CN105337541A - 多相无刷直流电机及其驱动方法 - Google Patents

多相无刷直流电机及其驱动方法 Download PDF

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CN105337541A
CN105337541A CN201510872243.9A CN201510872243A CN105337541A CN 105337541 A CN105337541 A CN 105337541A CN 201510872243 A CN201510872243 A CN 201510872243A CN 105337541 A CN105337541 A CN 105337541A
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motor
sine wave
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刘振韬
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Priority to CN201711131674.5A priority Critical patent/CN107994814A/zh
Priority to CN201510872243.9A priority patent/CN105337541A/zh
Priority to CN201910878532.8A priority patent/CN110557060A/zh
Priority to US15/780,258 priority patent/US10298160B2/en
Priority to KR1020187018441A priority patent/KR20180111783A/ko
Priority to JP2018529066A priority patent/JP6603959B2/ja
Priority to EP16869488.3A priority patent/EP3386095A4/en
Priority to PCT/CN2016/073044 priority patent/WO2017092174A1/zh
Publication of CN105337541A publication Critical patent/CN105337541A/zh
Priority to US16/417,652 priority patent/US10862412B2/en
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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
    • H02P6/08—Arrangements for controlling the speed or torque of a single motor
    • 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
    • H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
    • H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
    • H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
    • H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
    • H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
    • H02P7/285—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only
    • H02P7/29—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only using pulse modulation
    • 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
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • 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
    • 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
    • H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
    • H02P7/03—Arrangements for regulating or controlling the speed or torque of electric DC motors for controlling the direction of rotation of DC motors
    • 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
    • H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
    • H02P7/03—Arrangements for regulating or controlling the speed or torque of electric DC motors for controlling the direction of rotation of DC motors
    • H02P7/04—Arrangements for regulating or controlling the speed or torque of electric DC motors for controlling the direction of rotation of DC motors by means of a H-bridge circuit
    • 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
    • H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
    • H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
    • H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
    • H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
    • H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
    • H02P7/285—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only
    • H02P7/292—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only using static converters, e.g. AC to DC
    • 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
    • H02P2209/00—Indexing scheme relating to controlling arrangements characterised by the waveform of the supplied voltage or current
    • H02P2209/05—Polyphase motors supplied from a single-phase power supply or a DC power supply
    • 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
    • H02P2209/00—Indexing scheme relating to controlling arrangements characterised by the waveform of the supplied voltage or current
    • H02P2209/11—Sinusoidal waveform
    • 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
    • H02P6/08—Arrangements for controlling the speed or torque of a single motor
    • H02P6/085—Arrangements for controlling the speed or torque of a single motor in a bridge configuration
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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    • Y02P80/10—Efficient use of energy, e.g. using compressed air or pressurized fluid as energy carrier

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Brushless Motors (AREA)
  • Control Of Ac Motors In General (AREA)
  • Inverter Devices (AREA)

Abstract

本发明涉及一种多相无刷直流电机及其驱动方法，其中电机中驱动模块包括依次电连接的控制器、每一相的H桥单级逆变器和独立相线圈绕组(1)，方法包括：601)控制器输出频率与幅度相同的脉宽调制的正弦波来分别驱动每一相的H桥单级逆变器；每相邻二个所述相线圈绕组对应的所述脉宽调制的正弦波之间具有非零相位差且相位差是相同的；602)每一相的H桥单级逆变器向各自对应电连接的独立相线圈绕组输出对应相位的正弦波驱动电压或正弦波驱动电流。这种多相无刷直流电机及其驱动方法，能实现完美正弦的电压或电流驱动，从而提高效率并降低噪音。

