CN102780430B - High-frequency detection pulse injection method of brushless direct current motor - Google Patents
High-frequency detection pulse injection method of brushless direct current motor Download PDFInfo
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- CN102780430B CN102780430B CN201210233833.3A CN201210233833A CN102780430B CN 102780430 B CN102780430 B CN 102780430B CN 201210233833 A CN201210233833 A CN 201210233833A CN 102780430 B CN102780430 B CN 102780430B
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Abstract
The invention belongs to the technical field of brushless direct current motor control and relates to a high-frequency detection pulse injection method of a brushless direct current motor. The method is characterized in that a high-frequency source is utilized for generating high-frequency detection pulse signals, the high-frequency detection pulse signals are respectively coupled onto each phase of power supply wires and windings of the brushless direct current motor through a coupling circuit, each phase of end voltage values of the brushless direct current motor are detected through a voltage sensor, the high-frequency voltage components of each phase of end voltage are obtained from each phase of end voltage values respectively through a band-pass filter, position signals are obtained according to amplitude, phase position or instantaneous value differences of the high-frequency voltage components, and a controller realizes the non-position sensor control of the brushless direct current motor according to the position signals. The high-frequency detection pulse injection method has the advantages that the precision and the real-time performance of detecting signals can be improved, and the system cost is reduced.
Description
Affiliated technical field
The invention belongs to brshless DC motor control technology field, relate to a kind of high-frequency detection pulse method for implanting.
Background technology
The most basic feature of brshless DC motor is can realize commutation without brush.Brshless DC motor, according to position signalling, relies on electronic commutator in a certain order for each is switched on mutually, thereby saved, easily damages, needs the often brush of maintenance in motor, has reduced motor manufacturing cost and maintenance cost, has expanded range of application.The position transducer of brshless DC motor must be arranged on motor internal motor rotor position is detected, and position transducer needs to be serviced, and price is higher, has limited the stable and high effective operation of brshless DC motor under mal-condition.
The Sensorless Control Technique of brshless DC motor is developed, the Sensorless Control Technique of brshless DC motor is by detecting some electric quantity signals of brshless DC motor or the position signalling that reaction obtains brshless DC motor, under this control mode, brshless DC motor has higher reliability and antijamming capability, has overcome position detection error and torque pulsation that the inaccurate installation of position transducer brings.Tradition inductance method does not rely on rotor field motion just can obtain rotor-position, its basic principle is in winding, to apply square wave pulse voltage, armature reaction due to winding, according to obtaining inductance difference after the current amplitude recording, then obtain position signalling according to the relation between inductance and rotor-position.When adopting high-frequency pulse voltage, improved detection number of times, reduce sense cycle, and then obtained accurate rotor-position signal more in time.
Frequency multiplexing technique is one of technology conventional in communication engineering, it is several mutual nonoverlapping subchannels by the channel distribution of transmission information, every road signal takies one of them frequency range, at receiving terminal, adopts suitable band pass filter that multiple signals are separated, thereby recovers needed signal.For example carrier telecommunication is one of common equipment of the employing frequency multiplexing technique in communication of power system; it utilizes high voltage transmission line as the channel of wire communication, for telemechanical, protection, production commander, communication scheduling and the administrative service communication of electric power system provides means.
In conventional method, the high-frequency detection pulse of the brushless direct current motor sensorless based on inductance method principle is produced by power switch, drive voltage signal time-sharing multiplex power line and the winding of high-frequency detection pulse and brshless DC motor.Can not outputting drive voltage signal during detection position signal, affected motion control and the speed governing of brshless DC motor, produce the deviation of motor speed, particularly when electric motor starting and low cruise, systematic function declines serious; Also affected the real-time that high-frequency detection pulse is injected, caused the inaccurate of position signalling simultaneously.
Conventional brshless DC motor inductance difference is little, and detection signal signal to noise ratio is low, and algorithm is realized difficulty.After power switch component is selected, maximum switching frequency is fixed, thereby has limited the raising of high-frequency detection pulse signal frequency, and the high precision electric current transducer that conventional method depends on, has improved system cost, has limited the raising of accuracy of detection.
Summary of the invention
The present invention is intended to overcome the above-mentioned deficiency of prior art, a kind of accuracy and real-time that can improve detection signal is provided, the method for implanting of the brshless DC motor high-frequency detection pulse of the cost of reduction system, is applicable to the application scenario that brushless direct current motor sensorless is controlled.
In order to realize above object, the present invention by the following technical solutions:
A kind of high-frequency detection pulse method for implanting of brshless DC motor, it is characterized in that, the method utilizes high-frequency signal source to produce high-frequency detection pulse signal, high-frequency detection pulse signal is coupled to respectively on the power line and winding of each phase of brshless DC motor by coupling circuit, the terminal voltage value of each phase by voltage sensor senses brshless DC motor, the terminal voltage value of each phase obtains respectively the high frequency voltage component of each phase terminal voltage after band pass filter, according to the amplitude of high frequency voltage component, the difference of phase place or instantaneous value obtains position signalling, controller is realized the position Sensorless Control of brshless DC motor according to position signalling.
