CN104242749A - Sensorless brushless direct-current motor reversing control method - Google Patents
Sensorless brushless direct-current motor reversing control method Download PDFInfo
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- CN104242749A CN104242749A CN201410370573.3A CN201410370573A CN104242749A CN 104242749 A CN104242749 A CN 104242749A CN 201410370573 A CN201410370573 A CN 201410370573A CN 104242749 A CN104242749 A CN 104242749A
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Abstract
The invention discloses a sensorless brushless direct-current motor reversing control method. On the basis of an existing hardware circuit of the traditional three-phase six-state control scheme, software is re-compiled to achieve three phases and twelve states, and the reversing switching time in the three-phase breakover process is calculated according to the time obtained through position detection circuits of a front-phase rotor and a rear-phase rotor. The method is good in control effect, and the torque pulsation is smaller than that of three phases and six states.
Description
Technical field
The present invention relates to motor control method field, specifically a kind of brushless DC motor without position sensor reverse control method.
Background technology
At present, as shown in Figure 1, by DSP on known brushless DC motor without position sensor hardware, photoelectric isolating circuit, drive circuit, three-phase inverting circuit, voltage comparator circuit, does is what circuit (this to three phase terminals voltage detection module?), ABC three-phase windings is formed, wherein the PWM port of DSP connects drive circuit input by photoelectric isolating circuit, drive circuit output connects three-phase inverting circuit input, three-phase inverting circuit output connects three-phase windings respectively, three phase terminals voltage detection module input connects three-phase windings respectively, three phase terminals voltage detection module output connects voltage comparator circuit input, voltage comparator circuit output connects the CAP port of DSP by photoelectric isolating circuit, the AD port of DSP also connects three-phase windings by current sample wire.The brushless DC motor without position sensor of this structure controls the reversing mode adopting three-phase six status wheel conductance logical, drive circuit major constituents adopts full bridge structure by six switching tubes, adds some photoelectric coupled circuit and some special grid drive chip composition.According to the difference that motor rotates and reverse, the turn-on sequence of switching tube is also different, but the logical reversing mode of traditional three-phase six status wheel conductance can make torque pulsation very large, limits to some extent in some application to the specific occasion of torque pulsation high request.
summary of the inventionthe object of this invention is to provide a kind of brushless DC motor without position sensor reverse control method, to solve the large problem of prior art brushless DC motor without position sensor commutation control torque pulsation.
In order to achieve the above object, the technical solution adopted in the present invention is:
Brushless DC motor without position sensor reverse control method, described brushless DC motor without position sensor adopts the ABC three-phase windings excitation structure of Y-connection, brushless DC motor without position sensor switches the electric current by ABC three-phase windings by the drive circuit of the full bridge structure be made up of six switching tube V1-V6, in described drive circuit, the emitter of switching tube V1 is connected with the collector electrode of switching tube V4, the collector electrode of switching tube V1 is connected to the positive pole of a power supply, the emitter of switching tube V4 is connected to the negative pole of described power supply, the emitter of switching tube V3 is connected with the collector electrode of switching tube V6, the collector electrode of switching tube V3 is connected to the positive pole of described power supply, the emitter of switching tube V6 is connected to the negative pole of described power supply, the emitter of switching tube V5 is connected with the collector electrode of switching tube V2, the collector electrode of switching tube V5 is connected to the positive pole of described power supply, the emitter of switching tube V2 is connected to the negative pole of described power supply, lead on the A phase winding that wire is connected in three-phase windings from node between the emitter and the collector electrode of switching tube V4 of switching tube V1, lead on the B phase winding that wire is connected in three-phase windings from node between the emitter and the collector electrode of switching tube V6 of switching tube V3, lead on the C phase winding that wire is connected in three-phase windings from node between the emitter and the collector electrode of switching tube V2 of switching tube V5, it is characterized in that: commutation control step is as follows:
(1) as phase place t=0, control switch pipe V1, V5, V6 conducting, current from power source anode is back to power supply negative terminal after flowing to A phase winding, C phase winding, B phase winding successively;
(2), as phase place t=30, control switch pipe V1, V6 continue conducting, and switching tube V5 turns off, and current from power source anode is back to power supply negative terminal after flowing to A phase winding, B phase winding successively;
