CN104378026B - Brushless DC motor high-speed torque pulse control device and method - Google Patents
Brushless DC motor high-speed torque pulse control device and method Download PDFInfo
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- CN104378026B CN104378026B CN201410679744.0A CN201410679744A CN104378026B CN 104378026 B CN104378026 B CN 104378026B CN 201410679744 A CN201410679744 A CN 201410679744A CN 104378026 B CN104378026 B CN 104378026B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
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Abstract
The invention discloses a brushless DC motor high-speed torque pulse control device and method. The device is composed of a voltage source inverter, a single-chip microcomputer and a current collecting module, wherein three output ends of the voltage source inverter are correspondingly connected with three phases of windings of a brushless DC motor respectively; the input ends of the current collecting module are connected with the three phases of windings of the brushless DC motor and used for collecting the current flowing through the three phases of windings and sending the collected current to the single-chip microcomputer; the input end of the single-chip microcomputer is connected with the Hall signal output end of the brushless DC motor, and the output ends of the single-chip microcomputer are connected the control ends of power tubes of the voltage source inverter respectively and used for controlling the power-on and power-off of all the phases of the brushless DC motor by controlling the voltage source inverter. By means of the control method, the torque pulse is controlled by keeping the current unchanged.
Description
Technical field
The invention belongs to technical field of electronic control and in particular to a kind of based on maintaining the constant brshless DC motor of electric current
High speed torque ripple control device and control method.
Background technology
Brshless DC motor has the advantages that small volume, performance are good, structure is simple, reliability is high, output torque is big, but
The commutation torque ripple producing during brshless DC motor commutation, can cause motor vibrating, noise, limit the application of such motor
Scope.By brshless DC motor two or two conducting, as a example three-phase six state, the brshless DC motor that runs up commutation when
Wait, not covert electric current can be varied from, and this generates torque pulsation, return its reason be close phase curent change too fast,
So slowing down closing phase current change, making not covert electric current tend to constant and can play torque pulsation inhibited effect.Therefore, originally
Invention is based on this thinking and is formed.
Content of the invention
The purpose of the present invention is the defect and invention thinking existing for above-mentioned prior art, proposes a kind of being based on and maintains electricity
Flow constant brshless DC motor high speed torque ripple control device and control method.
In order to achieve the above object, present invention solution technical problem is adopted the technical scheme that:
A kind of brshless DC motor high speed torque ripple control device, adopts including voltage source inverter, single-chip microcomputer and electric current
Collection module, wherein, the three-polar output of described voltage source inverter is connected respectively the three-phase windings of brshless DC motor；Described
The input of current acquisition module connects the three-phase windings of brshless DC motor, flows through the electric current of three-phase windings for collection, and
The electric current of collection is sent into single-chip microcomputer；The input of described single-chip microcomputer is connected with the hall signal outfan of brshless DC motor
Connect, the outfan of described single-chip microcomputer connects the control end of voltage source inverter power tube respectively, by voltage source inverter
The control that control realization is respectively mutually opened to brshless DC motor and closed.
Voltage source inverter described above includes direct voltage source and three-phase bridge type converter, and three-phase bridge type converter is by 6
Individual power tube mos1-mos6 one group of formation in parallel of first connecting again two-by-two, described direct voltage source connects three-phase bridge type converter
Input, and the three of three-phase bridge type converter outfans, as the outfan of voltage source inverter, are connected respectively brushless
The three-phase windings of direct current generator.
Voltage source inverter described above also includes three capacitors, and one end of three capacitors is inverse with three-phase bridge respectively
Become the corresponding connection of three outfans of device, the other end of three capacitors is connected to a bit.
A kind of control method of the control device of brshless DC motor high speed torque pulsation of the present invention, walks including following
Rapid:
1st, described single-chip microcomputer gathers the hall signal of brshless DC motor, and is calculated according to the hall signal collecting
Closing phase x in commutation for the brshless DC motor and not covert y；
2nd, described current acquisition module gathers the not covert electric current i in commutation for the y respectivelyyWith electric current i when stablizingy1；
3rd, described single-chip microcomputer is to electric current i described in step 2y、iy1Judged, when commutation | iy-iy1| ＞ a, then single-chip microcomputer
To closing mono- Continuity signal of phase x, return to step 2；When commutation | iy-iy1| ＜ a, then single-chip microcomputer is to mono- shutoff of cut out phase x
Signal, enters step 4；Wherein, electric current i when a represents that not covert y stablizesy1One of percentage；
4th, continue to judge iyWhether tend towards stability, unstable, then return to step 2, stable then terminate.
I described in above-mentioned steps 4yVariation amplitude in one of percentage, judge that it tends towards stability.
Advantages of the present invention and beneficial effect are mainly:
Present configuration is simple, so that constant phase current is tended to not by slowing down the electric current decrease speed closing phase during commutation
Become, thus reaching the effect controlling torque pulsation.