As preferred implementation, described high-frequency detection pulse signal is produced by signal source independently, the multiplexing power line of driving voltage frequency division and the motor winding of high-frequency detection pulse signal and motor; Between the high-frequency impulse decanting point of high-frequency detection pulse signal and power switch, be provided with high-frequency signal trap, be used for avoiding high-frequency signal to enter power supply and power switch, make the difference of each phase terminal voltage high frequency voltage component not be subject to the impact of power supply and power switch.
Beneficial effect of the present invention is as follows:
(1) more than the present invention can bring up to 500kHz by high-frequency detection pulse frequency, and the power switch component that does not rely on brshless DC motor can inject high-frequency detection pulse, simplify the design of control algolithm, reduced the requirement to power switch component, also reduced the cost of system.
(2) raising of high-frequency detection pulse frequency has expanded each phase winding inductance difference, can directly utilize voltage sensor to measure and then obtain position signalling high frequency voltage component, thereby avoided using high-precision current sensor, also reduced the cost of system.
(3) the present invention has designed the high-frequency detection pulse method for implanting of the multiplexing brshless DC motor power line of frequency division and winding, in the signal of detection position, do not affect the drive voltage signal of brshless DC motor, accuracy and the promptness of position signalling have been improved, be convenient to the motion of brshless DC motor accurately to control, and there is good low speed and zero-speed performance.
Accompanying drawing explanation
Fig. 1 brushless direct current motor sensorless is controlled high-frequency detection pulse method for implanting schematic diagram
A kind of high-frequency signal trap of Fig. 2 high-frequency detection pulse method for implanting
A kind of transformer-coupled circuit of Fig. 3 high-frequency detection pulse method for implanting
A kind of high-frequency pulse signal source circuit of Fig. 4
The corresponding relation of Fig. 5 three-phase winding inductance difference and position signalling
Embodiment
Below in conjunction with accompanying drawing and example, the present invention will be further described.
As shown in Figure 1, its middle controller, brshless DC motor and power switch are identical with common BLDCM Drive System for schematic diagram of the present invention.As seen from the figure, exist a set of independently high-frequency detection pulse injecting mechanism to be deployed in the outlet side of power switch, wherein high-frequency detection pulse injecting mechanism consists of signal source and coupling circuit, high-frequency detection pulse be can't help power switch component and is produced, and directly according to the high-frequency signal frequency instruction of controller or with fixed frequency form, by signal source, produced, the high-frequency signal that signal source produces is directly delivered on the power line of brshless DC motor by coupling circuit.
Between high-frequency impulse decanting point and power switch, there is high-frequency signal trap, under the condition of driving voltage that does not affect motor, avoid high-frequency detection pulse to enter power supply.High-frequency signal trap stops high-frequency pulse signal by power switch and power supply, and has avoided the detection error brought due to the inductance difference of power switch and power supply.In the present invention, can use conventional high-frequency signal trap, Fig. 2 shows a kind of high-frequency signal trap, and this high-frequency signal trap is comprised of inductance coil, protection component and tuned cell.
Coupling circuit is delivered to high-frequency signal on the power line of brshless DC motor, and avoids low frequency signal to enter high-frequency signal generation device, and Fig. 3 shows a kind of transformer-coupled circuit, for different signal sources, can select different coupling circuits.Fig. 4 shows a kind of high-frequency pulse signal source circuit, and this circuit can produce a fixing high-frequency pulse signal, its output frequency f=1/[1.278 (R
2+ RP) C
1], the frequency of its high-frequency signal depends on resistance R as seen
2, RP and capacitor C
1selection.Testing agency is comprised of voltage sensor and band pass filter, voltage sensor is measured the terminal voltage signal of brshless DC motor, terminal voltage signal is sent into controller and is calculated position signalling after band-pass filter, and controller sends and drives instruction to power switch.
This invention can be applied to any brshless DC motor in the detection of running status lower rotor part position arbitrarily.For example, in motor stall start process, high-frequency detection pulse injecting mechanism starts at first in starting process, on the power line of brshless DC motor, inject high-frequency detection pulse, under different rotor position, each phase winding inductance difference of brshless DC motor does not rely on the motion of rotor, during stationary rotor, also can obtain each phase winding inductance difference, find rotor-position, and according to direction of rotation, determine the position signalling of next commutation point, when this position signalling is detected, brshless DC motor carries out commutation operation.
The field spider d-axis of brshless DC motor, hand over axial magnetic permeability different, each phase winding inductance is along with the difference of rotor-position changes, and for each phase winding inductance of any brshless DC motor, all can change along with the difference of rotor-position.Take three-phase brushless dc motor as example, each phase winding inductance cyclic variation as shown in Figure 5.In 360 ° of electrical degrees as shown in table 1, there are 6 magnitude relationship in each phase inductance, and 360 ° of electrical degrees are divided into 6 intervals, and in these 6 intervals, the driving signal of brshless DC motor power switch is different.But difference in inductance is different less when brushless DC motor rotor position is different, high-frequency detection pulse can be used for amplifying difference.
