CN102307033A - Integrated driving motor without position sensor - Google Patents
Integrated driving motor without position sensor Download PDFInfo
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- CN102307033A CN102307033A CN201110273548A CN201110273548A CN102307033A CN 102307033 A CN102307033 A CN 102307033A CN 201110273548 A CN201110273548 A CN 201110273548A CN 201110273548 A CN201110273548 A CN 201110273548A CN 102307033 A CN102307033 A CN 102307033A
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Abstract
The invention relates to the motor technology field, more particularly to an integrated driving motor without a position sensor. The driving motor is provided with a motor; and the motor is composed of a stator, an external rotor, a rotor spindle, and an end cover. The driving motor is characterized in that: a driver is arranged in the motor and is fixedly connected with the end cover; the end cover and the stator of the motor are mutually connected to form an integral body so as to strengthen heat radiation capability of a module; the driver is composed of a power plate and a control plate; the power plate is provided with a major loop, an inlet wire open-phase detection circuit, a bus current detection circuit, an under-voltage and over-voltage detection circuit, a counter-electromotive force detection circuit and a switch power supply circuit; and the control plate is provided with a DSP control system circuit and a communication module circuit. According to the invention, on the basis of the above-mentioned structure, the driving motor has advantages of compact structure, high-density power, high efficiency, low noise, high integrated level, and low cost and the like.
Description
Technical field
The present invention relates to technical field of motors, specifically a kind of integrated position-sensor-free drive motors.
Background technology
At present; Brushless DC motor (Brushless DC Motor; Hereinafter to be referred as BLDC) oneself obtains developing comparatively fully in the world to rely on characteristics such as its high reliability, high efficiency, speed governing convenience, life-span length; In some comparatively flourishing countries, brushless DC motor will become capstan motor in the coming years, and will progressively replace the motor of other types.
BLDC drive controlling mode is divided into two kinds of position sensor formula and position-sensor-free formulas.In the control mode of position sensor, the existence of position transducer brings a lot of defectives and inconvenience can for the application of stream brushless electric machine: at first, position transducer can increase the volume and the cost of motor; Secondly, the position transducer that line is numerous can reduce the motor reliability of operation, even if also there is magnetic immunity region to a certain degree in present most widely used Hall element; Once more, in some abominable operational environment, as in the compressor of air conditioner of sealing, because the severe corrosive of cold-producing medium, conventional position transducer just can't use at all.In addition, the installation accuracy of transducer also can influence the runnability of motor, the technology difficulty of increase producing, and particularly when motor size is little when arriving to a certain degree, the disadvantage of use location transducer is day by day obvious.
In the position-sensor-free square wave control, the most frequently used is to adopt conduction mode control in twos.But this control mode exists that electric current is excessive to cause afterflow long, and then causes the problem of commutation failure, and this also is to influence the technical difficult points that the position Sensorless Control mode is used in high-power field.
The start mode of traditional brushless DC motor without position sensor is " syllogic starting ", belongs to the open loop start mode.It requires relatively stricter to start ambient condition, and reversal development can occur, and the load variations adaptive capacity is not strong during to starting, the problem of starting failure can occur, and starting current is bigger.
Summary of the invention
The objective of the invention is to solve the deficiency of above-mentioned prior art, a kind of novel structure, cost is low, volume is little, easy for installation integrated position-sensor-free drive motors are provided.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of integrated position-sensor-free drive motors is provided with motor, and motor is made up of stator, external rotor, armature spindle and end cap; It is characterized in that being provided with in the motor driver, driver is fixedly connected with end cap, and the stator of end cap and motor is connected; Make it to form an integral body; To increase the heat-sinking capability of module, driver is made up of power amplifier board and control board, and power amplifier board is provided with major loop, inlet wire lack detection circuit, bus current testing circuit, under-voltage and over-voltage detection circuit, back-emf sensing circuit and switching power circuit; Control board is provided with DSP control system circuit and communication module circuit
Wherein:
Be provided with inlet wire electromagnetic interface filter, piezo-resistance protection in the major loop, used X electric capacity, Y electric capacity and three-phase common-mode filter to suppress differential mode and common mode disturbances; Rectifier bridge and inverter bridge all are integrated in the power model; Power model adopts chip SEMIKRON integrated level high, and area occupied is little; Have the LC structure on the dc bus, realize Active PFC (PFC),
The inlet wire lack detection circuit is to be sent to dsp chip after the three-phase electricity that is sent to power model is handled through the testing circuit of being made up of resistance, diode and optocoupler to read; Read the output digital signal LHP1 of lack detection circuit and the duty ratio of LHP2 and judge whether phase shortage; Have the inlet wire lacuna and report to the police, overload, temperature alarm, overcurrent and over voltage alarm; Functions such as power factor correction
The bus current testing circuit is through very little current sense resistor of series connection on the bus; Isolate the voltage signal that amplifies the resistance two ends through linear optical coupling; The scope that becomes signal processing control chip to receive through a modulate circuit again, thus current of electric is fed back and keeps watch on
Under-voltage and over-voltage detection circuit is the method that adopts big resistive isolation, is converted into the analog signal that control chip is imported to busbar voltage through a simple discharge circuit, realizes under-voltage and the overvoltage detection; This amplifier be input as busbar voltage, input resistance is got very big, feedback resistance is very little; Thereby the input voltage that makes actual amplifier pin is not very big; The electric current that flows through is also very little, has realized that the effect of isolating has also realized the detection of voltage simultaneously
Counter electromotive force detection circuit is a low pass filter, adopts " terminal voltage method " to realize that no transducer controls, through the processing to the voltage to earth of motor three-phase UVW; Generate rotor-position signal through dsp processor, terminal voltage is divided into back-emf signal and electric current afterflow interference signal, the motor three-phase voltage is at first through low pass filter filters out high-frequency interferencing signal and step-down; Remove direct current component through an electric capacity again; Compare the signal of handling with by the dummy neutral voltage that three-phase constructs then, and two kinds of signals are carried out the calculating of phase place and amplitude, the phase advance angle degree of the rotor-position signal that obtains causing by the electric current afterflow; The deviation angle of determining electric current afterflow influence through detection electric current, rotating speed, duty ratio, busbar voltage and the parameter of electric machine compensates; Thereby obtain the signal of back electromotive force zero-crossing, make commutation near best commutation constantly constantly, that guarantees to commutate correctly carries out; Expanded the range of application of brushless direct current motor sensorless greatly
Switching power circuit adopts inverse excitation type converter, is input as busbar voltage, exports the direct voltage of 3 tunnel isolation, is respectively applied for DSP control system circuit and communication module circuit,
DSP control system circuit control acp chip is DSP, has the input of 6 tunnel analog signals, 3 pairs of PWM outputs,
The communication module circuit comprises RS232 and RS485 two kind of one step serial communication mode; Wherein RS232 is used for the operations such as maintenance to program; RS485 is used for Industry Control; Can carry out RS232, the input of RS485 bus communication and analog quantity speed given circuit, the analog quantity speed given circuit is through regulating motor speed to the controller input voltage
End cap is provided with wiring hole; Control board is provided with the terminal board interface; Be respectively three phase power inlet wire interface, driver warning output interface, serial ports RS232, serial ports RS485 and analog input interface, pass wiring hole that end cap is provided with respectively through the terminal board interface on the control board and communication and analog quantity speed governing, protection are reported to the police input is connected with three-phase alternating current.