Brief description
Fig. 1 is control device structural map of the present invention；
Fig. 2 is induced potential and the input current figure of each phase winding of brshless DC motor；
Wherein, (a), (b), (c) represent the induced potential of a, b, c three-phase windings respectively, (d), (e), (f) represent respectively a,
The input current of b, c three-phase windings；
Fig. 3 is control method flow chart of the present invention.
Specific embodiment
A kind of brshless DC motor high speed torque ripple control device to the present invention and control method below in conjunction with the accompanying drawings
It is described in further detail.
As shown in figure 1, a kind of brshless DC motor high speed torque ripple control device of the present invention, in Fig. 1
Brshless DC motor is controlled.Described control device by including voltage source inverter, single-chip microcomputer and current acquisition module, its
In, voltage source inverter includes direct voltage source, three-phase bridge type converter and three capacitors, and three-phase bridge type converter is by 6
Power tube mos1-mos6 one group of formation in parallel of first connecting again two-by-two, described direct voltage source connects the defeated of three-phase bridge type converter
Enter end, and one end of three capacitors connection corresponding with three outfans of three-phase bridge type converter respectively, three capacitors
The other end is connected to a bit, and three outfans of three-phase bridge type converter are as the outfan of voltage source inverter；Described electricity
The outfan of die mould inverter is connected respectively the three-phase windings of brshless DC motor, and (namely three capacitors are connected in parallel on three-phase
Winding two ends, for absorbing the energy of storage in load inductance during the change of current)；The input of described current acquisition module connects brushless
The three-phase windings of direct current generator, flow through the electric current of three-phase windings, and the electric current of collection are sent into single-chip microcomputer for collection；Described list
The input of piece machine is also connected with the hall signal outfan of brshless DC motor, and the outfan of described single-chip microcomputer connects electricity respectively
The control end of 6 power tubes in die mould inverter, for controlling opening and closing of each power tube.
As shown in Fig. 2 being induced potential and the input current figure of each phase winding of brshless DC motor, three phase back-emf are
Trapezoidal wave, trapezoidal wave flat-top width is 120 ° of electric angles, three-phase symmetrical, and control electric current is ideal square wave, with trapezoidal wave counter electromotive force
Flat-top is wide, electric current and counter electromotive force with positive and negative, in a certain running status, electromagnetic torque be proportional to each phase induction electromotive force and
The input current sum of products.
As shown in figure 3, a kind of control method of the control device of brshless DC motor high speed torque pulsation of the present invention, bag
Include following steps:
1st, described single-chip microcomputer gathers the hall signal of brshless DC motor, and is calculated according to the hall signal collecting
Closing phase x in commutation for the brshless DC motor and not covert y；Wherein, x, y all refer to three-phase windings a, b, c, and there is such as table
Corresponding statess shown in 1；
Table 1
| State | 1-2 | 2-3 | 3-4 | 4-5 | 5-6 | 6-1 |
| Hall device state | 110-100 | 100-101 | 101-001 | 001-011 | 011-010 | 010-110 |
| Close phase x | c | b | a | c | b | a |
| Not covert y | b | a | c | b | a | c |
2nd, described current acquisition module gathers the not covert electric current i in commutation for the y respectivelyyWith electric current i when stablizingy1；
3rd, described single-chip microcomputer is to electric current i described in step 2y、iy1Judged, when commutation | iy-iy1| ＞ a, then single-chip microcomputer
To closing mono- Continuity signal of phase x, return to step 2；When commutation | iy-iy1| ＜ a, then single-chip microcomputer is to mono- shutoff of cut out phase x
Signal, enters step 4；Wherein, electric current i when a represents that not covert y stablizesy1One of percentage；
4th, continue to judge iyWhether tend towards stability, unstable, then return to step 2, stable then terminate.
To sum up, a kind of control device of brshless DC motor of present invention high speed torque pulsation and suppressing method, according to brushless
The change of constant phase current during direct current generator commutation, adjusts conducting or the off state of conducting phase, to make commutation torque ripple
Reduce, torque pulsation little requirement when reaching brshless DC motor high-speed cruising.
Above example technological thought only to illustrate the invention is it is impossible to limit protection scope of the present invention with this, every
According to technological thought proposed by the present invention, any change done on the basis of technical scheme, each fall within the scope of the present invention
Within.
