CN-121984404-A - Linear electric drive impact breaking hammer driving circuit and control method

CN121984404ACN 121984404 ACN121984404 ACN 121984404ACN-121984404-A

Abstract

The invention discloses a linear electric drive impact breaking hammer driving circuit and a control method thereof, which solve the problems of current fluctuation and overvoltage risk under high-frequency impact by a multi-layer isolated power driving circuit and a rapid protection mechanism, realize accurate adjustment of electromagnetic force and linear control of impact energy by using a FOC current loop control algorithm based on linear electric drive equipment, and realize flexible adjustment of parameters such as working frequency, impact amplitude and the like and visual display of real-time running states by using an upper computer monitoring platform. According to the invention, through a software and hardware collaborative dynamic sampling and disturbance compensation method, the anti-interference and dynamic response capability of the system can be obviously improved, the control precision and the operation efficiency of the breaking hammer under the high-load condition are ensured, the intelligent level of the control system is improved, and the running performance and the management convenience of the equipment are effectively improved.

Inventors

LIANG LIHUA
LI BENYI
ZHANG YUANXIANG
Lai Hangjie
LV XINYANG
SHENG JIANFENG
SHI GUANGLEI
WANG JIANFENG

Assignees

浙江工业大学
衢州学院

Dates

Publication Date: 20260505
Application Date: 20260120

Claims (10)

1. The linear electric drive impact breaking hammer driving circuit is characterized by comprising a main power supply module, a power driving module, a current and voltage detection module, a power management module, a back electromotive force detection and protection module and a control core unit; The input end of the main power supply module is provided with a pi-type EMI filter for inhibiting conduction noise and surge interference; The power management module adopts a grading BUCK voltage stabilizing framework and is used for reducing the input voltage of the main power module, supplying power to the grid driving circuit and the peripheral sensing unit, supplying power to the communication and signal acquisition circuit and supplying required voltage to the MCU and the ADC; The power driving module adopts a three-phase full-bridge inversion structure, realizes motor impact driving based on a MOSFET, and realizes synchronization and safety of a switching process based on a driving chip; The current and voltage detection module and the counter electromotive force detection and protection module synchronously acquire motor operation parameters, and the motor operation parameters are transmitted to the control core unit through isolation amplification and ADC sampling, so that the real-time monitoring of the motor state is realized; The control core unit adjusts PWM duty ratio, executes vector control algorithm, decouples three-phase current into d/q axis components in real time, and forms a current closed loop through PI adjustment.
2. The linear electric driving impact breaking hammer driving circuit according to claim 1, wherein the back electromotive force detection and protection module is used for automatically operating the RC absorption circuit and the TVS clamping diode circuit of the power driving module to absorb transient energy when the back electromotive force is suddenly changed or the voltage is suddenly changed, and the energy feedback circuit feeds back excessive electric energy to the direct current bus to maintain the voltage stability of the bus.
3. The linear electric drive impact breaking hammer driving circuit according to claim 1, wherein a MOSFET in the power driving module is used as a main power switching device, each bridge arm is connected in parallel with an RC absorption circuit and an SMBJ58A TVS clamping diode, the RC circuit is used for suppressing current spikes and voltage oscillations during high-frequency switching, the RC circuit absorbs transient energy released by parasitic inductance and realizes damping dissipation, and the TVS tube provides a clamping path during extreme surge, so that a complete current impact protection system is formed.
4. The linear electric driving impact breaking hammer driving circuit according to claim 1, wherein the current detection in the current and voltage detection module adopts a low-side double-resistance sampling structure, sampling resistors are respectively connected in series in the reflux paths of the U-phase and the W-phase lower bridge arms, and the third-phase current is calculated by measuring the two-phase current and according to the KCL current balance relation.
5. The linear electric driving impact breaking hammer driving circuit according to claim 4, wherein the phase current signal is conditioned by a differential amplifying circuit, the input end of the operational amplifier is connected across the voltage at two ends of the sampling resistor, the signal is within 3.3V by setting proper gain, the amplified signal is directly input to the high-speed ADC of the MCU, synchronous sampling of three-phase current is realized, and accurate feedback is provided for FOC current loop control.
6. The linear electric driving impact breaking hammer driving circuit according to claim 1, wherein the current and voltage detection module collects bus voltage, a resistor voltage division network is adopted to divide the high-voltage bus signal into a measurable range of the MCU, a filter capacitor is connected in parallel to inhibit high-frequency ripple, the MCU converts the bus voltage value according to the voltage division ratio, and the instantaneous value of the three-phase output voltage is calculated by combining with the PWM duty ratio for counter electromotive force estimation and energy feedback management.
7. An electromagnetic driving control method of a linear electric driving impact breaking hammer is characterized by comprising the following steps: (1) Switching on a direct current power supply, starting a pre-charging and voltage stabilizing unit by a power management module, sequentially supplying power to an inversion, current sampling and control core, and enabling a driving circuit to adopt three-phase MOSFET inversion driving and communicate with an engineering vehicle main controller through a CAN bus to ensure power-on self-test and stable operation of a system; (2) The inversion module drives the three-phase linear electric drive equipment to work according to the control instruction, the current detection module and the counter electromotive force detection module synchronously acquire motor operation parameters, and the motor operation parameters are transmitted to the control core through isolation amplification and ADC high-speed sampling, so that the real-time monitoring of the motor state is realized; (3) When the back electromotive force mutation or voltage spike is detected, the RC absorption network and the TVS clamping circuit automatically act to quickly absorb transient energy, and meanwhile, the energy feedback circuit feeds back redundant electric energy to the direct-current bus to maintain the voltage stability of the bus; (4) The control core decouples three-phase current into d/q axis components in real time based on a vector control algorithm, and forms a current closed loop through PI regulation; (5) In continuous impact operation, the collected current and back electromotive force data are subjected to periodic analysis to identify disturbance characteristics caused by a mechanical structure or load; (6) The upper computer adjusts the amplitude and the modulation period of the reference current in the FOC current loop, so that the matching of electromagnetic thrust and driving rhythm is realized.
8. The electromagnetic driving control method of the linear electric driving impact breaking hammer according to claim 6, wherein in the third step, under the high-frequency impact working condition, abrupt change or rapid polarity reversal of the back electromotive force of the motor occurs, and voltage spikes and loop oscillations are easily generated at two ends of the power device. In order to restrain voltage spike and loop oscillation of MOSFET in high-frequency impulse switching process, RC absorption circuits are designed at two ends of each bridge arm. The circuit absorbs and dissipates parasitic inductive energy storage by providing an energy bypass and damping path during high frequency transients, thereby attenuating dv/dt rise rates and switching oscillations.
9. The electromagnetic driving control method of a linear electric impact breaking hammer according to claim 6, wherein in the fourth step, the control core executes the FOC vector control strategy based on the linear electric driving device, and first three-phase stator currents are applied , , The DC control of electromagnetic quantity is realized by converting Clarke and Park transformation into a rotation coordinate system synchronous with the magnetic field, then the electric angle position is obtained according to the linear displacement position and polar distance constant of PMLSM, and coordinate rotation is realized by Park transformation, so that PMLSM is equivalent to a DC thrust motor in control sense, wherein Corresponding to the control of the magnetic linkage of the stator, The control core forms a current closed loop by PI regulation to ensure d-axis current Maintaining flux linkage constant While q-axis current And adjusting the thrust output.
10. The electromagnetic driving control method of the linear electric driving impact breaking hammer according to claim 6, wherein in the fourth step, an adjustable impact frequency and impact force judging module is added after the FOC control link, motor stator current, bus voltage and displacement speed signals are monitored in real time to reflect the current load and impact state, the current impact force and impact frequency are calculated according to the detected instantaneous power and stroke period and compared with target set values, and when the load is increased, q-axis reference current is lifted to enhance electromagnetic thrust.