The axle body of rotor axle of the present invention is provided with ceramic plated layer; Be beneficial to prevent that axial current from exerting an influence to the motor electromagnetic performance; Ceramic plated layer comprises pre-ceramic coating and back ceramic plated layer; Pre-ceramic coating and the corresponding bearing of ceramic plated layer difference installation site, back are with the axial current that prevents that motor from running up and producing.
Each phase winding can be with staggered penetrating in the hole of stator core of coiling among the present invention; The coiling that makes it to form four coils is connected in series, and reduces the stator inductance amount to reach, and makes it the speed governing of better fit driver; It is simple to have production technology; Production efficiency is high, and qualification rate is high, the effect that motor cost is low.
The present invention can be equipped with heat dissipation plate between end cap and motor stator, be beneficial to power amplifier board and control board heat radiation.
The present invention can be provided with in end cap and the contacted boss of Drive Module, and the outside is provided with fin, so that the module on the driver closely links to each other with end cap, increases the heat-sinking capability of module.
The present invention can keep apart " ground wire " of " ground wire " of drive circuit and major loop and control circuit, to increase the stability of system.
The present invention can be provided with temperature sensing circuit on drive plate; Temperature sensing circuit is made up of conventional, electric-resistance, electric capacity, thermistor and amplifier; Temperature to rectification and inversion module, power amplifier board, motor detects in real time, prevents the generation that causes job insecurity and abnormal conditions owing to too high or too low for temperature.
External rotor among the present invention is that the flange installed surface by body and body end constitutes, and body and the disposable drawing and forming of flange installed surface reach and need not to make separately the flange installed surface; Save the operation of secondary welding, reduce the manufactured parts number, improve motor production efficiency; Reduce cost; Enhance productivity, strengthen the stability of electric machine structure, guarantee the effect of concentricity.
Stator body periphery among the present invention is provided with stator core straight trough mouth; Stator core straight trough mouth is to adopt the straight trough mode to be overrided to form by stator punching; Stator core straight trough mouth and stator punching end face are perpendicular; Simplify the press mounting structure of stator core, simplified production process, reached the effect that technology is simple, production efficiency is high, qualification rate is high, production cost is low that laminates.
The corresponding bearing of armature spindle axle body periphery among the present invention is provided with annular groove, and pre-ceramic coating is located at respectively in the groove with the back ceramic plated layer, is beneficial to easy to processly, improves the bulk strength of armature spindle.
The interior round spacing in slit accompanies spring leaf less than the cylindrical spacing in the slit between magnetic shoe and the magnetic shoe between magnetic shoe among the present invention and the magnetic shoe, makes spring leaf reach radially spacing effect, prevents that effectively spring leaf from overflowing from the slit.
Magnetic shoe among the present invention and the slit section between the magnetic shoe can be trapezoidal, have guaranteed the radial and axial stability of magnetic shoe, have strengthened the tensile force that magnetic shoe cooperates with rotor case.
The compensation computational methods concrete steps of counter electromotive force detection circuit are following among the present invention: in order to analyze the phase deviation phenomenon that makes motor position detection signal when the heavy duty, below the terminal voltage under the heavy duty is analyzed:
Because counter electromotive force detection circuit is a low pass filter, therefore high fdrequency component will can be done following simplification by filtering through testing circuit:
1) because of the cut-off frequency of PWM modulating frequency much larger than the low pass filter of counter electromotive force detection circuit, the PWM chopping voltage of high frequency can use its average voltage approximate;
2) same, the generator neutral point voltage fluctuation can use its mean value approximate also by filtering;
3) the phase back electromotive force is that 120 ° of flat-tops are wide, and equivalent amplitude is the PWM ripple of busbar voltage;
Brachium pontis modulation on adopting; Terminal voltage can be simplified to model as shown in Figure 8 during following brachium pontis conduction mode (PWM-ON); Wherein,
is the voltage sum of ideal line back electromotive force and desirable neutral point; The voltage distortion that
causes for the electric current afterflow; Terminal voltage
equals
and
sum, i.e.
=
+
(voltage reference points is the bus negative pole);
Terminal voltage among Fig. 8
can be divided into 6 states, is respectively:
1)
with
constantly: this descends the brachium pontis conducting mutually; Terminal voltage
equates with
; Be the bus cathode voltage; Be labeled as 0;
also is 0, at this moment
not detection of impact position signal;
2)
time period: motor commutation; Electric current is through last brachium pontis inverse parallel diode continuousing flow; Voltage is busbar voltage
by clamper,
the linear rising with the increase of phase back electromotive force; What
was
with
is poor, i.e.