Claims (2)
1. a kind of control method of brshless DC motor high speed torque ripple control device, based on control device include voltage-type
Inverter, single-chip microcomputer and current acquisition module, wherein, the three-polar output of described voltage source inverter is connected respectively brushless straight
The three-phase windings of stream motor；The input of described current acquisition module connects the three-phase windings of brshless DC motor, for gathering
Flow through the electric current of three-phase windings, and the electric current of collection is sent into single-chip microcomputer；The input of described single-chip microcomputer and brshless DC motor
Hall signal outfan be connected, the outfan of described single-chip microcomputer connects the control end of voltage source inverter power tube respectively,
By the control that the control realization of voltage source inverter is respectively mutually opened to brshless DC motor and closed；It is characterized in that: institute
State control method to comprise the steps:
(1) described single-chip microcomputer gathers the hall signal of brshless DC motor, and is calculated no according to the hall signal collecting
Closing phase x in commutation for the brushless motor and not covert y；
(2) described current acquisition module gathers the not covert electric current i in commutation for the y respectivelyyWith electric current i when stablizingy1；
(3) described single-chip microcomputer electric current i described to step (2)y、iy1Judged, when commutation | iy-iy1| ＞ a, then single-chip microcomputer give
Close mono- Continuity signal of phase x, return to step (2)；When commutation | iy-iy1| ＜ a, then single-chip microcomputer is to mono- shutoff of cut out phase x
Signal, enters step (4)；Wherein, electric current i when a represents that not covert y stablizesy1One of percentage；
(4) continue to judge iyWhether tend towards stability, unstable, then return to step (2), stable then terminate.
2. the control method of brshless DC motor high speed torque according to claim 1 pulsation is it is characterised in that step
(4) i described inyVariation amplitude in one of percentage, judge that it tends towards stability.
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| CN201410679744.0A CN104378026B (en) | 2014-11-24 | 2014-11-24 | Brushless DC motor high-speed torque pulse control device and method |
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| CN201410679744.0A CN104378026B (en) | 2014-11-24 | 2014-11-24 | Brushless DC motor high-speed torque pulse control device and method |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104410338A (en) * | 2014-11-27 | 2015-03-11 | 江苏科技大学 | Control device and control method for suppressing high-speed torque pulse of brushless direct current motor |
| CN105375829A (en) * | 2015-12-02 | 2016-03-02 | 江苏科技大学 | Identification method of phase counter electromotive force of permanent-magnet synchronous motor |
| CN105391350A (en) * | 2015-12-02 | 2016-03-09 | 江苏科技大学 | Detection device and method for phase counterelectromotive forces of permanent magnet synchronous motor (PMSM) |
| CN107769628B (en) * | 2017-12-05 | 2019-10-11 | 北京信息科技大学 | A kind of permanent-magnet brushless DC electric machine method for suppressing torque ripple and device |
| CN108923699A (en) * | 2018-08-13 | 2018-11-30 | 夏怀琴 | Brshless DC motor based on speed error turns off phase control method |
| CN108988702A (en) * | 2018-08-13 | 2018-12-11 | 魏传月 | Brshless DC motor turns off phase PWM control method |
| CN108880348A (en) * | 2018-08-13 | 2018-11-23 | 魏传月 | Shutdown phase control method in brshless DC motor commutation process |
| CN108880347A (en) * | 2018-08-13 | 2018-11-23 | 夏怀琴 | Brshless DC motor based on Non-commutation phase current turns off phase control method |
| CN109039172A (en) * | 2018-08-13 | 2018-12-18 | 魏传月 | A kind of brshless DC motor shutdown phase control method |
| CN110988672B (en) * | 2019-08-05 | 2021-10-19 | 百恒石油装备有限公司 | Locked-rotor anti-interference method and device for signal acquisition of Hall sensor of permanent magnet synchronous motor |
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| CN101741299A (en) * | 2010-01-20 | 2010-06-16 | 哈尔滨工业大学 | Method for regulating speed of brushless direct current motor supplied with power by four-switch three-phase inverter |
| CN102077460A (en) * | 2008-06-27 | 2011-05-25 | 莫斯科技株式会社 | Pm motor driving power unit |
| CN103595312A (en) * | 2013-10-30 | 2014-02-19 | 江苏科技大学 | Brushless direct current motor control device and method based on current source inverter |
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| JP5417195B2 (en) * | 2010-01-19 | 2014-02-12 | 国産電機株式会社 | Torque ripple suppression control device for permanent magnet motor, electric power steering system |
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| CN102077460A (en) * | 2008-06-27 | 2011-05-25 | 莫斯科技株式会社 | Pm motor driving power unit |
| CN101741299A (en) * | 2010-01-20 | 2010-06-16 | 哈尔滨工业大学 | Method for regulating speed of brushless direct current motor supplied with power by four-switch three-phase inverter |
| CN103595312A (en) * | 2013-10-30 | 2014-02-19 | 江苏科技大学 | Brushless direct current motor control device and method based on current source inverter |
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Effective date of registration: 20190118 Address after: 212008 669 Jin run road, Zhenjiang, Jiangsu Patentee after: Jiangsu Taihang Mdt InfoTech Ltd Address before: 212003 Mengxi Road, Jingkou District, Zhenjiang, Jiangsu Province, No. 2 Patentee before: Jiangsu University of Science and Technology |
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Effective date of registration: 20210415 Address after: 215300 Room 201, building 757, Qianjin East Road, Kunshan Development Zone, Suzhou City, Jiangsu Province Patentee after: SHUNHUA ELECTRIC (KUNSHAN) Co.,Ltd. Address before: 212008 669 Jin run road, Zhenjiang, Jiangsu Patentee before: JIANGSU TAIHANG INFORMATION TECHNOLOGY Co.,Ltd. |