(3), as phase place t=60, control switch pipe V1, V6 continue conducting, and switching tube V2 starts conducting, and current from power source anode is back to power supply negative terminal after flowing to A phase winding, C phase winding, B phase winding successively;
(4), as phase place t=90, control switch pipe V1, V2 continue conducting, and switching tube V6 ends, and current from power source anode is back to power supply negative terminal after flowing to A phase winding, C phase winding successively;
(5), as phase place t=120, control switch pipe V1, V2 continue conducting, switching tube V3 conducting, and current from power source anode is back to power supply negative terminal after flowing to A phase winding, B phase winding, C phase winding successively;
(6), as phase place t=150, control switch pipe V2, V3 continue conducting, and switching tube V1 ends, and current from power source anode is back to power supply negative terminal after flowing to B phase winding, C phase winding successively;
(7), as phase place t=180, control switch pipe V2, V3 continue conducting, switching tube V4 conducting, and current from power source anode is back to power supply negative terminal after flowing to B phase winding, A phase winding, C phase winding successively;
(8), as phase place t=210, control switch pipe V3, V4 continue conducting, and switching tube V2 ends, and current from power source anode is back to power supply negative terminal after flowing to B phase winding, A phase winding successively;
(9), as phase place t=240, control switch pipe V3, V4 continue conducting, switching tube V5 conducting, and current from power source anode is back to power supply negative terminal after flowing to B phase winding, C phase winding, A phase winding successively;
(10), as phase place t=270, control switch pipe V4, V5 continue conducting, and switching tube V3 ends, and current from power source anode is back to power supply negative terminal after flowing to C phase winding, A phase winding successively;
(11), as phase place t=300, control switch pipe V4, V5 continue conducting, switching tube V6 conducting, and current from power source anode is back to power supply negative terminal after flowing to C phase winding, A phase winding, B phase winding successively;
(12), as phase place t=330, control switch pipe V5, V6 continue conducting, and switching tube V4 ends, and current from power source anode is back to power supply negative terminal after flowing to C phase winding, B phase winding successively;
(13), as phase place t=360, identical with step (1), control switch pipe V1, V5, V6 conducting, current from power source anode is back to power supply negative terminal after flowing to A phase winding, C phase winding, B phase winding successively.
Instant invention overcomes the problem of the excessive torque pulsation that reversing mode that existing brushless DC motor without position sensor three-phase six status wheel conductance leads to brings, do not need any structure changing existing drive plate, all can be realized by software, do not increase hardware cost, can while not changing drive plate structure torque ripple reduction.
Accompanying drawing explanation
Fig. 1 is brushless DC motor without position sensor hardware block diagram in prior art.
Fig. 2 is the equivalent circuit diagram of drive circuit in brushless DC motor without position sensor.
Fig. 3 is three-phase six state commutation states truth table.
Fig. 4 is the commutation states truth table of three-phase ten two-state.
Embodiment
Shown in Figure 2, brushless DC motor without position sensor reverse control method, brushless DC motor without position sensor adopts the ABC three-phase windings excitation structure of Y-connection, brushless DC motor without position sensor switches the electric current by ABC three-phase windings by the drive circuit of the full bridge structure be made up of six switching tube V1-V6, in drive circuit, the emitter of switching tube V1 is connected with the collector electrode of switching tube V4, the collector electrode of switching tube V1 is connected to the positive pole of a power supply, the emitter of switching tube V4 is connected to the negative pole of described power supply, the emitter of switching tube V3 is connected with the collector electrode of switching tube V6, the collector electrode of switching tube V3 is connected to the positive pole of described power supply, the emitter of switching tube V6 is connected to the negative pole of described power supply, the emitter of switching tube V5 is connected with the collector electrode of switching tube V2, the collector electrode of switching tube V5 is connected to the positive pole of described power supply, the emitter of switching tube V2 is connected to the negative pole of described power supply, lead on the A phase winding that wire is connected in three-phase windings from node between the emitter and the collector electrode of switching tube V4 of switching tube V1, lead on the B phase winding that wire is connected in three-phase windings from node between the emitter and the collector electrode of switching tube V6 of switching tube V3, lead on the C phase winding that wire is connected in three-phase windings from node between the emitter and the collector electrode of switching tube V2 of switching tube V5, commutation control step is as follows:
(1) as phase place t=0, control switch pipe V1, V5, V6 conducting, current from power source anode is back to power supply negative terminal after flowing to A phase winding, C phase winding, B phase winding successively;