;
3)
time period: this is mutually unsettled, and phase terminal voltage is phase back electromotive force and neutral point voltage sum.Neutral point voltage is a direct current biasing; Back electromotive force is linear to rise, and terminal voltage
is linear with
to rise;
is 0, and be inoperative;
4)
time period: this goes up the brachium pontis modulation mutually; Duty ratio
is
with the relation of product with
of busbar voltage
; Terminal voltage
equals
, and
arranged;
is 0, the not detection of impact position signal;
5)
time period: motor commutation; The electric current process is brachium pontis inverse parallel diode continuousing flow down; Terminal voltage is a bus ground voltage 0 by clamper;
with back electromotive force reduce and linear decline; What
was
with
is poor, i.e.
;
6)
time period: this is mutually unsettled; Phase terminal voltage is phase back electromotive force and neutral point voltage sum; Neutral point voltage is a direct current biasing; Back electromotive force is linear to descend; Terminal voltage
is linear with
to descend;
is 0, the not detection of impact position signal;
Through decomposition to terminal voltage;
is the same with when heavy duty in underloading;
then has very big difference; During underloading; Electric current is little;
and
is very short; The action time of
is very short; Its voltagesecond product is very little;
arranged (
=
;
); Therefore the position input is only caused faint influence, can ignore; During heavy duty; Electric current is big;
and
continues the long time; Voltagesecond product
can not ignore; It is serious to the influence of position detection signal; The phase advance angle that produces is spent greatly; Figure 10 is the voltage
of terminal voltage
and its decomposition and the signal of the generation behind
process low pass filter; The leading back-emf signal of afterflow interference signal; Make the synthetic terminal voltage signal of they stacks be ahead of back-emf signal; The amplitude of afterflow interference signal is big more; The leading angle of terminal voltage signal is big more, and the terminal voltage phase place makes the zero crossing of terminal voltage arrive in advance constantly in advance, detects the zero crossing that obtains and departs from real back electromotive force zero-crossing; When increase along with load current; The phase advance angle degree increases thereupon, and when leading angle was excessive, it is abominable that the commutation situation becomes; Cause current distortion; Have influence on terminal voltage waveform and position detection signal conversely, cause the further deterioration of commutation, finally cause commutation failure;
Foundation through above-mentioned model; Decomposition analysis to terminal voltage; We can obtain underloading and when heavy duty back electromotive force detection signal phase relation is exactly
in fact and the phase relation of
+
; Because
is the same with
cycle; Phase angular lag through low pass filter equates; Therefore the difference of the position signalling phase angle under underloading and the heavy duty depends on angle and the amplitude of
and
; Thus, draw the heavy duty under the phase compensation computational methods:
Under the step voltage, low pass filter zero state response computing formula does
Wherein
,
,
and
are shown in accompanying drawing 7.Voltage
through low pass filter compares with simulated neutral point voltage
; Thereby obtain the zero crossing of back electromotive force; Ignore the fluctuation of neutral point voltage; Then
is the mean value of
; Therefore; The alternating current component of only considering
has
Shown in the accompanying drawing 7 in the counter electromotive force detection circuit; Select suitable resistance and electric capacity; Make
, obtain
Wherein,
is the afterflow angle; It is the electrical angle of electric current time of afterflow
conversion;
is the frequency of counter electromotive force of motor;
is for revising scale factor; Here get
=1
Similarly
After a low-pass filter output AC voltage amplitude
There
The fundamental phase with
and
is consistent basically for
phase place
with
;
is relevant with
, and its relational expression can be expressed as
(6)
And satisfy
; Finding the solution of
is non-linear; Calculation of complex; But because
fluctuation range is less; Adopt the method for engineering approximation, can think that it is for often being worth approximate calculation
According to formula (4) and formula (5); As shown in Figure 9,
phase angle
with
satisfies
(7)
When
when getting 20 °, can try to achieve
In the formula:
is offset angle
Utilize microprocessor easily to handle to calculate above-mentioned formula push away the leading angle of phase place; Therefore after the relation that records electric current afterflow angle and size of current; Only need to detect electric machine phase current, controller can be confirmed leading phase angle in real time, because the commutation of phase angular advance helps reducing the torque pulsation of brshless DC motor; So can according to size of current and rotating speed suitable carry out phase angle compensation, thereby make motor reach optimal operational condition.
The present invention is owing to adopt said structure, and current collection machine, driver make permanent magnetic brushless replace traditional AC induction motor in one, have greatly improved efficient; Reduced energy consumption, and adopted outer-rotor structure, motor can directly be connected with impeller, reduces volume; The elevator system power density ratio, driver adopts the position-sensor-free drive motors, reduces cost; And having solved the commutation problem under heavily loaded, driver integrates main circuit and control circuit, strengthens anti-electromagnetic interference capability; Have compact conformation, power density is high, advantages such as the high and low noise of efficient, the high and low cost of integrated level.
Description of drawings
Fig. 1 is a structural representation of the present invention.
Fig. 2 is a theory diagram of the present invention.
Fig. 3 is the structural representation of rotor axle of the present invention.
Fig. 4 is the structural representation of external rotor among the present invention.
Fig. 5 is the structural representation of stator winding among the present invention.
Fig. 6 is the structural representation of stator core among the present invention.
Fig. 7 is a counter electromotive force detection circuit among the present invention.
Fig. 8 is terminal voltage and an exploded view thereof among the present invention.
Fig. 9 is the phase relation of analyzing between each voltage.
Figure 10 is through the terminal voltage behind the low pass filter and decomposes figure.
Figure 11 is the internal structure sketch map of external rotor among the present invention.
Figure 12 is the enlarged drawing of B among Figure 11.