Description

多相无刷直流电机及其驱动方法
技术领域
本发明涉及无刷直流电机，具体涉及一种多相无刷直流电机及其驱动方法。
背景技术
和其他电机相比，无刷直流电机电机有节能和可靠性高两个优点，越来越流行。单相直流驱动通过有一个霍尔效应传感器的单H桥逆变实现，另外，无论是基于传感器的，或者无传感器的传统三相直流电机通常用三个半桥来驱动，其相线圈绕组一般采用星型接法，如图1所示，三个相线圈绕组1具有公共端点。梯形，正弦，磁场定向控制是最常见的换向方法。但是这种情况下，逆变器输出的只能是类似正弦的电压或电流，而这种电压或电流用来驱动的直流无刷马达会导致多的功耗和可听见的噪音。
发明内容
本发明需要解决的技术问题是，如何提供一种多相无刷直流电机及其驱动方法，突破常规线圈绕组星型接法，用更完美的正弦电压和电流来驱动每一组线圈，从而能大大提升直流无刷马达的性能。
本发明的第一个上述技术问题这样解决，构建一种多相无刷直流电机，包括电机本体及其驱动模块，所述驱动模块包括相线圈绕组，其特征在于，该驱动模块还包括：
控制器，各个不同输出端分别控制电连接每个相的H桥单级逆变器的控制脚，其输出信号为：脉宽调制的正弦波，分别驱动每个相的H桥单级逆变器，每个脉宽调制的正弦波信号的频率与幅度相同；
每个相的H桥单级逆变器，输出端对应电连接的各自对应的相线圈绕组的两端；
所述相线圈绕组是没有公共端点的独立相线圈绕组；每相邻二个所述相线圈绕组对应的所述脉宽调制的正弦波之间具有非零相位差且相位差是相同的。
按照本发明提供的多相无刷直流电机，所述相位也称为夹角，相位差也称为夹角差。
按照本发明提供的多相无刷直流电机，所述直流电机定子线圈绕组是2组、3组或2与3的任意倍数。
按照本发明提供的多相无刷直流电机，所述控制器是FPGA(Field－ProgrammableGateArray，现场可编程门阵列)或具有可编程逻辑阵列的其他电子元件。脉宽调制正弦波通过CORDIC(CoordinateRotationDigitalComputer，坐标旋转数字计算方法)算法和乘法器来实现。
按照本发明提供的多相无刷直流电机，所述控制器是模拟或数字电路单元。脉宽调制正弦波通过硬件电路实现。
本发明的另一个上述技术问题这样解决，构建一种多相无刷直流电机的驱动方法，其特征在于，利用控制器和每一相的输出端电连接对应独立相线圈绕组两端的H桥单级逆变器，包括以下步骤：
501)控制器输出频率与幅度相同的脉宽调制的正弦波来分别驱动每个相的H桥单级逆变器；每相邻二个所述相线圈绕组对应的所述脉宽调制的正弦波之间具有非零相位差且相位差是相同的；
502)每个相的H桥单级逆变器向各自对应电连接的独立相线圈绕组输出对应相位的正弦波驱动电压或正弦波驱动电流。
按照本发明提供的多相无刷直流电机的驱动方法，每个H桥单级逆变器优选都工作在单级模式。
按照本发明提供的多相无刷直流电机的驱动方法，所述直流电机定子线圈绕组是2组、3组或2与3的任意倍数。
本发明提供的多相无刷直流电机及其驱动方法，突破常规线圈绕组星型接法，与现有技术相比，具有以下优势：
1、每个绕组使用H桥单级逆变器；
2、线圈绕组没有公共端点的，互不影响；
3、算法简单，实现所有的绕组全部用平滑的纯正弦波来驱动。
附图说明
下面结合附图和具体实施例进一步对本发明进行详细说明。
图1是传统三相无刷直流电机的电路结构示意图；
图2是本发明优选实施例的三相无刷直流电机的电路结构示意图；
图3是图1中H桥单级逆变器的电路结构示意图；
图4是图3所示H桥单级逆变器输出的脉宽调制的正弦波时序示意图；
图5是图3所示H桥单级逆变器的控制信号与输出电压之间的真值表示意图；
图6是本发明优选实施例的二相无刷直流电机的电路结构示意图。
其中附图标记：1-相线圈绕组。
具体实施方式
本发明优选实施例的三相无刷直流电机，结构如图2所示，使用三个H桥单级逆变器驱动三相无刷直流电机，并且这个电机配置了三组没有公共端点的独立的相线圈绕组1，从而实现所有的绕组都用平滑的纯正弦波来驱动，使电机相线圈绕组1具有最小电力谐波，达到最大的驱动效率。另外，该电机使用了一个功能强大的高速FPGA同时驱动三个H桥单级逆变器。
本发明优选实施例中的H桥单级逆变器，结构如图3所示，通过四个栅极g1，g2，g3和g4驱动，输出电机驱动信号VAB。为了达到最好的开关效率，所有的逆变器都以栅极信号驱动，单级模式运行，如图4所示，其中：VAN是A相对假想工作地N的电压，VBN是A相对假想工作地N的电压。
本发明优选实施例的三相无刷直流电机具体工作原理如下：
通过栅极驱动的每个逆变器被FPGA对应的一组4个数字引脚驱动。为了让驱动绕组的信号能是完全平滑的纯正弦波，这里采用正弦脉冲宽度调制方法，在每个周期传送恒定振幅但脉宽占空比变化的PWM信号给每一组H桥逆变器。占空比变化的正弦波PWM信号在每个绕组上流动，这样在绕组上的电压波形就类似AC信号，并且为了达到最好的开关效率，所有的逆变器都以栅极信号驱动，单级模式运行。三相无刷直流电机中功能强大的高速FPGA，内嵌CORDIC正弦算法，用32数据位来确定角度，其范围为0～360度。角度的正弦值(从+1.0到-1.0)通过24位数据来表示，最小精确到2秒，数据的符号决定了流过绕组的电流的方向，通过一个24位乘24位的乘法器，将角度正弦值的24位数据与开关频率相乘，将得出PWM信号的占空比。按照固定的时间间隔，把一个恒定值和累计的角度值相加，一个恒定的单级调制正弦波就产生了，改变这个恒定值或者时间间隔，将导致正弦波频率的改变。
在该实施例中，为了驱动三相直流电机，通过把32位满刻度值1/3与角度值相加，得到落后于第一相绕组120度的第二相绕组相位电流的正弦波数据，同样通过把32位满刻度值2/3与角度值相加，得到落后于第一相绕组240度的第三相绕组相位电流的正弦波数据，按照这个顺序，电流先后流进各相绕组，从而带动电机转动，实现完美同步。
图5给出了FPGA给到H桥逆变器的控制信号和逆变器桥输出到马达的相电压之间的真值关系。
对于不同类型的多相电机，只要它的相与相之间的角度是相同的，都可以可采用同样的方法来驱动，比如相位角度为90度的两相无刷直流电机，其电路结构如图6所示。二相直流电机的FPGA控制算法与三相直流电机的类似，二相直流电机的FPGA给到H桥逆变器的控制信号和逆变器桥输出到马达的相电压之间的真值关系与三相直流电机的相同，不再重复描述。
以上所述仅为本发明的较佳实施例，凡依本发明权利要求范围所做的均等变化与修饰，皆应属本发明权利要求的涵盖范围。

