CN102655388A - Method for driving brushless direct current motor in 150-degree conduction mode - Google Patents

Abstract

The invention relates to a method for driving a brushless direct current motor in a 150-degree conduction mode, which is characterized in that a motor magnetic pole signal is subjected to logic operation and is dealt with a PWM (Pulse-Width Modulation) chopping signal to obtain a modulation signal for driving upper and lower tubes of the brushless direct current motor. The method for driving the brushless direct current motor in the 150-degree conduction mode is characterized in that the absolute value of the conversion tendency of non-phase change current is reduced after being increased in the 150-degree conduction mode within one phase change process, and a phase change torque pulsation is increased after being reduced. Compared with the mode of continuously increasing or lowering in the phase change process for the phase change torque pulsation in a 120-degree conduction driving brushless direct current motor, the 150-degree conduction mode is characterized in that the phase change torque pulsation of the motor is under a rising stage within the time that a power tube is conducted for 30 degrees, and the phase change torque pulsation of the motor is under a lowering state when a shut-off power tube begins to be shut off. When the motor operates at a high speed, the phase change torque fluctuation in the process is reduced into a considerable numerical number.

Description

A kind of 150 ° of conduction modes drive the method for brshless DC motor

Technical field

The invention belongs to the brshless DC motor driving method, be specifically related to the method that a kind of 150 ° of conduction modes drive brshless DC motor.

Background technology

Three-phase brushless dc motor mainly adopts 120 ° of conduction modes in twos, i.e. each cycle commutation of motor 6 times, and arbitrary moment has only two to be conducted, and each power tube conducting is 120 ° at every turn, and the upper and lower bridge arm conducting differs from 60 °.Conducting state is arranged as T1T6, T1T2, T2T3, T3T4, T4T5, T5T6 in chronological order, and each conducting state is 60 °.

The torque of brshless DC motor is directly proportional with the amplitude of motor magnetic flux and electric current.Because the existence of motor phase inductance, the electric current of motor windings switches to another mutually by one and produces the commutation delay mutually in the commutation process, causes the generation of commutation torque pulsation.Torque pulsation influences the control precision and the servo performance of brshless DC motor, causes the vibration and the noise of motor.

When adopting 120 ° of conduction mode commutations, three-phase current is in open-minded respectively, turn-offs; Non-commutation state is because the existence of phase inductance makes that the fall off rate that closes broken phase current is different with the climbing speed of opening phase current; Non-commutation electric current changes, the generation of the torque pulsation that causes commutating.At the motor low-speed stage, non-commutation electric current absolute value increases, and torque pulsation is for just; At the motor high speed stage, non-commutation electric current absolute value reduces, and torque pulsation is for negative.The commutation torque pulsation causes the motor shake, produces noise, increases harmonic pollution.

Summary of the invention

The technical problem that solves

For fear of the weak point of prior art, the present invention proposes the method that a kind of 150 ° of conduction modes drive brshless DC motor, can effectively suppress motor torque pulsation when high speed.

Technical scheme

The driving method of 150 ° of conduction modes of a kind of permanent-magnet brushless DC electric machine is characterized in that: the motor pole signal is carried out logical operation, again with the PWM chopping signal with, obtain driving brshless DC motor and manage modulation signal up and down, contain following steps successively:

Step 1: to 6 road motor pole signal H1, H2, H3, H4, H5, H6 carries out logical conversion, obtains 6 tunnel control signals $Q$ $1=H4\&CenterDot;\stackrel{\&OverBar;}{\mathrm{<figure-callout\; id="1"\; label="H"\; filenames="HDA00001649158400013.png"\; state="\{\{state\}\}">H</figure-callout>}1},$ $\mathrm{<figure-callout\; id="2"\; label="Q"\; filenames="HDA00001649158400013.png"\; state="\{\{state\}\}">Q</figure-callout>}2=H5\&CenterDot;\stackrel{\&OverBar;}{\mathrm{<figure-callout\; id="2"\; label="H"\; filenames="HDA00001649158400013.png"\; state="\{\{state\}\}">H</figure-callout>}2},$ $Q3=H6\&CenterDot;\stackrel{\&OverBar;}{H3},$ $Q4=H1\&CenterDot;\stackrel{\&OverBar;}{H4},$ $Q5=\mathrm{<figure-callout\; id="2"\; label="H"\; filenames="HDA00001649158400013.png"\; state="\{\{state\}\}">H</figure-callout>}2\&CenterDot;\stackrel{\&OverBar;}{H5},$ $Q6=H3\&CenterDot;\stackrel{\&OverBar;}{H6};$

