CN105703672A - Variable frequency motor driver and fused pulse width modulation method based on angle variation - Google Patents
Variable frequency motor driver and fused pulse width modulation method based on angle variation Download PDFInfo
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- CN105703672A CN105703672A CN201610255056.0A CN201610255056A CN105703672A CN 105703672 A CN105703672 A CN 105703672A CN 201610255056 A CN201610255056 A CN 201610255056A CN 105703672 A CN105703672 A CN 105703672A
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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
- H02P6/085—Arrangements for controlling the speed or torque of a single motor in a bridge configuration
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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
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
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- Engineering & Computer Science (AREA)
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- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention discloses a variable frequency motor driver and a fused pulse width modulation method based on angle variation. The variable frequency motor driver is in signal connection with a rotor position sensor, and is used for driving the operation of a variable frequency motor according to a rotor position detected by the position sensor; and the variable frequency motor driver comprises a power supply, a motor control signal processor, a driving circuit, a logic protection circuit and a current detection circuit. Theta is set to be a lag turn-off angle of a set of switch MOS tubes correspondingly turned on at a certain moment, when the theta is equal to 0, the mode is a double-phase conduction six-state mode; and when the theta is equal to 60 degrees, the mode is a three-phase conduction six-state mode in a 60-degree electrical angle. Twelve states exist in each period under a conduction mode, and ideal waveforms for variable frequency motor driving basically agree with actual waveforms by using driving switch MOS tubes with good uniformly, so that the variable frequency motor does not generate distortion under high-speed operation, and the driving efficiency of the variable frequency motor can be improved.
Description
Technical field
The present invention relates to frequency conversion motor field, particularly relate to a kind of frequency conversion motor driver and the fusion pulse duration modulation method based on angle change。
Background technology
Frequency conversion permanent magnet motor is the motor of a kind of application frequency conversion widely, and its simple in construction, superior performance, development prospect is wide。Frequency conversion permanent magnet motor is the motor of a kind of Novel electromechanical integration grown up on brush DC motors basis, it utilizes electronic commutator to replace machinery brush and mechanical commutator, make this motor not only remain original premium properties of direct current generator, and there is the simple in construction of ac motor, the advantage such as reliable, easy to maintenance。Frequency conversion permanent magnet motor mainly by motor body, rotor-position sensor and drive circuit three part group DC source by electronic switching circuit to motor stator winding power, position sensor detects rotor location at any time, and the position signalling according to rotor controls to switch conducting and the cut-off of metal-oxide-semiconductor, thus controlling the operating of motor。Visible, except motor body, drive circuit is the key that permanent magnet motor overall performance is improved, and the different control mode of drive circuit then can make motor produce different performances。
Summary of the invention
In order to overcome the deficiencies in the prior art, the present invention provides a kind of frequency conversion motor driver and the fusion pulse duration modulation method based on angle change, by frequency conversion motor driver is designed, make common 12 states of each cycle under conduction mode, the ideal waveform that frequency conversion motor drives can be made substantially identical with actual waveform, make frequency conversion motor not produce distortion when high-speed cruising, the drive efficiency of frequency conversion motor can be improved。
For this; first aspect present invention provides a kind of frequency conversion motor driver; it is connected with Rotor Position Sensor Signal; and the rotor-position detected according to position sensor drives the operating of frequency conversion motor, including power supply, motor control signal processor, drive circuit, virtual protection circuit and current detection circuit。
The outfan of described drive circuit is connected to the control end of described frequency conversion motor。
Described motor control signal processor is located between position sensor and drive circuit, for obtaining the rotor-position that position sensor detects the conducting and the cut-off that convert control instruction control drive circuit breaker in middle metal-oxide-semiconductor according to this rotor-position to, thus controlling the operating of frequency conversion motor。
Described virtual protection circuit is located between described motor control signal processor and described drive circuit, for detecting the overvoltage condition of frequency conversion motor driver。