Brshless DC motor obtains after initial position signal, power switch is started working according to switching signal, modulation system is selected the control methods such as PWM modulation or stagnant ring control, when brshless DC motor enters normal operating condition, on brshless DC motor power line, there is the driving voltage of motor, because not relying on device for power switching, high-frequency detection pulse do not produce, in any moment of brshless DC motor operation, independently high-frequency detection pulse injecting mechanism all must continuous firing, on the power line of brshless DC motor and winding, there is all the time high-frequency detection pulse and drive voltage pulses, the multiplexing power line of both frequency divisions and winding.
Due to high-frequency signal and electrical network isolation, the method for the present invention's design can not cause any pollution and impact to electrical network.According to the computing formula X of induction reactance
l=2 π fL, when signal frequency improves, very little inductance difference is exaggerated into very large induction reactance difference.Take three-phase brushless dc motor as example, on three phase windings of motor, there is the high-frequency signal of the identical amplitude of same frequency, stator winding Y-connection when brshless DC motor, utilize voltage sensor to measure brushless dc set end voltage, recycling band-pass filter obtains high frequency voltage component, high frequency voltage component is directly proportional to phase inductance, relatively the size of high frequency voltage component can obtain the magnitude relationship of inductance, table look-up and obtain the position of rotor, the controller of brshless DC motor is controlled the accurate commutation of brshless DC motor according to position signalling, and then stable operation.Three-phase winding inductance difference and position signalling corresponding relation are in Table 1.
Table 1
Need to further illustrate, specific embodiment of the invention method is extensive, the embodiment that do in this place effect that only elaborates, only having chosen a kind of preferred case study on implementation analyzes, in actual use, some details can change to some extent, comprise combination and the assembly of parts, these distortion and application all should belong to scope of the present invention.
Claims (1)
1. the high-frequency detection pulse method for implanting of a brshless DC motor, it is characterized in that, the method is utilized by high-frequency signal source independently and is produced high-frequency detection pulse signal, high-frequency detection pulse signal is coupled to respectively by coupling circuit on the power line and motor winding of each phase of brshless DC motor, the multiplexing power line of driving voltage frequency division and the motor winding of high-frequency detection pulse signal and brshless DC motor; Between the high-frequency impulse decanting point of high-frequency detection pulse signal and power switch, be provided with high-frequency signal trap, be used for avoiding high-frequency signal to enter power supply and power switch, and make the difference of each phase terminal voltage high frequency voltage component not be subject to the impact of power supply and power switch; The terminal voltage value of each phase by voltage sensor senses brshless DC motor, the terminal voltage value of each phase obtains respectively the high frequency voltage component of each phase terminal voltage after band pass filter, according to the difference of the amplitude of high frequency voltage component, phase place or instantaneous value, obtain position signalling, controller is realized the position Sensorless Control of brshless DC motor according to position signalling.
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| CN105450192A (en) * | 2014-08-08 | 2016-03-30 | 北京谊安医疗***股份有限公司 | Variable-gain small-signal differential amplification circuit |
| CN107370424B (en) * | 2017-06-05 | 2020-02-14 | 江苏集萃智能制造技术研究所有限公司 | Rotor initial position judgment method based on lower bridge arm three-resistance sampling |
| CN109474219B (en) * | 2018-11-06 | 2021-12-03 | 天津大学 | Motor parameter identification method based on frequency division coupling |
| CN109802605B (en) * | 2019-03-12 | 2021-02-19 | 天津工业大学 | Position sensorless control method and device for long-line drive permanent magnet motor |
| AU2020257177B2 (en) * | 2019-04-15 | 2023-04-13 | Milwaukee Electric Tool Corporation | Sensorless motor control for a power tool |
| CN110907824A (en) * | 2019-11-06 | 2020-03-24 | 天津工业大学 | Motor fault detection system based on high-frequency signal coupling injection |
| CN111293931A (en) * | 2020-03-17 | 2020-06-16 | 天津大学 | High-precision low-noise brushless direct current motor position sensorless control system and method |
| CN112886878B (en) * | 2021-01-28 | 2023-04-07 | 中电海康无锡科技有限公司 | Non-inductive starting method, device and system for direct current brushless motor |
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| US6636012B2 (en) * | 2001-09-28 | 2003-10-21 | Rockwell Automation Technologies, Inc. | Stator and rotor resistance identifier using high frequency injection |
| JP5025142B2 (en) * | 2006-02-27 | 2012-09-12 | 株式会社東芝 | Motor control device |
| US8004222B2 (en) * | 2008-09-23 | 2011-08-23 | Hamilton Sundstrand Corporation | Negative sequence carrier signal controller |
| JP5151965B2 (en) * | 2008-12-24 | 2013-02-27 | アイシン・エィ・ダブリュ株式会社 | Sensorless motor control device |
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