 is logical
Cross the angle information that magnet steel 2 collects brshless DC motor 1, the angle information meter that motor driver 3 is obtained according to magnetic coder 4
Calculate the velocity of rotation information of brshless DC motor 1；Then, motor driver 3 carries out AD sampling, obtains brshless DC motor 1
Biphase current information, carry out Clark transformation and Park transformation, in conjunction with magnetic coder 4 obtain electromechanics angle information, meter
Calculate the electrical angle information of magnetic linkage rotation；Later, motor driver 3 obtains given position information, i.e. the motor angle to be gone to
Position, given position and angle carry out operation, obtain angular deviation, transport by position PID controller, then with motor speed
It calculates, obtains velocity deviation, by speed PI controller, obtain quadrature axis current, while according to the given magnetic linkage of motor driver 3,
By magnetic linkage PI controller, direct-axis current is obtained；Finally, quadrature axis current and direct-axis current are inverse by Park inverse transformation and Clark
Transformation obtains the PWM information of three phase bridge, exports to three phase bridge, so that brshless DC motor 1 be driven to reach given position.
The application directly fixes the motor driver 3 containing magnetic coder 4 on brushless direct current motor 1, integrated journey
Degree is high, small in size, light-weight, can save installation cost.The angle information of brushless direct current motor 1 is obtained using magnetic coder 4,
Compared to traditional Hall sensor, his precision is higher；Compared to photoelectric encoder, installation is more flexible and convenient, and cost is more
It is low.
Claims (4)
1. a kind of brushless dc motor servo system, it is characterised in that including the electricity for controlling brshless DC motor (1) operating
Machine driver (3), close to motor driving plate (3) one end absorption magnet steel (2), motor driven on the bearing of brshless DC motor (1)
Magnetic coder (4) are set on device (3).
2. brushless dc motor servo system according to claim 1, it is characterised in that above-mentioned magnetic coder (4) is located at electricity
The middle part of machine driver (3).
3. brushless dc motor servo system according to claim 1 or 2, it is characterised in that above-mentioned magnetic coder (4) with
The position of magnet steel (2) is corresponding, and magnetic coder (4) is located at the surface of magnet steel (2).
4. the control method based on brushless dc motor servo system described in claim 1, it is characterised in that: firstly, magnetic is compiled
Code device (4) collects the angle information of brshless DC motor (1) by magnet steel (2), and motor driver (3) is according to magnetic coder
(4) angle information obtained calculates the velocity of rotation information of brshless DC motor (1)；Then, motor driver (3) carries out AD
Sampling obtains the biphase current information of brshless DC motor (1), Clark transformation and Park transformation is carried out, in conjunction with magnetic coder
(4) the electromechanics angle information obtained calculates the electrical angle information of magnetic linkage rotation；Later, motor driver (3) acquisition is given
Determine location information, i.e. the motor angle position to be gone to, given position and angle carry out operation, angular deviation obtained, by position
PID controller is set, then does operation with motor speed, obtains velocity deviation, by speed PI controller, obtains quadrature axis current, together
When direct-axis current obtained by magnetic linkage PI controller according to the given magnetic linkage of motor driver (3)；Finally, quadrature axis current and straight
Shaft current obtains the PWM information of three phase bridge by Park inverse transformation and Clark inverse transformation, exports to three phase bridge, to drive
Dynamic brshless DC motor (1) reaches given position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811650650.5A CN109639189A (en) | 2018-12-31 | 2018-12-31 | A kind of brushless dc motor servo system and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811650650.5A CN109639189A (en) | 2018-12-31 | 2018-12-31 | A kind of brushless dc motor servo system and its control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109639189A true CN109639189A (en) | 2019-04-16 |
Family
ID=66055094
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811650650.5A Pending CN109639189A (en) | 2018-12-31 | 2018-12-31 | A kind of brushless dc motor servo system and its control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109639189A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103414427A (en) * | 2013-08-12 | 2013-11-27 | 南京工程学院 | Brushless direct current motor control method |
| CN105490602A (en) * | 2016-01-04 | 2016-04-13 | 珠海格力电器股份有限公司 | Motor control method and device and servo driver |
| CN106208540A (en) * | 2016-08-31 | 2016-12-07 | 江苏大电机电有限公司 | A kind of magnetic coding permagnetic synchronous motor driven for electric automobile |
| CN206878653U (en) * | 2017-05-15 | 2018-01-12 | 江苏新伟动力科技有限公司 | A kind of automobile-used magnetic coder structure of electric car or electric motorcycle |
| CN108267691A (en) * | 2018-01-04 | 2018-07-10 | 广东容祺智能科技有限公司 | A kind of on-line detecting system of unmanned plane brushless motor |
-
2018
- 2018-12-31 CN CN201811650650.5A patent/CN109639189A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103414427A (en) * | 2013-08-12 | 2013-11-27 | 南京工程学院 | Brushless direct current motor control method |
| CN105490602A (en) * | 2016-01-04 | 2016-04-13 | 珠海格力电器股份有限公司 | Motor control method and device and servo driver |
| CN106208540A (en) * | 2016-08-31 | 2016-12-07 | 江苏大电机电有限公司 | A kind of magnetic coding permagnetic synchronous motor driven for electric automobile |
| CN206878653U (en) * | 2017-05-15 | 2018-01-12 | 江苏新伟动力科技有限公司 | A kind of automobile-used magnetic coder structure of electric car or electric motorcycle |
| CN108267691A (en) * | 2018-01-04 | 2018-07-10 | 广东容祺智能科技有限公司 | A kind of on-line detecting system of unmanned plane brushless motor |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190416 |