Step 2: control signal and PWM chopping signal with, obtain the required modulation signal T1=Q1PWM of three phase inverter bridge, T3=Q3PWM, T5=Q5PWM, T2=Q2, T4=Q4, T6=Q6; Wherein: T1, T3, T5 are last pipe modulation signal, T2, and T4, T6 is for managing modulation signal down, and PWM is a chopping signal;

Step 3: the modulation signal of three phase inverter bridge is inputed to the permanent-magnet brushless DC electric machine three phase inverter bridge, to drive brshless DC motor.

The acquisition of 6 road motor pole signals is in the described step 1: detect with the motor hall position sensor and obtain rotor-position signal: Hall1, Hall2, Hall3, Hall4, Hall5 and Hall6; When 0≤| Hall|≤corresponding motor pole signal of 0.8 output be low level 0,2.4≤| Hall|≤corresponding motor pole signal of 3.3 outputs is a high level 1; Said | Hall| is the amplitude of rotor-position signal.

The PWM chopping signal is obtained by following steps in the described step 2:

Step (1): according to the speed reference ω that sets ^*Carry out the PI adjusting with the speed feedback value ω of electric machine controller output, obtain with reference to copped wave amplitude, L=K _pE _ω+ K _i∫ e _ωDt, K _pBe proportional gain, K _p>0, K _iBe storage gain K _i>0, wherein: e _ω=ω ^*-ω; The speed feedback value of said electric machine controller output

P is the motor number of pole-pairs, t>0; T is that motor pole signal H1=1 is 1 time to H1 next time;

Step (2): with amplitude with reference to copped wave amplitude L and periodic sequence signal F | F| does poor, Δ δ=L-|F|, Δ δ>=0 PWM=0, Δ δ<0 PWM=1; F is that frequency is the triangular wave of f, f＞0.

Beneficial effect

A kind of 150 ° of conduction modes that the present invention proposes drive the method for brshless DC motor, and under 150 ° of conduction modes, in the commutation process, the conversion trend of non-commutation electric current is that first the increase afterwards of absolute value reduces, and the commutation torque pulsation is fallen after rising.The commutation torque pulsation continues to rise or descend in commutation process to compare during with 120 ° of conduction mode drive motors of employing; Under 150 ° of conduction modes; The commutation torque pulsation of motor is in ascent stage in the time of 30 ° of power tube conductings; When the switch-off power pipe begins to turn-off, rise and be in the decline stage, in the motor high-speed cruising stage, the fluctuation of this process commutation torque is reduced to a considerable numerical value.

The method that the present invention proposes, under 150 ° of conduction modes can be to the motor fast state, causing electric current by factors such as inductance was that the situation of imperfect square wave compensates, thereby reaches the purpose that reduces torque pulsation.

Description of drawings

Fig. 1: brushless DC motor structure;

(a) motor pole and winding position; (b) motor Hall element position;

Fig. 2: three-phase brushless dc motor equivalent circuit diagram;

Fig. 3: 150 ° of conduction mode commutation schematic diagrams;

Fig. 4: electromagnetic torque (T=2Nm) under 120 ° of conduction modes;

Fig. 5: electromagnetic torque (T=2Nm) under 150 ° of conduction modes.

Embodiment

Combine embodiment, accompanying drawing that the present invention is further described at present:

Certain three-phase permanent brshless DC motor technical indicator rated power P=1.5kW, nominal torque T=2Nm, number of pole-pairs p=1.The three-phase brushless dc motor equivalent circuit diagram is referring to Fig. 2.Equivalent circuit diagram comprises controller inverter circuit power bridge and brshless DC motor body two parts.Controller inverter circuit power bridge is by six power tubes (T1～T6) and six fly-wheel diode (D1～D6) form; Wherein the brachium pontis of T1, T4 composition links to each other with motor A phase winding; The brachium pontis that T3, T6 form links to each other with motor B phase winding, and the brachium pontis that T5, T2 form links to each other with motor C phase winding.Brshless DC motor body such as Fig. 1, six Hall elements shown in Fig. 1 (b), H1 and H2, H3 and H4 differ from 30 ° between H5 and the H6; H2 and H3, H4 and H5 differ from 90 ° between H6 and the H1.