Description

Linear electric drive impact breaking hammer driving circuit and control method Technical Field The invention relates to the technical field of industrial crushing equipment and intelligent control, in particular to a driving system and a control method of a linear electromagnetic driving impact crushing hammer suitable for high impact efficiency. Background The breaking hammer is a core executing mechanism in industrial breaking operation and is widely applied to high-energy impact scenes such as mining, building demolition, solid waste treatment and the like. The device realizes material crushing by generating periodic high-energy impact force through the driving device. The traditional hydraulic or pneumatic breaking hammer has the advantages of complex structure, long energy chain, low energy utilization rate, limited impact strength and frequency adjustment precision, insufficient intelligent monitoring and control capability and difficulty in meeting the requirements of modern industry on high-efficiency, low-energy consumption and controllable operation. In contrast, the linear electric driving device has the advantages of high response, high precision and direct driving, and provides a new technical path for the electric driving of crushing equipment. However, the linear electric drive breaking hammer has obvious electromagnetic and control problems under high-frequency reciprocating and high-load operation conditions, namely (1) the amplitude of counter electromotive force is changed severely and the direction is frequently reversed, the response of a traditional overvoltage protection and absorption circuit is delayed, effective clamping is difficult to complete in microsecond time, MOSFET overvoltage breakdown and drive chip damage are extremely easy to occur, (2) current and displacement signals contain a large amount of high-frequency harmonic components under the strong electromagnetic interference environment, a conventional sampling circuit is limited by bandwidth and phase compensation capability, signal distortion and feedback delay are easy to occur, so that the control precision of a system is reduced and the dynamic stability is insufficient, and (3) the existing control method is mostly driven based on fixed parameters or constant frequency, and cannot adjust the impact frequency and the impact force in real time according to the damping characteristics and the energy absorption capability of different materials (such as concrete, asphalt, rock soil and the like), so that the problem of energy waste or insufficient thrust is caused when equipment is switched between soft and hard materials, and the self-adaptation and energy efficiency performance of the system under complex working conditions are limited. Aiming at the problems, the project provides an electromagnetic driving and controlling integrated scheme of the linear electric driving breaking hammer for the high-frequency impact working condition. In terms of hardware, the system adopts a multi-layer isolated power and signal distribution structure, a rapid clamping protection and energy feedback circuit is configured, voltage spikes and parasitic oscillations are restrained through RC absorption network and low-inductance bus layout, a current detection part adopts a high-speed ADC sampling and differential amplification structure, signal bandwidth and anti-interference performance are remarkably improved, and a control core is based on STM32G4 series MCU to realize high-speed sampling and real-time data fusion. In the aspect of software, the system adopts vector control based on linear electric drive equipment to adjust d/q axis current in real time so as to realize accurate control of electromagnetic thrust and linear adjustment of impact energy. In order to cope with the load difference of different impact materials, a power feedback and frequency judging mechanism is introduced into a control algorithm, busbar voltage, current effective values, back electromotive force peak values and displacement speed signals are comprehensively analyzed, impact power is automatically calculated, and q-axis current reference values and PWM modulation periods are dynamically adjusted, so that self-adaptive matching of impact frequency and impact force is realized. The function not only ensures the energy utilization efficiency and impact stability in the crushing process, but also obviously improves the control precision and the operation intellectualization level of the equipment under the conditions of multiple materials and multiple working conditions. Through the collaborative optimization of software and hardware, the scheme effectively reduces current fluctuation and overvoltage risk under high-frequency impact conditions, enhances energy feedback stability, realizes efficient driving and reliable control of a system, and provides unified hardware and control basis for subsequent algorithm expansion based on impact state identificati