(2), as phase place t=30, control switch pipe V1, V6 continue conducting, and switching tube V5 turns off, and current from power source anode is back to power supply negative terminal after flowing to A phase winding, B phase winding successively;
(3), as phase place t=60, control switch pipe V1, V6 continue conducting, and switching tube V2 starts conducting, and current from power source anode is back to power supply negative terminal after flowing to A phase winding, C phase winding, B phase winding successively;
(4), as phase place t=90, control switch pipe V1, V2 continue conducting, and switching tube V6 ends, and current from power source anode is back to power supply negative terminal after flowing to A phase winding, C phase winding successively;
(5), as phase place t=120, control switch pipe V1, V2 continue conducting, switching tube V3 conducting, and current from power source anode is back to power supply negative terminal after flowing to A phase winding, B phase winding, C phase winding successively;
(6), as phase place t=150, control switch pipe V2, V3 continue conducting, and switching tube V1 ends, and current from power source anode is back to power supply negative terminal after flowing to B phase winding, C phase winding successively;
(7), as phase place t=180, control switch pipe V2, V3 continue conducting, switching tube V4 conducting, and current from power source anode is back to power supply negative terminal after flowing to B phase winding, A phase winding, C phase winding successively;
(8), as phase place t=210, control switch pipe V3, V4 continue conducting, and switching tube V2 ends, and current from power source anode is back to power supply negative terminal after flowing to B phase winding, A phase winding successively;
(9), as phase place t=240, control switch pipe V3, V4 continue conducting, switching tube V5 conducting, and current from power source anode is back to power supply negative terminal after flowing to B phase winding, C phase winding, A phase winding successively;
(10), as phase place t=270, control switch pipe V4, V5 continue conducting, and switching tube V3 ends, and current from power source anode is back to power supply negative terminal after flowing to C phase winding, A phase winding successively;
(11), as phase place t=300, control switch pipe V4, V5 continue conducting, switching tube V6 conducting, and current from power source anode is back to power supply negative terminal after flowing to C phase winding, A phase winding, B phase winding successively;
(12), as phase place t=330, control switch pipe V5, V6 continue conducting, and switching tube V4 ends, and current from power source anode is back to power supply negative terminal after flowing to C phase winding, B phase winding successively;
(13), as phase place t=360, identical with step (1), control switch pipe V1, V5, V6 conducting, current from power source anode is back to power supply negative terminal after flowing to A phase winding, C phase winding, B phase winding successively.
The hardware circuit that the present invention applies is the same with brushless DC motor without position sensor three-phase six status circuit, three phase full bridge drive plate is responsible for driving switch pipe and detection rotor position signalling, and detect voltage and current, the rotor-position signal detected is sent into DSP tri-CAP mouths by optocoupler, through Logic judgment, carry out the turn-on sequence of control switch pipe, but because rotor during detection signal often turns over detected by 60 degree of electrical degrees, so three switching tubes when being conducted open with the time turned off all by software according to the Time Calculation of front and back two states out, Fig. 3 is shown in by corresponding commutation truth table, Fig. 4.
Claims (1)
1. brushless DC motor without position sensor reverse control method, described brushless DC motor without position sensor adopts the ABC three-phase windings excitation structure of Y-connection, brushless DC motor without position sensor switches the electric current by ABC three-phase windings by the drive circuit of the full bridge structure be made up of six switching tube V1-V6, in described drive circuit, the emitter of switching tube V1 is connected with the collector electrode of switching tube V4, the collector electrode of switching tube V1 is connected to the positive pole of a power supply, the emitter of switching tube V4 is connected to the negative pole of described power supply, the emitter of switching tube V3 is connected with the collector electrode of switching tube V6, the collector electrode of switching tube V3 is connected to the positive pole of described power supply, the emitter of switching tube V6 is connected to the negative pole of described power supply, the emitter of switching tube V5 is connected with the collector electrode of switching tube V2, the collector electrode of switching tube V5 is connected to the positive pole of described power supply, the emitter of switching tube V2 is connected to the negative pole of described power supply, lead on the A phase winding that wire is connected in three-phase windings from node between the emitter and the collector electrode of switching tube V4 of switching tube V1, lead on the B phase winding that wire is connected in three-phase windings from node between the emitter and the collector electrode of switching tube V6 of switching tube V3, lead on the C phase winding that wire is connected in three-phase windings from node between the emitter and the collector electrode of switching tube V2 of switching tube V5, it is characterized in that: commutation control step is as follows:
(1) as phase place t=0, control switch pipe V1, V5, V6 conducting, current from power source anode is back to power supply negative terminal after flowing to A phase winding, C phase winding, B phase winding successively;
(2), as phase place t=30, control switch pipe V1, V6 continue conducting, and switching tube V5 turns off, and current from power source anode is back to power supply negative terminal after flowing to A phase winding, B phase winding successively;
(3), as phase place t=60, control switch pipe V1, V6 continue conducting, and switching tube V2 starts conducting, and current from power source anode is back to power supply negative terminal after flowing to A phase winding, C phase winding, B phase winding successively;
(4), as phase place t=90, control switch pipe V1, V2 continue conducting, and switching tube V6 ends, and current from power source anode is back to power supply negative terminal after flowing to A phase winding, C phase winding successively;
(5), as phase place t=120, control switch pipe V1, V2 continue conducting, switching tube V3 conducting, and current from power source anode is back to power supply negative terminal after flowing to A phase winding, B phase winding, C phase winding successively;
(6), as phase place t=150, control switch pipe V2, V3 continue conducting, and switching tube V1 ends, and current from power source anode is back to power supply negative terminal after flowing to B phase winding, C phase winding successively;
(7), as phase place t=180, control switch pipe V2, V3 continue conducting, switching tube V4 conducting, and current from power source anode is back to power supply negative terminal after flowing to B phase winding, A phase winding, C phase winding successively;
(8), as phase place t=210, control switch pipe V3, V4 continue conducting, and switching tube V2 ends, and current from power source anode is back to power supply negative terminal after flowing to B phase winding, A phase winding successively;
(9), as phase place t=240, control switch pipe V3, V4 continue conducting, switching tube V5 conducting, and current from power source anode is back to power supply negative terminal after flowing to B phase winding, C phase winding, A phase winding successively;
(10), as phase place t=270, control switch pipe V4, V5 continue conducting, and switching tube V3 ends, and current from power source anode is back to power supply negative terminal after flowing to C phase winding, A phase winding successively;
(11), as phase place t=300, control switch pipe V4, V5 continue conducting, switching tube V6 conducting, and current from power source anode is back to power supply negative terminal after flowing to C phase winding, A phase winding, B phase winding successively;
(12), as phase place t=330, control switch pipe V5, V6 continue conducting, and switching tube V4 ends, and current from power source anode is back to power supply negative terminal after flowing to C phase winding, B phase winding successively;
(13), as phase place t=360, identical with step (1), control switch pipe V1, V5, V6 conducting, current from power source anode is back to power supply negative terminal after flowing to A phase winding, C phase winding, B phase winding successively.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104796047A (en) * | 2015-04-10 | 2015-07-22 | 哈尔滨工业大学深圳研究生院 | FPGA (field programmable gate array)-based brushless direct-current motor commutation control method |
| CN108011559A (en) * | 2016-11-01 | 2018-05-08 | 南京德朔实业有限公司 | Electric tool and control method thereof |
| CN109873578A (en) * | 2017-12-04 | 2019-06-11 | 南京德朔实业有限公司 | The control method of electric tool and electric tool |
| WO2021081790A1 (en) * | 2019-10-30 | 2021-05-06 | 深圳市大疆创新科技有限公司 | Electric motor control apparatus, device, system, and control method for electric motor control apparatus |
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| US20100117586A1 (en) * | 2008-11-13 | 2010-05-13 | Honda Motor Co., Ltd. | Phase current estimation apparatus for motor and magnetic pole position estimation apparatus for motor |
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| US20100117586A1 (en) * | 2008-11-13 | 2010-05-13 | Honda Motor Co., Ltd. | Phase current estimation apparatus for motor and magnetic pole position estimation apparatus for motor |
| CN103633904A (en) * | 2013-12-09 | 2014-03-12 | 国网上海市电力公司 | Control method and control system for sensorless brushless direct-current motor |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104796047A (en) * | 2015-04-10 | 2015-07-22 | 哈尔滨工业大学深圳研究生院 | FPGA (field programmable gate array)-based brushless direct-current motor commutation control method |
| CN108011559A (en) * | 2016-11-01 | 2018-05-08 | 南京德朔实业有限公司 | Electric tool and control method thereof |
| WO2018082496A1 (en) * | 2016-11-01 | 2018-05-11 | 南京德朔实业有限公司 | Electric tool and control method therefor |
| US10972023B2 (en) | 2016-11-01 | 2021-04-06 | Nanjing Chervon Industry Co., Ltd. | Power tool and control method thereof |
| CN109873578A (en) * | 2017-12-04 | 2019-06-11 | 南京德朔实业有限公司 | The control method of electric tool and electric tool |
| WO2021081790A1 (en) * | 2019-10-30 | 2021-05-06 | 深圳市大疆创新科技有限公司 | Electric motor control apparatus, device, system, and control method for electric motor control apparatus |
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Application publication date: 20141224 |