Its implementation process is following:

Period demand signal F is that frequency is the triangular wave of f, f=10kHZ

1) when rotor-position as shown in Figure 1, motor hall position sensor detection rotor position signalling, | Hall1|=0, | Hall2|=3.3, | Hall3|=3.3; | Hall4|=3.3, | Hall5|=0, | Hall6|=0, this moment 6 road motor pole signal H1=0, H2=1; H3=1, H4=1, H5=0, H6=0.To 6 road motor pole signal H1, H2, H3, H4, H5, H6 carries out logical conversion, obtains 6 tunnel control signals $Q$ $1=H4\&CenterDot;\stackrel{\&OverBar;}{\mathrm{<figure-callout\; id="1"\; label="H"\; filenames="HDA00001649158400013.png"\; state="\{\{state\}\}">H</figure-callout>}1}=1,$ $\mathrm{<figure-callout\; id="2"\; label="Q"\; filenames="HDA00001649158400013.png"\; state="\{\{state\}\}">Q</figure-callout>}2=H5\&CenterDot;\stackrel{\&OverBar;}{\mathrm{<figure-callout\; id="2"\; label="H"\; filenames="HDA00001649158400013.png"\; state="\{\{state\}\}">H</figure-callout>}2}=0,$ $Q3=H6\&CenterDot;\stackrel{\&OverBar;}{H3}=0,$ $Q4=H1\&CenterDot;\stackrel{\&OverBar;}{H4}=0,$ $Q5=\mathrm{<figure-callout\; id="2"\; label="H"\; filenames="HDA00001649158400013.png"\; state="\{\{state\}\}">H</figure-callout>}2\&CenterDot;\stackrel{\&OverBar;}{H5}=1,$ $Q6=H3\&CenterDot;\stackrel{\&OverBar;}{H6}=1;$

2) according to the speed reference ω that sets ^*Carry out the PI adjusting with the speed feedback value ω of electric machine controller output, obtain with reference to copped wave amplitude, L=K _pE _ω+ K _i∫ e _ωDt, motor does not start, ω=0, wherein e _ω=ω ^*-ω=ω ^*, L=K then _pE _ω+ K _i∫ e _ωDt=K _pω ^*+ K _i∫ ω ^*Dt;

3) with reference to the amplitude of copped wave amplitude L and periodic sequence signal F | F| does poor: Δ δ=L-|F|=K _pω ^*+ K _i∫ ω ^*Dt-|F| then $\left\{\begin{array}{c}{K}_p\&CenterDot;{\mathrm{\&omega;}}^{*}+K_i{\&Integral;\mathrm{\&omega;}}^{*}\mathrm{Dt}\&GreaterEqual;\left|F\right|,\mathrm{PWM}=1\\ K_p\&CenterDot;{\mathrm{\&omega;}}^{*}+K_i{\&Integral;\mathrm{\&omega;}}^{*}\mathrm{Dt}\&le;\left|F\right|,\mathrm{PWM}=0\end{array}\right.;$

4) control signal and PWM chopping signal with, obtain the required modulation signal T1=Q1PWM=PWM of three phase inverter bridge, T3=Q3PWM=0, T5=Q5PWM=PWM, T2=Q2=0, T4=Q4=0, T6=Q6=1.Power tube T1T5T6 is open-minded, A phase winding, B phase winding, the energising of C phase winding, and winding current flows to from A phase C respectively mutually, flows out mutually from B, and motor stator and rotor excitation field interacts, the rotation of dragging motor rotor;

5) turn over 30 °, motor hall position sensor detection rotor position signalling Hall1, Hall2, Hall3, Hall4 when the rotor rare-earth permanent magnet; Hall5, Hall6 calculates 6 road motor pole signal H1, H2, H3; H4, H5, H6 carries out logical conversion to it, obtains 6 tunnel control signals $Q$ $1=H4\&CenterDot;\stackrel{\&OverBar;}{\mathrm{<figure-callout\; id="1"\; label="H"\; filenames="HDA00001649158400013.png"\; state="\{\{state\}\}">H</figure-callout>}1},$ $\mathrm{<figure-callout\; id="2"\; label="Q"\; filenames="HDA00001649158400013.png"\; state="\{\{state\}\}">Q</figure-callout>}2=H5\&CenterDot;\stackrel{\&OverBar;}{\mathrm{<figure-callout\; id="2"\; label="H"\; filenames="HDA00001649158400013.png"\; state="\{\{state\}\}">H</figure-callout>}2},$ $Q3=H6\&CenterDot;\stackrel{\&OverBar;}{H3},$ $Q4=\mathrm{<figure-callout\; id="1"\; label="H"\; filenames="HDA00001649158400013.png"\; state="\{\{state\}\}">H</figure-callout>}1\&CenterDot;\stackrel{\&OverBar;}{H4},$ $Q5=\mathrm{<figure-callout\; id="2"\; label="H"\; filenames="HDA00001649158400013.png"\; state="\{\{state\}\}">H</figure-callout>}2\&CenterDot;\stackrel{\&OverBar;}{H5},$ $Q6=H3\&CenterDot;\stackrel{\&OverBar;}{H6};$

