CN112260589A - Time-sharing multiplexing motor controller suitable for multi-electric aircraft - Google Patents
Time-sharing multiplexing motor controller suitable for multi-electric aircraft Download PDFInfo
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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
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/74—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more ac dynamo-electric motors
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Abstract
The application provides a time sharing multiplex machine controller suitable for many electric aircraft for carry out servo control to multiple motor, machine controller includes: the information acquisition circuit is used for acquiring and detecting state parameters of the motor, and the state parameters comprise voltage, current, motor rotating speed and rotor position; the servo control circuit is used for receiving a state instruction of the upper computer to drive any one of the motors to work and generating a control instruction for adjusting the state of the motor according to data of the information acquisition circuit; the drive circuit is used for driving the motor to work according to the control instruction of the servo control circuit; and the power circuit is used for inverting the input power supply to form three-phase alternating current power supplies with different frequencies and currents required by different motors to work. The method and the device can avoid the situation that the starting controller becomes the dead weight of the airplane after the electric starting of the engine is finished, not only can reduce the size and the weight of the onboard electric drive system, but also can effectively improve the system maintainability.
Description
Technical Field
The application belongs to the technical field of airplane motor control, and particularly relates to a time-sharing multiplexing motor controller suitable for a multi-electric airplane.
Background
The rapid development of the airplane multi-electrical technology makes more and more traditional mechanical, hydraulic and pneumatic energy devices gradually replaced by novel electrical devices which adopt electric energy as an energy source. However, the onboard electric equipment has the characteristics of diversity, specificity and the like, and taking the onboard electric drive systems such as an engine electric start system, an electric environment control system, an electric hydraulic pump system and the like as examples, the types, the capacities, the rotating speed ranges, the drive functions, the performance requirements and the like of the driving motors are different, if a special controller is equipped, and the whole machine redundancy backup of the controller is considered, the number of various controllers simultaneously equipped on the airplane is large, so that the complexity of the onboard electric drive system is increased, and the weight and the volume are increased.
In the actual flight process of the airplane, whether the function execution of various onboard motor controllers is determined by an onboard upper management system according to the flight time sequence of the airplane, taking an engine electric starting controller applied in the existing domestic engine as an example, when the controller finishes the starting task of the engine, other control functions are not executed any more, and the airplane becomes the dead weight of the airplane flight. The starting controller has large volume and weight due to the large starting power required when the engine of the multi-electric aircraft is started, and the flight performance and the flight economy of the aircraft are greatly influenced.
Therefore, the starting controller is used as a starting controller of the engine in the starting stage of the airplane, and after the electric starting of the engine is completed, the starting controller is reused as an electric ring control motor controller or an electric hydraulic pump motor controller to operate according to the power utilization time sequence determined by the onboard upper management system, so that the size and the weight of an onboard electric drive system of the multi-electric airplane can be reduced, and the technology is one of core technologies of the multi-electric airplane.
Disclosure of Invention
It is an object of the present application to provide a time division multiplexed motor controller suitable for use with multiple-electric aircraft to address or mitigate at least one of the problems of the background art.
The technical scheme of the application is as follows: a time multiplexed motor controller suitable for use with a multi-electric aircraft for servo control of a plurality of motors, the motor controller comprising:
the information acquisition circuit is used for acquiring and detecting state parameters of the motor, wherein the state parameters comprise voltage, current, motor rotating speed and rotor position;
the servo control circuit is used for receiving a state instruction of the upper computer to drive any one of the motors to work and generating a control instruction for adjusting the state of the motor according to data of the information acquisition circuit;
the drive circuit is used for driving the motor to work according to the control instruction of the servo control circuit;
and the power circuit is used for inverting the input power supply to form three-phase alternating current power supplies with different frequencies and currents required by different motors to work.
In a preferred embodiment of the present application, the servo control circuit includes:
the first processing module is used for receiving the state instruction of the upper computer and the data of the information acquisition module and carrying out real-time digital processing on the acquired data;
the second processing module is used for carrying out logic operation on the real-time data generated by the first processing module and generating a control instruction for controlling the motor drive;
and the first processing module and the second processing module carry out data interaction through a data and address bus.
In a preferred embodiment of the present application, the servo control circuit further includes:
the communication module is used for communicating with peripheral equipment, and the storage module is used for expanding the space of data processing or data storage of the first processing module.
In a preferred embodiment of the present application, the first processing module employs a DSP chip, and the second processing module employs an FPGA chip.