Figure 13 is signaling interface figure of the present invention.
Reference numeral: power amplifier board 1, control board 2, electromagnetic interface filter 3, rectifier bridge 4, inverter bridge 5, power model 6, testing circuit 7, switching power circuit 8, communication module circuit 9, analog quantity speed given circuit 10, control circuit 11, three-phase alternating current input 12, host computer 13, counter electromotive force detection circuit 14, potentiometer 15, motor 16, Active PFC 17, drive circuit 18, stator 22, external rotor 24, armature spindle 25, end cap 26, bearing 27, driver 28, heat dissipation plate 29, ceramic plated layer 30, body 31, flange installed surface 32; 33, the U U1-U2 that winds the line mutually; 34, the V V1-V2 that winds the line mutually, 3, the W W1-W2 that winds the line mutually, 35, stator core straight trough mouth; 36, stator punching; 37, afterflow interference signal, 38, terminal voltage signal, 39, the phase back-emf signal; 40, magnetic shoe, 41, spring leaf.
Embodiment
Below in conjunction with accompanying drawing the present invention is further specified:
A kind of integrated position-sensor-free drive motors is provided with motor 16, and motor 16 is made up of stator 22, external rotor 24, armature spindle 25, bearing 27 and end cap 26; Stator is installed in the winding slot of core by polyphase windings, and stator 22 is identical with the annexation and the prior art of external rotor 24, and this does not give unnecessary details; Seam is fixedly connected with end cap 26 external rotor 24 through the labyrinth, is provided with driver 28 in the motor 16, and driver 28 is fixedly connected with end cap 26; The stator 22 of end cap 26 and motor 16 is connected; Make it to form an integral body, to increase the heat-sinking capability of module, driver 28 is made up of power amplifier board 1 and control board 2; Control board 2 is fixed on the power amplifier board 1; Power amplifier board 1 is provided with major loop, inlet wire lack detection circuit, bus current testing circuit, under-voltage and over-voltage detection circuit, back-emf sensing circuit 14 and switching power circuit 8, and control board 2 is provided with DSP control system circuit and communication module circuit 9
Wherein:
Be provided with inlet wire electromagnetic interface filter 3, piezo-resistance protection in the major loop, used X electric capacity, Y electric capacity and three-phase common-mode filter to suppress differential mode and common mode disturbances; Rectifier bridge 4 all is integrated in the power model 6 with inverter bridge 5; Power model 6 adopts chip SEMIKRON integrated level high, and area occupied is little; Have the LC structure on the dc bus, realize Active PFC (PFC) 17,
The inlet wire lack detection circuit is to be sent to dsp chip after the three-phase electricity that is sent to power model is handled through the testing circuit of being made up of resistance, diode and optocoupler 7 to read; Read the output digital signal LHP1 of lack detection circuit and the duty ratio of LHP2 and judge whether phase shortage; Have the inlet wire lacuna and report to the police, overload, temperature alarm, overcurrent and over voltage alarm; Functions such as power factor correction
The bus current testing circuit is through very little current sense resistor of series connection on the bus; Isolate the voltage signal that amplifies the resistance two ends through linear optical coupling; The scope that becomes signal processing control chip to receive through a modulate circuit again, thus current of electric is fed back and keeps watch on
Under-voltage and over-voltage detection circuit is the method that adopts big resistive isolation, is converted into the analog signal that control chip is imported to busbar voltage through a simple discharge circuit, realizes under-voltage and the overvoltage detection; This amplifier be input as busbar voltage, input resistance is got very big, feedback resistance is very little; Thereby the input voltage that makes actual amplifier pin is not very big; The electric current that flows through is also very little, has realized that the effect of isolating has also realized the detection of voltage simultaneously
Counter electromotive force detection circuit 14 is low pass filters, adopts " terminal voltage method " to realize that no transducer controls, through the processing to the voltage to earth of motor three-phase UVW; Obtain rotor-position signal; The motor three-phase voltage is removed direct current component through an electric capacity at first through low pass filter filters out high-frequency interferencing signal and step-down, compares the signal of handling with by the dummy neutral voltage that three-phase constructs then; Thereby obtain the signal of back electromotive force zero-crossing; Determine the deviation angle of electric current afterflow influence and compensate through detecting electric current, rotating speed, duty ratio, busbar voltage and the parameter of electric machine, make commutation constantly near best commutation constantly, that guarantees to commutate correctly carries out; Expanded the range of application of brushless direct current motor sensorless greatly
DSP control system circuit control acp chip is DSP, has the input of 6 tunnel analog signals, 3 pairs of PWM outputs,
The present invention can keep apart " ground wire " of drive circuit 18 and major loop and " ground wire " of control circuit 11, to increase the stability of system.
The present invention can be provided with temperature sensing circuit on drive plate 1; Temperature sensing circuit is made up of resistance, electric capacity, thermistor and amplifier; Temperature to rectification and inversion module, power amplifier board, motor detects in real time; Prevent the generation that causes job insecurity and abnormal conditions owing to too high or too low for temperature
The present invention can be equipped with heat dissipation plate 29 between end cap 26 and motor stator 22, be beneficial to the heat radiation to power amplifier board and control board.
The present invention can be provided with in end cap 26 and the contacted boss of driver 28 modules, and the outside is provided with fin, so that the module on the driver 28 closely links to each other with end cap 26, increases the heat-sinking capability of module.
The axle body of rotor axle 25 of the present invention is provided with ceramic plated layer 30; Be beneficial to prevent that axial current from exerting an influence to the motor electromagnetic performance; Ceramic plated layer 30 comprises pre-ceramic coating and back ceramic plated layer; Pre-ceramic coating and the corresponding bearing of ceramic plated layer difference installation site, back are with the axial current that prevents that motor from running up and producing.
25 body peripheries of armature spindle among the present invention are provided with annular groove, and pre-ceramic coating is located at respectively in the groove with the back ceramic plated layer, are beneficial to easy to processly, improve the bulk strength of armature spindle.