6) repeating step 2)-4), power tube T1T6 is open-minded, A phase winding, the energising of B phase winding, and winding current A phase flows out from B mutually, and motor stator and rotor excitation field interacts, the rotation of dragging motor rotor

7) repeating step 5)-6); The motor power tube that rotates a circle is opened order and is T5T6T1, T1T6, T1T6T2, T1T2, T1T2T3, T2T3, T2T3T4, T3T4, T3T4T5, T4T5, T4T5T6, T5T6; Circulation according to this, electric motor starting is accomplished, and gets into the speed governing stage;

8) read the motor pole signal and carry out logical conversion $Q$ $1=H4\&CenterDot;\stackrel{\&OverBar;}{\mathrm{<figure-callout\; id="1"\; label="H"\; filenames="HDA00001649158400013.png"\; state="\{\{state\}\}">H</figure-callout>}1},$ $\mathrm{<figure-callout\; id="2"\; label="Q"\; filenames="HDA00001649158400013.png"\; state="\{\{state\}\}">Q</figure-callout>}2=H5\&CenterDot;\stackrel{\&OverBar;}{\mathrm{<figure-callout\; id="2"\; label="H"\; filenames="HDA00001649158400013.png"\; state="\{\{state\}\}">H</figure-callout>}2},$ $Q3=H6\&CenterDot;\stackrel{\&OverBar;}{H3},$ $Q4=\mathrm{<figure-callout\; id="1"\; label="H"\; filenames="HDA00001649158400013.png"\; state="\{\{state\}\}">H</figure-callout>}1\&CenterDot;\stackrel{\&OverBar;}{H4},$ $Q5=\mathrm{<figure-callout\; id="2"\; label="H"\; filenames="HDA00001649158400013.png"\; state="\{\{state\}\}">H</figure-callout>}2\&CenterDot;\stackrel{\&OverBar;}{H5},$ $Q6=H3\&CenterDot;\stackrel{\&OverBar;}{H6};$ Calculate motor speed: read H1=1 is that time of 1 is t to H1 next time, then the speed feedback value exported of electric machine controller

9) according to the speed reference ω that sets ^*Carry out the PI adjusting with the speed feedback value ω of electric machine controller output, obtain with reference to copped wave amplitude, L=K _pE _ω+ K _i∫ e _ωDt, wherein

Then $L=K_p\&CenterDot;e_{\mathrm{\&omega;}}+K_i\&Integral;e_{\mathrm{\&omega;}}\mathrm{Dt}=K_p\&CenterDot;({\mathrm{\&omega;}}^{*}-\frac{1}{t})+K_i\&Integral;({\mathrm{\&omega;}}^{*}-\frac{1}{t})\mathrm{Dt};$

10) with reference to the amplitude of copped wave amplitude L and periodic sequence signal F | F| does poor:

$\mathrm{\&Delta;\&delta;L}-\left|F\right|=K_p\&CenterDot;({\mathrm{\&omega;}}^{*}-\frac{1}{t})+K_i\&Integral;({\mathrm{\&omega;}}^{*}-\frac{1}{t})\mathrm{dt}-\left|F\right|$

Then $\left\{\begin{array}{c}{K}_p\&CenterDot;({\mathrm{\&omega;}}^{*}-\frac{1}{t})+K_i\&Integral;({\mathrm{\&omega;}}^{*}-\frac{1}{t})\mathrm{Dt}\&GreaterEqual;\left|F\right|,\mathrm{PWM}=1\\ K_p\&CenterDot;({\mathrm{\&omega;}}^{*}-\frac{1}{t})+K_i\&Integral;({\mathrm{\&omega;}}^{*}-\frac{1}{t})\mathrm{Dt}\&le;\left|F\right|,\mathrm{PWM}=0\end{array}\right.;$

11) control signal and PWM chopping signal with, obtain the required modulation signal T1=Q1PWM of three phase inverter bridge, T3=Q3PWM, T5=Q5PWM; T2=Q2, T4=Q4, T6=Q6; The conducting of corresponding power pipe, motor rotation, repeating step 8)-11) promptly accomplish the driving of motor.