In the preferred embodiment of the present application, the power circuit adopts a three-phase full-bridge two-level inverter circuit as a main power circuit, the main power circuit includes a plurality of power devices, and the power devices are determined according to the maximum ranges of various motors under different working conditions, so as to ensure that the power devices can drive motors of any power.
In a preferred embodiment of the present application, an IGBT is used as a power device in the main power circuit.
In a preferred embodiment of the present application, the main power circuit includes a soft power-on module for soft start of the motor, and the soft power-on module is in a form that a thyristor is connected in parallel with a charging resistor.
In the preferred embodiment of the present application, the inverted repeat peak voltage and the on-state average current of the thyristor do not exceed the maximum value of the power device.
In a preferred embodiment of the present application, the main power circuit has a support capacitor, and a capacitance value C of the support capacitor satisfies the following condition:
wherein, PNFor output power of inverter circuit, UdIs the DC bus voltage, DeltaV0.5tThe maximum ripple voltage V borne by the capacitor when the duty ratio of the PWM wave for driving the IGBT gate pole is 0.5ppAnd f is the frequency of the PWM wave.
In a preferred embodiment of the present application, the main power circuit further comprises a C-type snubber circuit with a CBB capacitor for controlling the turn-off surge voltage and the recovery surge voltage of the freewheeling diode and reducing the turn-off loss.
The time-sharing multiplexing motor controller suitable for the multi-electric aircraft can realize time-sharing multiplexing of various motors for control, and after the electric starting of the engine is completed, the power utilization time sequence determined by the onboard upper management system is multiplexed to be the electric ring control motor controller or the electric hydraulic pump motor controller for operation, so that the situation that the starting controller becomes the dead weight of the aircraft after the electric starting of the engine is completed is avoided, the size and the weight of the onboard electric drive system can be reduced, and the system maintainability can be effectively improved.
Drawings
In order to more clearly illustrate the technical solutions provided by the present application, the following briefly introduces the accompanying drawings. It is to be expressly understood that the drawings described below are only illustrative of some embodiments of the invention.
Fig. 1 is a block diagram of a motor controller and its external cross-linking according to the present application.
Fig. 2 is a block diagram of a hardware structure of the motor controller of the present application.
Fig. 3 is a main power topology structure diagram of the present application.
Fig. 4 is a block diagram of a servo control circuit according to the present application.
Detailed Description
In order to make the implementation objects, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be described in more detail below with reference to the drawings in the embodiments of the present application.
The application aims to provide a time-sharing multiplexing motor controller suitable for a multi-electric airplane so as to realize time-sharing multiplexing control of various motors in the multi-electric airplane, and when the motor is started electrically, the motor controller is multiplexed into an electric ring control motor controller or an electric hydraulic pump motor controller according to the electricity utilization time sequence determined by an onboard upper management system and continues to operate, so that the size and the weight of an onboard electric drive system can be reduced, and the system maintainability can be effectively improved.
The time-sharing multiplexing motor controller suitable for the multi-electric aircraft provided by the application is mainly illustrated and explained in the following three aspects.
Hardware architecture of time-sharing multiplexing motor controller
The motor controller mainly comprises a servo control circuit (or called servo control board), a driving circuit, a power circuit, an information acquisition circuit and the like.
The following description is provided by taking a motor controller to complete servo control tasks of three different motors, namely an electric starting of an engine, an electric ring control compressor system and an electric hydraulic pump system.
In order to achieve the purpose that the motor controller can realize time division multiplexing, various contents such as control modes, detection precision, interfaces and the like of three motors need to be considered in the aspects of model selection and use of each part of device, so that a compatible universal controller is formed.
Fig. 1 is a schematic diagram of a motor controller and an external cross-linking part thereof according to the present application, wherein the motor controller controls different motors to perform corresponding servo actions in different flight time sequences by responding to an upper computer state instruction and related information of an upper flight control management system.
The servo control circuit mainly comprises a control chip and a peripheral circuit thereof, and mainly completes the work of real-time calculation of a control algorithm, acquisition of related information, communication with an upper computer, generation of motor control pulses and the like. Meanwhile, for the convenience of debugging and wider universality, RS422 and RS232 communication interfaces are compatible at the periphery of the servo control circuit.
In addition, the motor controller also comprises some information detection circuits or units which are used for acquiring and detecting corresponding state parameters such as voltage, current, motor rotating speed, rotor position and the like. After being detected, the measured values are sent to a main control chip for use and related monitoring after being correspondingly conditioned and A/D converted.