Described current detection circuit is located between described motor control signal processor and described drive circuit, adopts electric current during Hall element detection motor work。
Further, also including booster circuit, described booster circuit is located between power supply and described drive circuit, for improving motor-driven DC bus-bar voltage to improve the maximum speed of motor。
Further, described drive circuit includes VT1～VT6 six and switchs metal-oxide-semiconductor, wherein VT1, VT3, VT5 are upper brachium pontis switch metal-oxide-semiconductor, VT4, VT6, VT2 are lower brachium pontis switch metal-oxide-semiconductor, described VT1 and VT4 is the brachium pontis that next group upper is corresponding, the middle motor A phase that connects, formation controls to flow through the switch of motor A phase coil；VT3 and VT6 is the brachium pontis that next group upper is corresponding, middle connection motor B phase, forms the switch controlling to flow through motor B phase coil；VT5 and VT2 is the brachium pontis that next group upper is corresponding, middle connection motor C phase, forms the switch controlling to flow through motor C phase coil；Under the control of motor control signal processor, the two switch metal-oxide-semiconductors being in brachium pontis corresponding to next group can not simultaneously turn on。
Further, described drive circuit also includes the high pressure resistant electric capacity being parallel on dc bus, and for when hang-up, the instantaneous pressure that bus produces is inhibited owing to the voltage at described electric capacity two ends can not suddenly change。
Further, described drive circuit also includes multiple Zener diode, and each described Zener diode is parallel on a switch metal-oxide-semiconductor, for the afterflow of handoff procedure。
Second aspect present invention provides a kind of fusion pulse duration modulation method based on angle change, based on above-mentioned frequency conversion motor driver, first set the delayed pass angle of rupture of the θ one group of switch metal-oxide-semiconductor opened accordingly as a certain moment, when θ=0, for two-phase excitation six state model；When θ=60 °, then it is three be conducted six state modeles in 60 ° of electrical angles；Wherein:
Under two-phase excitation six state model:
Being in the moment of θ～60 °+θ electrical angle when position sensor detects rotor, motor control signal processor controls corresponding switch metal-oxide-semiconductor conducting in drive circuit；Specific as follows: from electrical angle θ degree, switch the turn-on sequence of metal-oxide-semiconductor successively: VT1, VT4 mono-group, VT1, VT6 mono-group, VT3, VT6 mono-group, VT3, VT2 mono-group, VT5, VT2 mono-group, VT5, VT4 mono-group；Under this step mode, the vector of the rotational torque suffered by biphase armature winding that the rotational torque of rotor is switched on, is single-phase winding torqueTimes, namely
Three are conducted under six state modeles:
Being in the moment of 0～θ electrical angle when position sensor detects rotor, motor control signal processor controls corresponding switch metal-oxide-semiconductor conducting in drive circuit；Specific as follows: from electrical angle 0 degree, the turn-on sequence of switch metal-oxide-semiconductor is followed successively by: VT4, VT1, VT6 mono-group, VT1, VT6, VT3 mono-group, VT6, VT3, VT2 mono-group, VT3, VT2, VT5 mono-group, VT2, VT5, VT4 mono-group, VT5, VT4, VT1 mono-group, operate by this way a cycle, rotor synthesis driving torque with under biphasic manner be consistent effect, it is six states, but now owing to three-phase current acts on simultaneously, amplitude is single-phase winding torque 1.5 times of its synthesis torque；Although often changing a next state also simply change a switch metal-oxide-semiconductor, but the ON time of each switch metal-oxide-semiconductor adding。
Under two-phase excitation six state model, each momentary status has two switch metal-oxide-semiconductor conductings, namely every the commutation of 1/6 cycle once, and one switch metal-oxide-semiconductor of each commutation, left and right commutation between different brachium pontis, each switch metal-oxide-semiconductor 120 ° of electrical angles of conducting。
It is conducted under six state modeles three, is that each momentary status has three switch metal-oxide-semiconductor conductings, namely every the commutation of 1/6 cycle once, is the commutation between pipe up and down of same brachium pontis during each commutation, each switch metal-oxide-semiconductor 180 ° of electrical angles of conducting。
Described frequency conversion motor driver provided by the invention and the fusion pulse duration modulation method based on angle change, each cycle has 12 states in the conduction mode, by adopting the driving switch metal-oxide-semiconductor that concordance is good, the ideal waveform that frequency conversion motor drives can be made substantially identical with actual waveform, make frequency conversion motor not produce distortion when high-speed cruising, the drive efficiency of frequency conversion motor can be improved。
Accompanying drawing explanation
Fig. 1 is the structured flowchart of a kind of frequency conversion motor driver provided by the invention；
Fig. 2 is the structural representation of drive circuit in Fig. 1；
Fig. 3 is the biphase torque composite diagram under two-phase excitation six state model；
Fig. 4 is the three three-phase torque composite diagrams being conducted under six state modeles；
