Six-step reversing motor control device

Abstract

The utility model relates to the field of motor control, and provides a six-step commutation motor control device which comprises a pulse width modulation circuit, a control circuit and a motor. The pulse width modulation circuit is electrically connected with the motor so as to generate a corresponding pulse width modulation signal according to a difference value between actual data of the motor and preset target data; the control circuit is electrically connected with the pulse width modulation circuit and the motor so as to regulate and control the motor according to the duty ratio of the pulse width modulation signal. According to the invention, summation processing is carried out according to the difference value between the actual data and the target data to obtain the pulse width control signal in the steady state, and the motor is regulated and controlled according to the pulse width control signal, so that the motor is ensured to maintain steady-state work at the moment when the external force is applied and the moment when the external force is lost.

Description

Technical Field

[0001] The present application relates to the field of motor control, and in particular to a six-step commutation motor control device. Background Art

[0002] At present, the control of the six-step commutation motor is often directly input to the target speed, and then the PID system generates a corresponding pulse width modulation signal, and then controls the motor to adjust the target speed according to the duty cycle of the pulse width modulation signal, so that the measured actual speed gradually approaches the target speed. In application, the six-step commutation motor is subjected to an instantaneous external force, which makes the actual speed different from the target speed. Then in the next stage, the PID tries to correct it. However, when the instantaneous external force is removed, the motor is very likely to fail; for example, the instantaneous external force is a positive force that makes the actual speed greater than the target speed. At this time, the PID will control the motor's speed to decrease, and when the instantaneous external force is removed, the actual speed of the motor drops sharply, which can easily cause the motor to stop. Utility Model Content

[0003] In order to solve the problem that in the control of a six-step commutation motor, a positive force is applied when the motor rotates, and the actual speed of the motor will be much lower than the target speed and may even cause the motor to stop when the positive force disappears, the present application provides a six-step commutation motor control device.

[0004] The six-step commutation motor control device provided in this application adopts the following technical solution:

[0005] A six-step commutation motor control device comprises a pulse width modulation circuit, a control circuit and a motor; the pulse width modulation circuit is electrically connected to the motor to generate a corresponding pulse width modulation signal by summing the difference between actual data of the motor and preset target data; the control circuit is electrically connected to the pulse width modulation circuit and the motor respectively to control the motor according to the duty cycle of the pulse width modulation signal.

[0006] By adopting the above technical solution, the pulse width modulation signal of the pulse width modulation circuit generates a pulse width modulation signal according to the difference between the actual data and the target data, and the speed of the motor is adjusted according to the duty cycle of the pulse width modulation signal. In this case, the actual data is not directly involved in the control of the motor, but the difference between the actual value and the target value is summed to ensure that the generated pulse width modulation signal is a steady-state value as much as possible, and then the motor is controlled according to the duty cycle of the pulse width modulation signal corresponding to the steady-state value to ensure that the motor maintains steady-state operation at the moment when external force is applied and the moment when the external force is lost.

[0007] Optionally, the pulse width modulation circuit includes a real-time sensor, an input unit, a calculation unit and a pulse width modulation unit; the input end of the real-time sensor is electrically connected to the motor to monitor the actual data of the motor in real time, and the input unit is used to obtain target data;

[0008] The calculation unit has a first input terminal, a second input terminal and an output terminal, the first input terminal is electrically connected to the output terminal of the real-time sensor, the second input terminal is electrically connected to the input unit, and the output terminal is electrically connected to the input terminal of the pulse width modulation unit to transmit error data generated according to the actual data and the target data;

[0009] The output terminal of the pulse width modulation unit is electrically connected to the input terminal of the control circuit to transmit a pulse width modulation signal generated according to the error data.

[0010] By adopting the above technical solution, the real-time sensor detects the actual data of the motor, the input unit obtains the target data, the calculation unit calculates the difference between the actual data and the target data, and transmits the difference as error data to the pulse width modulation unit. The pulse width modulation unit sums the error data to obtain a steady-state control parameter, and generates a pulse width modulation signal based on the control parameter to control the motor to perform corresponding operations through the control circuit.

[0011] Optionally, the actual data includes an actual rotational speed, and the target data includes a target rotational speed.

[0012] Optionally, the pulse width modulation signal is generated by the pulse width modulation unit according to a control parameter, and the control parameter is the sum of a proportional value, an integral value and a differential value generated by the pulse width modulation unit according to a change in error data.

[0013] By adopting the above technical solution, the pulse width modulation unit calculates the proportional value, integral value and differential value corresponding to the current moment according to the error sequence composed of the previous and subsequent error data, and then sums the proportional value, integral value and differential value to obtain the control parameter, and generates a pulse width modulation signal (PWM signal) corresponding to the pulse width according to the control parameter.

[0014] Optionally, the calculation unit and the pulse width modulation unit are integrated into a microprocessor.

[0015] By adopting the above technical solution, the calculation unit and the pulse width modulation unit are integrated into a microprocessor, which ensures the miniaturization of the entire control device and improves its applicability.

[0016] Optionally, the real-time sensor is a speed loop.