The power circuit and the driving circuit thereof are also important components of the motor controller, and the voltage, current, power and frequency conditions of each motor need to be considered in design, corresponding calculation is carried out, and a proper power device and a proper driving device are selected to meet the operation requirement.
Fig. 2 is a block diagram of a hardware structure of a motor controller, which mainly includes motors and their control units, phase current acquisition, bus voltage/current acquisition, rotor position detection, and the like.
Power circuit of time-sharing multiplexing motor controller
As shown in fig. 3, the power circuit in the present application uses a three-phase full-bridge two-level inverter circuit as a power main circuit, and is configured to invert a 540V DC (Direct Current) input power source into three-phase alternating currents with different frequencies and currents required for controlling different motors, so as to design and select types of power devices, soft-start circuits, support capacitors, and absorption capacitors in the power circuit.
1) Power device
In the application, an Insulated Gate Bipolar Transistor (IGBT) is used as a power device of the main power circuit, and the IGBT has the advantages of high input impedance, high switching speed, small on-state voltage drop, high voltage resistance, high short-time overcurrent capacity and the like. Because the motor controller needs to have working capacity under different types of load motors, the IGBT needs to analyze and calculate aiming at three different working conditions of engine electric starting control, electric ring control motor control and electric hydraulic pump motor control, and finally, the maximum value of the parameter range is used as the basis to ensure the full coverage and the corresponding control performance of different power grades.
For example, in an embodiment of the present application, after analysis and calculation, the rated voltage value of the selected IGBT module should be 1188V, and the rated current value should be 764A. According to the calculation result and considering the short-time overload capacity in the starting process, the modules are selected in parallel to form a main power loop in consideration of the flexibility of installation space and the matching performance of related driving units, and a 2-unit half-bridge IGBT module packaged by EconoDUAL manufactured by INFINENON company is selected as a main power loop power device, and the model is FF600R12ME4P, the withstand voltage of the device is 1200V, and the maximum allowable current of the device is 600A.
2) Soft power-on
In order to enable the motor to start smoothly, a soft power-on module for soft starting (soft starter) of the motor is arranged in the power circuit, and the soft power-on module adopts a mode that a thyristor and a charging resistor are connected in parallel. When the thyristor works, the thyristor is in a disconnected state, and the supporting capacitor is charged through the charging resistor to limit large current at the moment of electrification. And when the DSP detects that the bus voltage rises to a set threshold value, the trigger signal controls the conduction of the thyristor, so that the soft power-on process of the system is completed. In the parallel form formed by the thyristor after conduction and the charging resistor, the charging resistor can be approximately regarded as a short circuit because the resistance is very small after the thyristor is conducted, and almost no energy is consumed.
The working process of the power supply is as follows: firstly, the thyristor is in a disconnected state, and the charging resistor R is connected after the system is powered on; then, charging the support capacitor C, and detecting the bus voltage in real time; when the bus voltage rises to a set threshold value, the trigger signal controls the conduction of the thyristor, the charging resistor R is short-circuited, and the system soft power-on process is finished.
When the thyristor is selected, parameters such as on-state average current, reverse repeated peak voltage and the like of the thyristor are mainly considered, and the parameters are not greater than the maximum parameters of the IGBT. For example, in this embodiment, an MCO500-12io11 thyristor of IXYS corporation was selected as the soft-power-on thyristor, and its off-state repetitive peak voltage UDRM was 1100V, reverse repetitive peak voltage VRRM was 1100V, on-state average current IT (AV) was 372A (85 deg.C), and inrush current ITSM was 1500A (10ms, 130 deg.C)
When the thyristor is not switched on, the direct current power supply charges the supporting capacitor C through the charging resistor R, the charging time constant is τ ═ RC, and as the supporting capacitor is selected to be C ═ 2000 μ F, the size of the charging resistor determines the size of the time constant, i.e. the larger R, the smaller R, and the smaller time constant. For example, in an embodiment of the present application, the selected charging resistor R is 30 Ω, and the power of the charging resistor calculated based on the fact that the charging resistor operates in a short time and does not operate repeatedly during the application process is 93W.
3) Support capacitor
In the voltage type inverter circuit adopted by the application, the supporting capacitor at the position of the direct current bus has the main function of absorbing high-amplitude pulsating current which is taken by the inverter circuit from the direct current bus to prevent the inverter circuit from generating high-amplitude pulsating voltage on a direct current bus link, so that the voltage fluctuation of a power supply end of the inverter circuit is kept within an allowable range, and instantaneous large current output is provided for a load end. Meanwhile, the inverter circuit can be prevented from being influenced by voltage overshoot and instantaneous overvoltage from the direct current bus, so that the supporting capacitor is required to have the characteristics of high voltage resistance and strong large current endurance capability.