Fig. 5 is the oscillogram under the+θ conduction mode of θ～60 °；
Fig. 6 is the oscillogram under 0～θ conduction mode。
Detailed description of the invention
Below in conjunction with accompanying drawing, embodiments of the invention are described in detail。
Refer to Fig. 1; the present invention provides a kind of frequency conversion motor driver; it is connected with rotor-position sensor 20 signal; and the rotor-position detected according to position sensor drives the operating of frequency conversion motor 30, including power supply 11, motor control signal processor 12, drive circuit 13, virtual protection circuit 14, current detection circuit 15 and booster circuit 16。
The outfan of described drive circuit 13 is connected to the control end of described frequency conversion motor 30。
Described motor control signal processor 12 is located between position sensor 20 and drive circuit 13, for obtaining the rotor-position that position sensor 20 detects the conducting and the cut-off that convert control instruction control drive circuit breaker in middle metal-oxide-semiconductor according to this rotor-position to, thus controlling the operating of frequency conversion motor 30。
Described virtual protection circuit 14 is located between described motor control signal processor 12 and described drive circuit 13; for detecting the overvoltage condition of frequency conversion motor driver; it adopts electric resistance partial pressure method; voltage signal after dividing potential drop is input to the ADC of motor control signal processor after being carried out amplifier process by two-way univoltage operational amplifier after capacitor filtering processes, it is achieved judge whether overvoltage。
Described current detection circuit 15 is located between described motor control signal processor 12 and described drive circuit 13, adopts electric current during Hall element detection motor work。Current signal through Hall element detection is exported by voltage signal, makes Control of Voltage between 0～3V then through two stage amplifer filtering, process, recently enters the ADC of motor control signal processor, it is achieved judge phase current when motor works。
Described booster circuit 16 is located between power supply 11 and described drive circuit 13, for improving motor-driven DC bus-bar voltage to improve the maximum speed of motor。
Refer to Fig. 2, described drive circuit includes the switch metal-oxide-semiconductor of six N-channel of VT1～VT6, wherein VT1, VT3, VT5 are upper brachium pontis switch metal-oxide-semiconductor, VT4, VT6, VT2 are lower brachium pontis switch metal-oxide-semiconductor, described VT1 and VT4 is the brachium pontis that next group upper is corresponding, the middle motor A phase that connects, formation controls to flow through the switch of motor A phase coil；VT3 and VT6 is the brachium pontis that next group upper is corresponding, middle connection motor B phase, forms the switch controlling to flow through motor B phase coil；VT5 and VT2 is the brachium pontis that next group upper is corresponding, middle connection motor C phase, forms the switch controlling to flow through motor C phase coil；Under the control of motor control signal processor, the two switch metal-oxide-semiconductors being in brachium pontis corresponding to next group can not simultaneously turn on。
Each switch metal-oxide-semiconductor is driven saturation conduction, and when namely between its two poles of the earth, pressure drop is minimum, its raster data model requires as follows:
1, grid voltage must be higher 10～15V than drain voltage, and during as high side switch, its grid voltage must be higher than rail voltage, is usually probably the ceiling voltage in system；
2, grid voltage logically sees it must is controlled, its usual point referenced to ground；
3, the power that gate driver circuit absorbs will not interfere significantly on aggregate efficiency。
When in a certain phase of motor, brachium pontis drive circuit is effective, the grid voltage of switch metal-oxide-semiconductor VT1 (or VT3, VT5) is not less than 46V, could switch the sufficiently conductive of metal-oxide-semiconductor, and the running voltage after conducting is identical with cell voltage。Owing to switching the easy breakdown destruction of gate insulator grid of metal-oxide-semiconductor, therefore gate-source voltage must not exceed positive and negative 20V。Zener diode in parallel between the grid source of each switch metal-oxide-semiconductor, namely Zener diode VD1 is parallel to switch metal-oxide-semiconductor VT1, VD2 and is parallel to VT2, by that analogy；Described Zener diode can be used for the afterflow of handoff procedure to prevent gate-source voltage excessive。
Also need between drain-source to add protection circuit to prevent from switching process produces because of the sudden change of voltage drain electrode peak voltage damage pipe, embodiment adopts Zener diode nationality position。When the unexpected stall suddenly of motor; motor winding produces the high back voltage of moment may damage switch metal-oxide-semiconductor; so on dc bus a high pressure resistant electric capacity in parallel, when hang-up, the instantaneous pressure that bus produces can not suddenly change due to described electric capacity both end voltage and be inhibited。
Meanwhile, utilizing the lower brachium pontis of the pwm signal modulation produced to drive signal, the signal after modulation is bonded to lower brachium pontis by resistance Rhizoma Nelumbinis and drives the grid of switch metal-oxide-semiconductor, to control conducting state。