150 ° of conduction mode commutations of this brshless DC motor principle is referring to Fig. 3.Motor opposite potential waveform is 120 ° of trapezoidal waves, and phase current is 150 ° of square waves.Brshless DC motor is under 150 ° of conduction modes during commutation, and when opening phase current and rising, other biphase current remains unchanged, and after the power tube of opening was opened 30 °, the switch-off power pipe turn-offed.Non-commutation electric current absolute value rises with the rising of opening electric current to some extent, descends to some extent with the decline of closing broken phase current then, gets into next commutation process after 30 ° of electrical degrees.

Adopt 120 ° of conduction modes and 150 ° of conduction modes that this brshless DC motor is carried out emulation respectively under band nominal load condition, simulation result is: under 120 ° of conduction modes, the torque pulsation of motor stable state is 0.6Nm, referring to Fig. 4; Under 150 ° of conduction modes, the torque pulsation of motor stable state is 0.5Nm, referring to Fig. 5.The result shows that torque pulsation reduces 17% when adopting 150 ° of conduction modes to make this brshless DC motor torque pulsation than 120 ° of conduction modes of employing.

Claims (3)

1. the driving method of 150 ° of conduction modes of a permanent-magnet brushless DC electric machine is characterized in that: the motor pole signal is carried out logical operation, again with the PWM chopping signal with, obtain driving brshless DC motor and manage modulation signal up and down, contain following steps successively:

Step 1: to 6 road motor pole signal H1, H2, H3, H4, H5, H6 carries out logical conversion, obtains 6 tunnel control signals $Q1=H4\&CenterDot;\stackrel{\&OverBar;}{H1},$ $Q2=H5\&CenterDot;\stackrel{\&OverBar;}{H2},$ $Q3=H6\&CenterDot;\stackrel{\&OverBar;}{H3},$ $Q4=H1\&CenterDot;\stackrel{\&OverBar;}{H4},$ $Q5=H2\&CenterDot;\stackrel{\&OverBar;}{H5},$ $Q6=H3\&CenterDot;\stackrel{\&OverBar;}{H6};$

Step 2: control signal and PWM chopping signal with, obtain the required modulation signal T1=Q1PWM of three phase inverter bridge, T3=Q3PWM, T5=Q5PWM, T2=Q2, T4=Q4, T6=Q6; Wherein: T1, T3, T5 are last pipe modulation signal, T2, and T4, T6 is for managing modulation signal down, and PWM is a chopping signal;

Step 3: the modulation signal of three phase inverter bridge is inputed to the permanent-magnet brushless DC electric machine three phase inverter bridge, to drive brshless DC motor.

2. the driving method of 150 ° of conduction modes of permanent-magnet brushless DC electric machine according to claim 1 is characterized in that:

The acquisition of 6 road motor pole signals is in the described step 1: detect with the motor hall position sensor and obtain rotor-position signal: Hall1, Hall2, Hall3, Hall4, Hall5 and Hall6; When 0≤| Hall|≤corresponding motor pole signal of 0.8 output be low level 0,2.4≤| Hall|≤corresponding motor pole signal of 3.3 outputs is a high level 1; Said | Hall | be the amplitude of rotor-position signal.

3. the driving method of 150 ° of conduction modes of permanent-magnet brushless DC electric machine according to claim 1 is characterized in that:

The PWM chopping signal is obtained by following steps in the described step 2:

Step (1): according to the speed reference ω that sets ^*Carry out the PI adjusting with the speed feedback value ω of electric machine controller output, obtain with reference to copped wave amplitude, L=K _pE _ω+ K _i∫ e _ωDt, K _pBe proportional gain, K _p>0, K _iBe storage gain K _i>0, wherein: e _ω=ω ^*-ω; The speed feedback value of said electric machine controller output P is the motor number of pole-pairs, t>0; T is that motor pole signal H1=1 is 1 time to H1 next time;

Step (2): with amplitude with reference to copped wave amplitude L and periodic sequence signal F | F| does poor, Δ δ=L-|F|, Δ δ>=0 PWM=0, Δ δ<0 PWM=1; F is that frequency is the triangular wave of f, f＞0.

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