The maximum ripple voltage borne by the support capacitor of the direct current bus is the ripple voltage on the direct current bus, and whether the inverter circuit can normally work depends on the size of the ripple voltage of the direct current bus, and is related to the switching frequency, the duty ratio, the distributed inductance L, the capacity of the support capacitor, the maximum ripple current and the like of the inverter circuit. Considering the influence of busbar design and IGBT distributed inductance, when the ripple voltage of the direct-current bus is required to be less than 5% of the rated voltage, the capacitance value of the support capacitor needs to meet the following requirements:
wherein PN is the output power of the inverter circuit; ud is DC bus electricityPressing; delta V0.5tThe maximum ripple voltage Vpp (peak-to-peak value) borne by the capacitor when the duty ratio of the IGBT gate drive PWM wave is 0.5 (the ripple voltage corresponding to the ripple current is maximum at the moment); f is the PWM frequency. In order to ensure that the system can reliably operate in each mode, the calculation is respectively carried out in different modes, and finally the maximum value is taken as the model selection basis.
For example, in an embodiment of the present application, analysis and calculation are performed for three different working conditions, namely engine electric starting control, electric loop control motor control, and electric hydraulic pump motor control, the selected support capacitor has a withstand voltage of at least 890V, a capacitance value of at least 1514 μ F, and a tolerable ripple current of at least 113A. In engineering, according to the design process of 10A/muF that a conventional film capacitor can bear, the ripple current of 113A at least needs the capacitance of 1130uF, 1694 muF is more than 1130uF, and then the corresponding allowance is considered, the film capacitor with the capacitance value of 2000uF and the withstand voltage of 900V is selected.
4) Absorption capacitor
The IGBT snubber circuit is used to control turn-off surge voltage and recovery surge voltage of the freewheeling diode and reduce turn-off loss, and a charge-discharge snubber circuit is often used.
In an embodiment of the application, the C-type absorption capacitor of the CBB (polypropylene) capacitor with the withstand voltage of 1200V and the capacitance of 2uF is selected, and is characterized by small volume and low loss.
Servo control circuit of time-sharing multiplexing motor controller
In order to meet the requirements of high dynamic response, high reliability and the like of a system, 540V DC is adopted for supplying power, the control work of three different types of motor loads is required to be completed, the number of real-time detection signals is large, the requirement on the dynamic performance of the system is high, and a microprocessor is required to have high operation rate to ensure the real-time performance of the system. The servo control circuit in the application adopts a framework that a DSP chip is used as a first processing module and an FPGA chip is used as a second processing chip. The DSP is mainly used for real-time operation of a high-performance control algorithm, and the FPGA is used for data processing and logic control. The characteristics of strong digital computing capability and abundant external expansion resources of the DSP are utilized, and the advantages of rich FPGA interfaces and strong parallel computing are combined, so that the high-performance control work of the motor can be well completed.
As shown in fig. 4, a plurality of control circuits are further disposed on the periphery of the servo control circuit to mainly implement the following control functions:
1) analog signals such as bus voltage, bus current, motor temperature, radiator temperature and the like are conditioned by a conditioning circuit and then are sent to an on-chip AD of the DSP for analog-to-digital conversion;
2) after three-phase stator current of the main driver A, B, C passes through the conditioning circuit, the three-phase stator current is sent to an AD conversion chip AD7656 for analog-to-digital conversion, then data is sent to a field programmable gate array FPGA, and information in the FPGA is read by the DSP 2812;
3) AD2S1210 is a complete monolithic resolver signal to digital converter (RDC) that can be used to detect the rotor position of the motor. The AD2S1210 provides an excitation signal for the rotary transformer, decodes position and speed signals fed back by the rotary transformer, and transmits data to the FPGA and the FPGA to the DSP in a parallel bus mode;
4) the FPGA carries out logic synthesis on the low-order address and the DSP functional signal to generate a chip selection and control signal of the peripheral;
5) an enhanced ePWM module of the DSP outputs a pulse width modulation signal obtained by a high-performance control algorithm, and the pulse width modulation signal is sent to a power driving module to control a power bridge after being logically integrated by the FPGA;
6) the DSP is connected with the FPGA through an IO port, and mainly processes switching signals, including error joint defense signals (/ TZ) of an ePWM (peripheral hardware pulse width modulation) of the DSP and the reserved IO port;
7) the serial port communication adopts a communication module ADM2587E capable of supporting RS-422 transmission, a communication module MAX3232 supporting RS232 transmission, a communication module CTM1051AM supporting CAN transmission, and information such as voltage, current, temperature, system fault and the like is transmitted to an upper computer by a DSP through a communication interface;
8) in order to ensure that the DSP has enough space to carry out complex operation and store data, the system is expanded by a 64K serial EEPROM;
9) the digital input and output functions are realized through the IO port of the DSP, and the control switch (digital) interface is mainly used for enabling/disabling signals, system state switching, contactor/relay state feedback and the like under different application working conditions.