If the delayed pass angle of rupture that θ is the one group of switch metal-oxide-semiconductor opened accordingly in a certain moment, when θ=0, for two-phase excitation six state model；When θ=60 °, then it is three be conducted six state modeles in 60 ° of electrical angles。
Refer to Fig. 3, under two-phase excitation six state model:
Being in the moment of θ～60 °+θ electrical angle when position sensor detects rotor, motor control signal processor controls corresponding switch metal-oxide-semiconductor conducting in drive circuit；Specific as follows: from electrical angle θ degree, switch the turn-on sequence of metal-oxide-semiconductor successively: VT1, VT4 mono-group, VT1, VT6 mono-group, VT3, VT6 mono-group, VT3, VT2 mono-group, VT5, VT2 mono-group, VT5, VT4 mono-group。Under this step mode, the vector of the rotational torque suffered by biphase armature winding that the rotational torque of rotor is switched on, is single-phase winding torqueTimes, with Ta, Tb with represents that wantonly two switch corresponding single-phase winding torque when metal-oxide-semiconductors turn on respectively, then
Three are conducted under six state modeles:
Being in the moment of 0～θ electrical angle when position sensor detects rotor, motor control signal processor controls corresponding switch metal-oxide-semiconductor conducting in drive circuit；Specific as follows: from electrical angle 0 degree, the turn-on sequence of switch metal-oxide-semiconductor is followed successively by: VT4, VT1, VT6 mono-group, VT1, VT6, VT3 mono-group, VT6, VT3, VT2 mono-group, VT3, VT2, VT5 mono-group, VT2, VT5, VT4 mono-group, VT5, VT4, VT1 mono-group, operate by this way a cycle, rotor synthesis driving torque with under biphasic manner be consistent effect, it is six states, but now owing to three-phase current acts on simultaneously, amplitude is single-phase winding torque 1.5 times of its synthesis torque；Although often changing a next state also simply change a switch metal-oxide-semiconductor, but the ON time of each switch metal-oxide-semiconductor adding。Single-phase winding torque corresponding during wantonly three switch metal-oxide-semiconductor conducting, then Tabc=1.5Ta is represented respectively with Ta, Tb and Tc。
Under two-phase excitation six state model, each momentary status has two switch metal-oxide-semiconductor conductings, namely every 1/6 cycle (i.e. 60 ° of electrical angles) commutation once, and one switch metal-oxide-semiconductor of each commutation, left and right commutation between different brachium pontis, each switch metal-oxide-semiconductor 120 ° of electrical angles of conducting；Its oscillogram refers to Fig. 5, and wherein V1, V3, V5 represent that brachium pontis drives signal respectively, and V4, V6, V2 represent that lower brachium pontis drives signal respectively, and A, B, C represent the voltage waveform embodied in motor winding three-phase respectively, and V6 indicates that switch metal-oxide-semiconductor。
It is conducted under six state modeles three, it is that each momentary status has three switch metal-oxide-semiconductor conductings, namely every 1/6 cycle (i.e. 60 ° of electrical angles) commutation once, it is the commutation between pipe up and down of same brachium pontis during each commutation, each switch metal-oxide-semiconductor 180 ° of electrical angles of conducting；Its oscillogram refers to Fig. 6。
To sum up, described frequency conversion motor driver provided by the invention and the fusion pulse duration modulation method based on angle change, each cycle has 12 states in the conduction mode, by adopting the driving switch metal-oxide-semiconductor that concordance is good, the ideal waveform that frequency conversion motor drives can be made to coincide with actual waveform, make frequency conversion motor not produce distortion when high-speed cruising, the drive efficiency of frequency conversion motor can be improved。
The above; it is only the present invention preferably detailed description of the invention; but protection scope of the present invention is not limited thereto; any those familiar with the art is in the technical scope that the invention discloses; it is equal to replacement according to technical scheme and inventive concept thereof or is changed, all should be encompassed within protection scope of the present invention。
Claims (8)
1. a frequency conversion motor driver; it is connected with Rotor Position Sensor Signal; and the rotor-position detected according to position sensor drives the operating of frequency conversion motor; it is characterized in that; including power supply, motor control signal processor, drive circuit, virtual protection circuit and current detection circuit, wherein:
The outfan of described drive circuit is connected to the control end of described frequency conversion motor；
Described motor control signal processor is located between position sensor and drive circuit, for obtaining the rotor-position that position sensor detects the conducting and the cut-off that convert control instruction control drive circuit breaker in middle metal-oxide-semiconductor according to this rotor-position to, thus controlling the operating of frequency conversion motor；
Described virtual protection circuit is located between described motor control signal processor and described drive circuit, for detecting the overvoltage condition of frequency conversion motor driver；