[0017] Optionally, the pulse width modulation circuit further includes an alarm unit, which is electrically connected to the calculation unit to trigger an alarm when the error data is within a preset alarm range.

[0018] By adopting the above technical solution, the alarm unit is set to issue an alarm when the error data is within the preset alarm range, so as to indicate that the actual data of the current motor deviates too much from the target data, and remind the staff to check it in time.

[0019] Optionally, the alarm unit includes a first alarm light, a timer and a second alarm light. The first alarm light is electrically connected to the calculation unit so as to light up when the error data is within a preset alarm range. The timer is electrically connected to the first alarm light so as to count when the first alarm light is on and reset to obtain timing data when the first alarm light is off. The second alarm light is electrically connected to the timer so as to light up when the timing data reaches a preset duration.

[0020] By adopting the above technical solution, the first warning light is used to prompt that the current actual data of the motor deviates too much from the target data, and the second warning light is used to prompt that "the current actual data of the motor deviates too much from the target data" and this situation continues for more than a preset time, further reminding the staff to check for faults.

[0021] In summary, this application includes the following beneficial technical effects:

[0022] In this case, the difference between the actual data and the target data is first calculated as the error value, and then the proportional value, integral value and differential value are calculated according to the error sequence in which the error value is located, and then the steady-state control parameter is obtained by summing the proportional value, integral value and differential value, and a pulse width modulation signal is generated according to the control parameter, and then the motor is controlled to perform the corresponding operation. In this case, the steady-state control parameter is obtained by the error value to generate a steady-state pulse width control signal to ensure that the motor maintains steady-state operation at the moment when the external force is applied and the moment when the external force is lost. Compared with the prior art in which the motor drastically adjusts the speed at the moment when the external force is applied and the moment when the external force is lost, this case adjusts the pulse width control signal through the steady-state control parameter to promote the motor to maintain a steady-state adjustment of the speed, which is more friendly to the operation of the motor and improves the motor's performance in resisting external force interference. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural schematic diagram of the six-step commutation motor control device provided by the utility model;

[0024] Figure 2 yes Figure 1 Schematic diagram of the pulse width modulation circuit.

[0025] Description of reference numerals:

[0026] 100. Six-step commutation motor control device; 11. Pulse width modulation circuit; 12. Control circuit; 13. Motor; 111. Real-time sensor; 112. Input unit; 113. Calculation unit; 114. Pulse width modulation unit; 115. Alarm unit; 1151. First alarm light; 1152. Timer; 1153. Second alarm light. DETAILED DESCRIPTION

[0027] The present application is further described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0028] Unless expressly limited, the terms "a", "an", and "the" are not intended to refer to a singular entity, but rather to include general categories of which specific examples may be used for illustration. Thus, the use of the terms "a" or "an" may mean any number of at least one, including "one", "one or more", "at least one", and "one or more than one". The term "or" means any of the alternatives and any combination of the alternatives, including all alternatives, unless the alternatives are expressly indicated to be mutually exclusive. The phrase "at least one of" when combined with a list of items refers to a single item in the list or any combination of the items in the list. The phrase does not require all of the listed items unless expressly limited to that.

[0029] The present application embodiment discloses a six-step commutation motor control device 100, referring to Figure 1 , including a pulse width modulation circuit 11, a control circuit 12 and a motor 13; the pulse width modulation circuit is electrically connected to the motor to generate a corresponding pulse width modulation signal by summing the difference between the actual data of the motor 13 and the preset target data; the control circuit 12 is electrically connected to the pulse width modulation circuit 11 and the motor 13 to control the motor 13 according to the duty cycle of the pulse width modulation signal.

[0030] refer to Figure 1, the pulse width modulation circuit 11 includes a real-time sensor 111, an input unit 112, a calculation unit 113 and a pulse width modulation unit 114. The input end of the real-time sensor 111 is electrically connected to the motor 13 to monitor the actual data of the motor 13 in real time, and the input unit 112 is used to obtain the target data; the calculation unit 113 has a first input end, a second input end and an output end, the first input end is electrically connected to the output end of the real-time sensor 111, the second input end is electrically connected to the input unit 112, and the output end is electrically connected to the input end of the pulse width modulation unit 114 to transmit the error data generated according to the actual data and the target data; the output end of the pulse width modulation unit 114 is electrically connected to the input end of the control circuit to transmit the pulse width modulation signal generated according to the error data. The process of the pulse width modulation unit 114 generating a pulse width modulation signal according to the error data includes: the pulse width modulation unit generates a proportional value, an integral value and a differential value according to the change of the error data, calculates the sum of the proportional value, the integral value and the differential value as a control parameter, and generates a pulse width modulation unit according to the control parameter.

[0031] During implementation, the real-time sensor 111 detects the actual data of the motor 13, the input unit 112 obtains the target data, the calculation unit 113 calculates the difference between the actual data and the target data, and transmits the difference as error data to the pulse width modulation unit 114. The pulse width modulation unit 114 calculates the proportional value, integral value and differential value corresponding to the current moment according to the error sequence composed of the previous and subsequent error data, and then sums the proportional value, integral value and differential value to obtain the control parameter, and generates a pulse width modulation signal (PWM signal) of the corresponding pulse width according to the control parameter. After the pulse width modulation signal is transmitted to the control circuit 12, the control circuit 12 controls the motor 13 to perform the corresponding operation according to the duty cycle of the pulse width modulation signal.