Each phase winding can be with staggered penetrating in the hole of stator core 35 of coiling among the present invention; The coiling that makes it to form four coils is connected in series, and reduces the stator inductance amount to reach, and makes it the speed governing of better fit driver; It is simple to have production technology; Production efficiency is high, and qualification rate is high, the effect that motor cost is low.
External rotor 24 among the present invention is that the flange installed surface 32 by body 31 and body end constitutes, and body 31 and flange installed surface 32 disposable drawing and formings reach and need not to make separately the flange installed surface; Save the operation of secondary welding, reduce the manufactured parts number, improve motor production efficiency; Reduce cost; Enhance productivity, strengthen the stability of electric machine structure, guarantee the effect of concentricity.
Stator 22 body peripheries among the present invention are provided with stator core straight trough mouth; Stator core straight trough mouth is to adopt the straight trough mode to be overrided to form by stator punching; Stator core straight trough mouth and stator core 36 end faces are perpendicular; Simplify the press mounting structure of stator core 36, simplified production process, reached the effect that technology is simple, production efficiency is high, qualification rate is high, production cost is low that laminates.
The interior round spacing in slit accompanies spring leaf 41 less than the cylindrical spacing in the slit between magnetic shoe 40 and the magnetic shoe 40 between magnetic shoe 40 among the present invention and the magnetic shoe 40, makes spring leaf 41 reach radially spacing effect, prevents that effectively spring leaf 41 from overflowing from the slit.
The present invention realizes and host computer 13 communications through RS232, when adopting host computer 13 controls, can detect the running status of motor 16; Or be the given speed of driver through becoming resistance potentiometer 15, motor speed can be regulated arbitrarily in setting range by host computer 13 or potentiometer 15, adopt during startup " the injection current pulse " and method start; Starting speed is usually in the 50-80r/min scope; Through detecting voltage vector and accelerating voltage vector alternating action in motor, inspection electric current, rotating speed, duty ratio, busbar voltage and the parameter of electric machine are determined the deviation angle of electric current afterflow influence, detect three phase terminals voltage through counter electromotive force detection circuit 14 again;, compares with simulated neutral point again by filter circuit after carrying out depth filtering; Generate rotor-position signal through dsp processor, terminal voltage is divided into back-emf signal and electric current afterflow interference signal, two kinds of signals are carried out the calculating of phase place and amplitude; The phase advance angle degree of the rotor-position signal that obtains causing by the electric current afterflow; Compensate, it is following that method step is calculated in concrete compensation: in order to analyze the phase deviation phenomenon that makes motor position detection signal when the heavy duty, below the terminal voltage under the heavy duty is analyzed:
The compensation computational methods of the counter electromotive force detection circuit among the present invention can realize through following concrete steps: the phase deviation phenomenon of position detection signal when making motor in heavy duty in order to analyze, below the terminal voltage under the heavy duty is analyzed:
Because counter electromotive force detection circuit is a low pass filter, therefore high fdrequency component will can be done following simplification by filtering through testing circuit:
1) because of the cut-off frequency of PWM modulating frequency much larger than the low pass filter of counter electromotive force detection circuit, the PWM chopping voltage of high frequency can use its average voltage approximate;
2) same, the generator neutral point voltage fluctuation can use its mean value approximate also by filtering;
3) the phase back electromotive force is that 120 ° of flat-tops are wide, and equivalent amplitude is the PWM ripple of busbar voltage;
Brachium pontis modulation on adopting; Terminal voltage can be simplified to model as shown in Figure 8 during following brachium pontis conduction mode (PWM-ON); Wherein,
is the voltage sum of ideal line back electromotive force and desirable neutral point; The voltage distortion that
causes for the electric current afterflow; Terminal voltage
equals
and
sum, i.e.
=
+
(voltage reference points is the bus negative pole);
Terminal voltage among Fig. 8
can be divided into 6 states, is respectively:
1)
with
constantly: this descends the brachium pontis conducting mutually; Terminal voltage
equates with
; Be the bus cathode voltage; Be labeled as 0;
also is 0, at this moment
not detection of impact position signal;
2)
time period: motor commutation; Electric current is through last brachium pontis inverse parallel diode continuousing flow; Voltage is busbar voltage
by clamper,
the linear rising with the increase of phase back electromotive force; What
was
with
is poor, i.e.
;
3)
time period: this is mutually unsettled, and phase terminal voltage is phase back electromotive force and neutral point voltage sum.Neutral point voltage is a direct current biasing; Back electromotive force is linear to rise, and terminal voltage
is linear with
to rise;
is 0, and be inoperative;
4)
time period: this goes up the brachium pontis modulation mutually; Duty ratio
is
with the relation of product with
of busbar voltage
; Terminal voltage
equals
, and
arranged;
is 0, the not detection of impact position signal;
5)
time period: motor commutation; The electric current process is brachium pontis inverse parallel diode continuousing flow down; Terminal voltage is a bus ground voltage 0 by clamper;
with back electromotive force reduce and linear decline; What
was
with
is poor, i.e.