The invention provides a hardware architecture design, power circuit design and control circuit design method for time-sharing multiplexing control of a universal motor controller, wherein the hardware can be compatible with the functions of engine electric starting, an electric ring control motor and an electric hydraulic pump motor control, and combines control software, after the engine electric starting is completed, the hardware is multiplexed to the electric ring control motor controller or the electric hydraulic pump motor controller to operate according to the power utilization time sequence determined by an onboard upper management system, so that the situation that the starting controller becomes an airplane dead weight after the engine electric starting is completed is avoided, the size and the weight of an onboard electric drive system can be reduced, and the system maintainability can be effectively improved.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A time division multiplexed motor controller suitable for use with a plurality of electric aircraft for servo control of a plurality of motors, the motor controller comprising:
the information acquisition circuit is used for acquiring and detecting state parameters of the motor, wherein the state parameters comprise voltage, current, motor rotating speed and rotor position;
the servo control circuit is used for receiving a state instruction of the upper computer to drive any one of the motors to work and generating a control instruction for adjusting the state of the motor according to data of the information acquisition circuit;
the drive circuit is used for driving the motor to work according to the control instruction of the servo control circuit;
and the power circuit is used for inverting the input power supply to form three-phase alternating current power supplies with different frequencies and currents required by different motors to work.
2. The time-multiplexed motor controller suitable for use with multiple airplanes according to claim 1, wherein the servo control circuit comprises:
the first processing module is used for receiving the state instruction of the upper computer and the data of the information acquisition module and carrying out real-time digital processing on the acquired data;
the second processing module is used for carrying out logic operation on the real-time data generated by the first processing module and generating a control instruction for controlling the motor drive;
and the first processing module and the second processing module carry out data interaction through a data and address bus.
3. The time-multiplexed motor controller suitable for use with multiple airplanes according to claim 2, wherein the servo control circuit further comprises:
the communication module is used for communicating with peripheral equipment, and the storage module is used for expanding the space of data processing or data storage of the first processing module.
4. The time-sharing multiplexing motor controller suitable for a multi-electric aircraft according to claim 2 or 3, wherein the first processing module employs a DSP chip, and the second processing module employs an FPGA chip.
5. The time-sharing multiplexing motor controller suitable for multiple electric planes according to claim 1, wherein the power circuit adopts a three-phase full-bridge two-level inverter circuit as a main power circuit, the main power circuit comprises a plurality of power devices, and the power devices are determined according to the maximum range of various motors under different working conditions so as to ensure that the power devices can drive the motors with any power.
6. The time-division multiplexing motor controller for multiple electric aircraft according to claim 5, wherein an IGBT is used as a power device in the main power circuit.
7. The time-division multiplexing motor controller for multiple electric aircraft according to claim 5, wherein the main power circuit comprises a soft power-on module for soft starting of the motor, the soft power-on module being in the form of a thyristor connected in parallel with a charging resistor.
8. A time multiplexed motor controller suitable for use with multiple aircraft according to claim 7 wherein neither the inverted repeat peak voltage nor the on-state average current of the thyristors exceeds the maximum value of the power device.
9. The time-division multiplexing motor controller for multiple electric aircraft according to claim 5, wherein the main power circuit has a support capacitor, and a capacitance value C of the support capacitor satisfies the following condition:
wherein, PNFor output power of inverter circuit, UdIs the DC bus voltage, DeltaV0.5tThe maximum ripple voltage V borne by the capacitor when the duty ratio of the PWM wave for driving the IGBT gate pole is 0.5ppAnd f is the frequency of the PWM wave.
10. The time-multiplexed motor controller for multiple aircraft according to claim 1, wherein the main power circuit further comprises a C-snubber circuit with a CBB capacitor to control the turn-off surge voltage and the freewheeling diode to recover the surge voltage and reduce turn-off losses.
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