[0032] As a preferred example, the real-time sensor is a speed loop pid, the actual data includes the actual rotation speed, the target data includes the target rotation speed, and the control circuit 12 controls the motor 13 to adjust the rotation speed according to the duty cycle of the pulse width modulation signal.

[0033] As a preferred example, the calculation unit 113 and the pulse width modulation unit 114 are integrated into a microprocessor. Integrating the calculation unit 113 and the pulse width modulation unit 114 into a microprocessor ensures the miniaturization of the entire control device and improves applicability.

[0034] refer to Figure 2 The pulse width modulation circuit 11 further includes an alarm unit 115, which is electrically connected to the calculation unit 113 to trigger an alarm when the error data is within a preset alarm range.

[0035] By adopting the above technical solution, the setting of the alarm unit 115 is intended to give an alarm when the error data is within the preset alarm range, so as to indicate that the actual data of the current motor 13 deviates too much from the target data, and to remind the staff to check in time.

[0036] Optionally, the alarm unit 115 includes a first alarm light 1151, a timer 1152, and a second alarm light 1153. The first alarm light 1151 is electrically connected to the calculation unit 113 to light up when the error data is within a preset alarm range. The timer 1152 is electrically connected to the first alarm light 1151 to count when the first alarm light 1151 is on and to reset to obtain timing data when the first alarm light 1151 is off. The second alarm light 1153 is electrically connected to the timer 1152 to light up when the timing data reaches a preset duration. The first alarm light 1151 is used to prompt that the actual data of the current motor 13 deviates too much from the target data, and the second alarm light 1153 is used to prompt that the situation that "the actual data of the current motor 13 deviates too much from the target data" continues for more than a preset duration, further reminding the staff to check for faults. Among them, the setting with a preset duration is usually set by the staff themselves.

[0037] In summary, this case calculates the difference between the actual data and the target data as the error value, and then calculates the proportional value, integral value and differential value according to the error sequence in which the error value is located, and then sums the proportional value, integral value and differential value to obtain the steady-state control parameter, and generates a pulse width modulation signal based on the control parameter, and then controls the motor 13 to perform the corresponding operation. In this case, the steady-state control parameter is obtained through the error value to generate a steady-state pulse width control signal, ensuring that the motor 13 maintains a steady-state adjustment speed at the moment when the external force is applied and the moment when the external force is lost, which is more friendly to the operation of the motor 13 and improves the performance of the motor 13 in resisting external force interference.

[0038] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A six-step commutation motor control device, characterized in that: The invention comprises a pulse width modulation circuit, a control circuit and a motor; the pulse width modulation circuit is electrically connected to the motor to generate a corresponding pulse width modulation signal according to the difference between the actual data of the motor and the preset target data; the control circuit is electrically connected to the pulse width modulation circuit and the motor respectively to control the motor according to the duty cycle of the pulse width modulation signal; The pulse width modulation circuit includes a real-time sensor, an input unit, a calculation unit and a pulse width modulation unit; the input end of the real-time sensor is electrically connected to the motor to monitor the actual data of the motor in real time, and the input unit is used to obtain target data; The calculation unit has a first input terminal, a second input terminal and an output terminal, the first input terminal is electrically connected to the output terminal of the real-time sensor, the second input terminal is electrically connected to the input unit, and the output terminal is electrically connected to the input terminal of the pulse width modulation unit to transmit error data generated according to the actual data and the target data; The output terminal of the pulse width modulation unit is electrically connected to the input terminal of the control circuit to transmit a pulse width modulation signal generated according to the error data.

2. The six-step commutation motor control device according to claim 1, characterized in that: The actual data includes an actual rotation speed, and the target data includes a target rotation speed.

3. The six-step commutation motor control device according to claim 1, characterized in that: The pulse width modulation signal is generated by the pulse width modulation unit according to a control parameter, and the control parameter is the sum of a proportional value, an integral value and a differential value generated by the pulse width modulation unit according to a change in error data.

4. The six-step commutation motor control device according to claim 1, characterized in that: The calculation unit and the pulse width modulation unit are integrated into a microprocessor.

5. The six-step commutation motor control device according to claim 1, characterized in that: The real-time sensor is a speed loop.

6. The six-step commutation motor control device according to claim 1, characterized in that: The pulse width modulation circuit further includes an alarm unit, which is electrically connected to the calculation unit to trigger an alarm when the error data is within a preset alarm range.

7. The six-step commutation motor control device according to claim 6, characterized in that: The alarm unit includes a first alarm light, a timer and a second alarm light. The first alarm light is electrically connected to the calculation unit so as to light up when the error data is within a preset alarm range. The timer is electrically connected to the first alarm light so as to count when the first alarm light is on and reset to obtain timing data when the first alarm light is off. The second alarm light is electrically connected to the timer so as to light up when the timing data reaches a preset duration.

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