;
6)
time period: this is mutually unsettled; Phase terminal voltage is phase back electromotive force and neutral point voltage sum; Neutral point voltage is a direct current biasing; Back electromotive force is linear to descend; Terminal voltage
is linear with
to descend;
is 0, the not detection of impact position signal;
Through decomposition to terminal voltage;
is the same with when heavy duty in underloading;
then has very big difference; During underloading; Electric current is little;
and
is very short; The action time of
is very short; Its voltagesecond product is very little;
arranged (
=
;
); Therefore the position input is only caused faint influence, can ignore; During heavy duty; Electric current is big;
and
continues the long time; Voltagesecond product
can not ignore; It is serious to the influence of position detection signal; The phase advance angle that produces is spent greatly; Figure 10 is the voltage
of terminal voltage
and its decomposition and the signal of the generation behind
process low pass filter; The leading back-emf signal of afterflow interference signal; Make the synthetic terminal voltage signal of they stacks be ahead of back-emf signal; The amplitude of afterflow interference signal is big more; The leading angle of terminal voltage signal is big more, and the terminal voltage phase place makes the zero crossing of terminal voltage arrive in advance constantly in advance, detects the zero crossing that obtains and departs from real back electromotive force zero-crossing; When increase along with load current; The phase advance angle degree increases thereupon, and when leading angle was excessive, it is abominable that the commutation situation becomes; Cause current distortion; Have influence on terminal voltage waveform and position detection signal conversely, cause the further deterioration of commutation, finally cause commutation failure;
Foundation through above-mentioned model; Decomposition analysis to terminal voltage; We can obtain underloading and when heavy duty back electromotive force detection signal phase relation is exactly
in fact and the phase relation of
+
; Because
is the same with
cycle; Phase angular lag through low pass filter equates; Therefore the difference of the position signalling phase angle under underloading and the heavy duty depends on angle and the amplitude of
and
; Thus, draw the heavy duty under the phase compensation computational methods:
Under the step voltage, low pass filter zero state response computing formula does
Wherein
;
,
and
are shown in accompanying drawing 7; Voltage
through low pass filter compares with simulated neutral point voltage
; Thereby obtain the zero crossing of back electromotive force; Ignore the fluctuation of neutral point voltage; Then
is the mean value of
; Therefore; The alternating current component of only considering
has
Shown in the accompanying drawing 7 in the counter electromotive force detection circuit; Select suitable resistance and electric capacity; Make
, obtain
Wherein,
is the afterflow angle; It is the electrical angle of electric current time of afterflow
conversion;
is the frequency of counter electromotive force of motor;
is for revising scale factor; Here get
=1
Similarly
After a low-pass filter output AC voltage amplitude
There
The fundamental phase with
and
is consistent basically for
phase place
with
;
is relevant with
, and its relational expression can be expressed as
(6)
And satisfy
; Finding the solution of
is non-linear; Calculation of complex; But because
fluctuation range is less; Adopt the method for engineering approximation, can think that it is for often being worth approximate calculation
According to formula (4) and formula (5); As shown in Figure 9,
phase angle
with
satisfies
(7)
When
when getting 20 °, can try to achieve
In the formula:
is offset angle
Utilize microprocessor easily to handle to calculate above-mentioned formula push away the leading angle of phase place; Therefore after the relation that records electric current afterflow angle and size of current; After the relation that records electric current afterflow angle and size of current; Only need to detect electric machine phase current, controller can be confirmed leading phase angle in real time, because the commutation of phase angular advance helps reducing the torque pulsation of brshless DC motor; So can according to size of current and rotating speed suitable carry out phase angle compensation, thereby make motor reach optimal operational condition.
During starting, motor 16 is at first confirmed the initial relative position relation of stator 22 and external rotor 24, is divided into 6 parts to an electrical degree cycle of stator and rotor-position; Adopt the mode of square wave drive conducting in twos to determine conducting two brachium pontis wherein, in the process of motor operation, because " syllogic " starting is adopted in the starting of traditional brushless DC motor without position sensor; Belong to the open loop starting, this start mode electric current is very big, causes step-out easily; And the present invention adopts the new start mode of closed loop of a kind of outer rotor brushless DC motor starting: three pole reactor different characteristic of inductance value under different electrical degrees of pasting the brshless DC motor of magnetic according to the surface, through to motor injected pulse voltage, under identical voltagesecond product; It is also different to some extent because of the difference of inductance value that rotor 23 and stator 22 are in the size of current that obtains under the different relative positions; The magnitude relationship of inductance be can judge according to the size of electric current, thereby the relative position of external rotor 24 and stator 22, the i.e. positional information of external rotor 24 confirmed; Through continuous detection external rotor 24 positional informations; And then correct starting voltage vector in addition, make motor correctly select the conducting phase as position sensor, counter-rotating can not appear in motor 16; And can realize loading and start; When the rotating speed of treating motor 16 is enough to make the counter electromotive force detection circuit operate as normal, switch to the motor synchronizing state, get into motor synchronizing operation back and adopt the control of PI controller from starting state; Realize non-overshoot, rise to given speed stably.
The present invention is embedded in the motor driver owing to adopt said structure, realizes the integrated of driver, motor, has saved the circuit that connects motor and driver; Greatly increase system efficiency cuts down the consumption of energy, and adopts outer-rotor structure, reduces volume; The elevator system power density ratio reduces cost, and has solved the commutation problem under heavily loaded; Driver integrates main circuit and control circuit, strengthens anti-electromagnetic interference capability, has compact conformation; Power density is high, the high and low noise of efficient, the high and low cost of integrated level, easy to maintenance, easy operating with advantage such as move.