Claims (7)

1.一种多相无刷直流电机，包括电机本体及其驱动模块，所述驱动模块包括相线圈绕组(1)，其特征在于，该驱动模块还包括：
控制器，各个不同输出端分别控制电连接每个相的H桥单级逆变器的控制脚，其输出信号为：脉宽调制的正弦波，分别驱动每个相的H桥单级逆变器，每个脉宽调制的正弦波信号的频率与幅度相同；
每个相的H桥单级逆变器，输出端对应电连接的各自对应的相线圈绕组的两端；
所述相线圈绕组是独立相线圈绕组；每相邻二个所述相线圈绕组对应的所述脉宽调制的正弦波之间具有非零相位差且相位差是相同的。
2.根据权利要求1所述多相无刷直流电机，其特征在于，所述相线圈绕组是2组、3组或2与3的任意倍数。
3.根据权利要求1所述多相无刷直流电机，其特征在于，所述控制器是FPGA。
4.根据权利要求1所述多相无刷直流电机，其特征在于，所述控制器是模拟或数字电路单元。
5.一种多相无刷直流电机的驱动方法，其特征在于，利用控制器和每一相的输出端电连接对应独立相线圈绕组(1)两端的H桥单级逆变器，包括以下步骤：
501)控制器输出频率与幅度相同的脉宽调制的正弦波来分别驱动每个相的H桥单级逆变器；每相邻二个所述相线圈绕组对应的所述脉宽调制的正弦波之间具有非零相位差且相位差是相同的；
502)每个相的H桥单级逆变器向各自对应电连接的独立相线圈绕组(1)输出对应相位的正弦波驱动电压或正弦波驱动电流。
6.根据权利要求5所述多相无刷直流电机的驱动方法，其特征在于，每个相的H桥单级逆变器都工作在单级模式。
7.根据权利要求5所述多相无刷直流电机的驱动方法，其特征在于，所述相线圈绕组是2组、3组或2与3的任意倍数。
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