Claims (10)
1. an integrated position-sensor-free drive motors is provided with motor, and motor is made up of stator, external rotor, armature spindle and end cap; It is characterized in that being provided with in the motor driver; Driver is fixedly connected with end cap, and the stator of end cap and motor is connected, and makes it to form an integral body; Driver is made up of power amplifier board and control board; Power amplifier board is provided with major loop, inlet wire lack detection circuit, bus current testing circuit, under-voltage and over-voltage detection circuit, back-emf sensing circuit and switching power circuit, and control board is provided with DSP control system circuit and communication module circuit
Wherein:
Be provided with inlet wire electromagnetic interface filter, piezo-resistance protection in the major loop, used X electric capacity, Y electric capacity and three-phase common-mode filter to suppress differential mode and common mode disturbances; Rectifier bridge and inverter bridge all are integrated in the power model; Have the LC structure on the dc bus, realize Active PFC (PFC)
The inlet wire lack detection circuit is to be sent to dsp chip after the three-phase electricity that is sent to power model is handled through the testing circuit of being made up of resistance, diode and optocoupler to read; Read the output digital signal LHP1 of lack detection circuit and the duty ratio of LHP2 and judge whether phase shortage; Have the inlet wire lacuna and report to the police, overload, temperature alarm, overcurrent and over voltage alarm; Functions such as power factor correction
The bus current testing circuit is to detect resistance through series current on the bus; Isolate the voltage signal that amplifies the resistance two ends through linear optical coupling; The scope that becomes signal processing control chip to receive through a modulate circuit again, thus current of electric is fed back and keeps watch on
Under-voltage and over-voltage detection circuit is the method that adopts big resistive isolation, is converted into the analog signal that control chip is imported to busbar voltage through a simple discharge circuit, realizes under-voltage and the overvoltage detection; This amplifier be input as busbar voltage, input resistance is got very big, feedback resistance is very little; Thereby the input voltage that makes actual amplifier pin is not very big; The electric current that flows through is also very little, has realized that the effect of isolating has also realized the detection of voltage simultaneously
Counter electromotive force detection circuit is a low pass filter; Adopt " terminal voltage method " to realize no transducer control; Through processing to the voltage to earth of motor three-phase UVW, generate rotor-position signal through dsp processor, terminal voltage is divided into back-emf signal and electric current afterflow interference signal; The motor three-phase voltage is at first through low pass filter filters out high-frequency interferencing signal and step-down; Remove direct current component through an electric capacity again, compare the signal of handling with by the dummy neutral voltage that three-phase constructs then, and two kinds of signals are carried out the calculating of phase place and amplitude; The phase advance angle degree of the rotor-position signal that obtains causing by the electric current afterflow; The deviation angle of determining electric current afterflow influence through detection electric current, rotating speed, duty ratio, busbar voltage and the parameter of electric machine compensates, thereby obtains the signal of back electromotive force zero-crossing
Switching power circuit adopts inverse excitation type converter, is input as busbar voltage, exports the direct voltage of 3 tunnel isolation, is respectively applied for DSP control system circuit and communication module circuit,
DSP control system circuit control acp chip has the input of 6 tunnel analog signals, 3 pairs of PWM outputs,
The communication module circuit comprises RS232 and RS485 two kind of one step serial communication mode; Wherein RS232 is used for the operations such as maintenance to program; RS485 is used for Industry Control; Can carry out RS232, the input of RS485 bus communication and analog quantity speed given circuit, the analog quantity speed given circuit is through regulating motor speed to the controller input voltage
Control board is provided with the terminal board interface; End cap is provided with wiring hole; Be respectively three phase power inlet wire interface, driver warning output interface, serial ports RS232, serial ports RS485 and analog input interface, pass wiring hole that end cap is provided with respectively through the terminal board interface on the control board and communication and analog quantity speed governing, protection are reported to the police input is connected with three-phase alternating current.
2. a kind of integrated brshless DC motor according to claim 1; The concrete steps of compensation computational methods that it is characterized in that counter electromotive force detection circuit are following: in order to analyze the phase deviation phenomenon that makes motor position detection signal when the heavy duty, below the terminal voltage under the heavy duty is analyzed:
Because counter electromotive force detection circuit is a low pass filter, therefore high fdrequency component will can be done following simplification by filtering through testing circuit:
1) because of the cut-off frequency of PWM modulating frequency much larger than the low pass filter of counter electromotive force detection circuit, the PWM chopping voltage of high frequency can use its average voltage approximate;
2) same, the generator neutral point voltage fluctuation can use its mean value approximate also by filtering;
3) the phase back electromotive force is that 120 ° of flat-tops are wide, and equivalent amplitude is the PWM ripple of busbar voltage;
Brachium pontis modulation on adopting; Terminal voltage can be simplified to model as shown in Figure 8 during following brachium pontis conduction mode (PWM-ON); Wherein,
is the voltage sum of ideal line back electromotive force and desirable neutral point; The voltage distortion that
causes for the electric current afterflow; Terminal voltage
equals
and
sum, i.e.
=
+
(voltage reference points is the bus negative pole);
Terminal voltage among Fig. 8
can be divided into 6 states, is respectively:
1)
with
constantly: this descends the brachium pontis conducting mutually; Terminal voltage
equates with
; Be the bus cathode voltage; Be labeled as 0;
also is 0, at this moment
not detection of impact position signal;
2)
time period: motor commutation; Electric current is through last brachium pontis inverse parallel diode continuousing flow; Voltage is busbar voltage
by clamper,
the linear rising with the increase of phase back electromotive force; What
was
with
is poor, i.e.
;
3)
time period: this is mutually unsettled; Phase terminal voltage is phase back electromotive force and neutral point voltage sum; Neutral point voltage is a direct current biasing; Back electromotive force is linear to rise, and terminal voltage
is linear with
to rise;
is 0, and be inoperative;
4)
time period: this goes up the brachium pontis modulation mutually; Duty ratio
is
with the relation of product with
of busbar voltage
; Terminal voltage
equals
, and
arranged;
is 0, the not detection of impact position signal;
5)
time period: motor commutation; The electric current process is brachium pontis inverse parallel diode continuousing flow down; Terminal voltage is a bus ground voltage 0 by clamper;
with back electromotive force reduce and linear decline; What
was
with
is poor, i.e.
;
6)
time period: this is mutually unsettled; Phase terminal voltage is phase back electromotive force and neutral point voltage sum; Neutral point voltage is a direct current biasing; Back electromotive force is linear to descend; Terminal voltage
is linear with
to descend;
is 0, the not detection of impact position signal;
Through decomposition to terminal voltage;
is the same with when heavy duty in underloading;
then has very big difference; During underloading; Electric current is little;
and
is very short; The action time of
is very short; Its voltagesecond product is very little;
arranged (
=
;
); Therefore the position input is only caused faint influence, can ignore; During heavy duty; Electric current is big;
and
continues the long time; Voltagesecond product
can not ignore; It is serious to the influence of position detection signal; The phase advance angle that produces is spent greatly; Figure 10 is the voltage
of terminal voltage
and its decomposition and the signal of the generation behind
process low pass filter; The leading back-emf signal of afterflow interference signal; Make the synthetic terminal voltage signal of they stacks be ahead of back-emf signal; The amplitude of afterflow interference signal is big more; The leading angle of terminal voltage signal is big more; The terminal voltage phase place makes the zero crossing of terminal voltage arrive in advance constantly in advance; The zero crossing that detection obtains departs from real back electromotive force zero-crossing, and when the increase along with load current, the phase advance angle degree increases thereupon; When leading angle is excessive; It is abominable that the commutation situation becomes, and causes current distortion, has influence on terminal voltage waveform and position detection signal conversely; Cause the further deterioration of commutation, finally cause commutation failure;
Foundation through above-mentioned model; Decomposition analysis to terminal voltage; We can obtain underloading and when heavy duty back electromotive force detection signal phase relation is exactly
in fact and the phase relation of
+
; Because
is the same with
cycle; Phase angular lag through low pass filter equates; Therefore the difference of the position signalling phase angle under underloading and the heavy duty depends on angle and the amplitude of
and
; Thus, draw the heavy duty under the phase compensation computational methods:
Under the step voltage, low pass filter zero state response computing formula does
Wherein
;
,
and
are shown in accompanying drawing 7; Voltage
through low pass filter compares with simulated neutral point voltage
; Thereby obtain the zero crossing of back electromotive force; Ignore the fluctuation of neutral point voltage; Then
is the mean value of
; Therefore; The alternating current component of only considering
has
Shown in the accompanying drawing 7 in the counter electromotive force detection circuit; Select suitable resistance and electric capacity; Make
, obtain
made the step signal of Approximate Equivalent and handle, bringing that formula (3) obtains
into has through the ac amplitude
of output voltage behind the low pass filter
Wherein,
is the afterflow angle; It is the electrical angle of electric current time of afterflow
conversion;
is the frequency of counter electromotive force of motor;
is for revising scale factor; Here get
=1
Similarly
After a low-pass filter output AC voltage amplitude
There
The fundamental phase with
and
is consistent basically for
phase place
with
;
is relevant with
, and its relational expression can be expressed as
And satisfy
; Finding the solution of
is non-linear; Calculation of complex; But because
fluctuation range is less; Adopt the method for engineering approximation, can think that it is for often being worth approximate calculation
According to formula (4) and formula (5); As shown in Figure 9,
phase angle
with
satisfies
When
when getting 20 °, can try to achieve
In the formula:
is offset angle
Utilize microprocessor calculate above-mentioned formula push away the leading angle of phase place, therefore after the relation that records electric current afterflow angle and size of current, only need the detection electric machine phase current, controller can be confirmed leading phase angle in real time.
3. a kind of integrated position-sensor-free drive motors according to claim 1; The axle body that it is characterized in that armature spindle is provided with ceramic plated layer; Ceramic plated layer comprises pre-ceramic coating and back ceramic plated layer, pre-ceramic coating and the corresponding bearing of ceramic plated layer difference installation site, back.
4. a kind of integrated position-sensor-free drive motors according to claim 1 is characterized in that in the stator winding that each phase winding can be with staggered penetrating in the hole of stator core of coiling, and the coiling that makes it to form four coils is connected in series.
5. a kind of integrated position-sensor-free drive motors according to claim 1 is characterized in that between end cap and the motor stator heat dissipation plate being installed.
6. a kind of integrated position-sensor-free drive motors according to claim 1 is characterized in that being provided with in the end cap and the contacted boss of Drive Module, and the outside is provided with fin, and the module on the driver is closely linked to each other with end cap.
7. a kind of integrated position-sensor-free drive motors according to claim 1 is characterized in that " ground wire " of drive circuit and major loop and " ground wire " of control circuit keep apart.
8. a kind of integrated position-sensor-free drive motors according to claim 1 is characterized in that drive plate is provided with temperature sensing circuit, and the temperature of rectification and inversion module, power amplifier board, motor is detected in real time.
9. a kind of integrated position-sensor-free drive motors according to claim 1 is characterized in that external rotor is that flange installed surface by body and body end constitutes body and the disposable drawing and forming of flange installed surface.
10. a kind of integrated position-sensor-free drive motors according to claim 3 is characterized in that the corresponding bearing of armature spindle axle body periphery is provided with annular groove, and pre-ceramic coating is located in the groove respectively with the back ceramic plated layer.
Priority Applications (1)
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|---|---|---|---|
| CN201110273548.XA CN102307033B (en) | 2011-09-15 | 2011-09-15 | Integrated driving motor without position sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110273548.XA CN102307033B (en) | 2011-09-15 | 2011-09-15 | Integrated driving motor without position sensor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102307033A true CN102307033A (en) | 2012-01-04 |
| CN102307033B CN102307033B (en) | 2015-03-18 |
Family
ID=45380855
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110273548.XA Withdrawn - After Issue CN102307033B (en) | 2011-09-15 | 2011-09-15 | Integrated driving motor without position sensor |
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| Country | Link |
|---|---|
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| CN112781244A (en) * | 2020-06-30 | 2021-05-11 | 青岛经济技术开发区海尔热水器有限公司 | Power output control method and instant electric water heater |
| CN113489389A (en) * | 2021-06-22 | 2021-10-08 | 深圳市航顺芯片技术研发有限公司 | Motor three-phase current sampling circuit, method, chip and computer equipment |
| CN113489389B (en) * | 2021-06-22 | 2023-01-03 | 深圳市航顺芯片技术研发有限公司 | Motor three-phase current sampling circuit, method, chip and computer equipment |
| CN114148498A (en) * | 2021-12-02 | 2022-03-08 | 东莞小豚智能技术有限公司 | Marine high-integration shaftless rim propeller |
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