Described current detection circuit is located between described motor control signal processor and described drive circuit, adopts electric current during Hall element detection motor work。
2. a kind of frequency conversion motor driver according to claim 1, it is characterised in that also including booster circuit, described booster circuit is located between power supply and described drive circuit, for improving motor-driven DC bus-bar voltage to improve the maximum speed of motor。
3. a kind of frequency conversion motor driver according to claim 1, it is characterized in that, described drive circuit includes VT1～VT6 six and switchs metal-oxide-semiconductor, wherein VT1, VT3, VT5 are upper brachium pontis switch metal-oxide-semiconductor, VT4, VT6, VT2 are lower brachium pontis switch metal-oxide-semiconductor, described VT1 and VT4 is the brachium pontis that next group upper is corresponding, middle connection motor A phase, forms the switch controlling to flow through motor A phase coil；VT3 and VT6 is the brachium pontis that next group upper is corresponding, middle connection motor B phase, forms the switch controlling to flow through motor B phase coil；VT5 and VT2 is the brachium pontis that next group upper is corresponding, middle connection motor C phase, forms the switch controlling to flow through motor C phase coil；Under the control of motor control signal processor, the two switch metal-oxide-semiconductors being in brachium pontis corresponding to next group can not simultaneously turn on。
4. a kind of frequency conversion motor driver according to claim 3; it is characterized in that; described drive circuit also includes the high pressure resistant electric capacity being parallel on dc bus, and for when hang-up, the instantaneous pressure that bus produces is inhibited owing to the voltage at described electric capacity two ends can not suddenly change。
5. a kind of frequency conversion motor driver according to claim 3, it is characterised in that described drive circuit also includes multiple Zener diode, and each described Zener diode is parallel on a switch metal-oxide-semiconductor, for the afterflow of handoff procedure。
6. the fusion pulse duration modulation method based on angle change, based on the frequency conversion motor driver as described in claim 1 to claim 5, it is characterised in that set the delayed pass angle of rupture of the θ one group of switch metal-oxide-semiconductor opened accordingly as a certain moment, when θ=0, for two-phase excitation six state model；When θ=60 °, then it is three be conducted six state modeles in 60 ° of electrical angles；Wherein:
Under two-phase excitation six state model:
Being in the moment of θ～60 °+θ electrical angle when position sensor detects rotor, motor control signal processor controls corresponding switch metal-oxide-semiconductor conducting in drive circuit；Specific as follows: from electrical angle θ degree, switch the turn-on sequence of metal-oxide-semiconductor successively: VT1, VT4 mono-group, VT1, VT6 mono-group, VT3, VT6 mono-group, VT3, VT2 mono-group, VT5, VT2 mono-group, VT5, VT4 mono-group；Under this step mode, the vector of the rotational torque suffered by biphase armature winding that the rotational torque of rotor is switched on, is single-phase winding torqueTimes, namely
Three are conducted under six state modeles:
Being in the moment of 0～θ electrical angle when position sensor detects rotor, motor control signal processor controls corresponding switch metal-oxide-semiconductor conducting in drive circuit；Specific as follows: from electrical angle 0 degree, the turn-on sequence of switch metal-oxide-semiconductor is followed successively by: VT4, VT1, VT6 mono-group, VT1, VT6, VT3 mono-group, VT6, VT3, VT2 mono-group, VT3, VT2, VT5 mono-group, VT2, VT5, VT4 mono-group, VT5, VT4, VT1 mono-group, operate by this way a cycle, rotor synthesis driving torque with under biphasic manner be consistent effect, it is six states, but now owing to three-phase current acts on simultaneously, amplitude is single-phase winding torque 1.5 times of its synthesis torque；Although often changing a next state also simply change a switch metal-oxide-semiconductor, but the ON time of each switch metal-oxide-semiconductor adding。
7. a kind of fusion pulse duration modulation method based on angle change according to claim 6, it is characterized in that, under two-phase excitation six state model, each momentary status has two switch metal-oxide-semiconductor conductings, namely every the commutation of 1/6 cycle once, and one switch metal-oxide-semiconductor of each commutation, left and right commutation between different brachium pontis, each switch metal-oxide-semiconductor 120 ° of electrical angles of conducting。
8. a kind of fusion pulse duration modulation method based on angle change according to claim 6, it is characterized in that, it is conducted under six state modeles three, it is that each momentary status has three switch metal-oxide-semiconductor conductings, namely every the commutation of 1/6 cycle once, it is the commutation between pipe up and down of same brachium pontis during each commutation, each switch metal-oxide-semiconductor 180 ° of electrical angles of conducting。
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| 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 |
| CN104753410A (en) * | 2015-02-27 | 2015-07-01 | 燕山大学 | Resultant current control based brushless direct-current motor instantaneous-torque control method |
| CN205596046U (en) * | 2016-04-22 | 2016-09-21 | 江苏新安电器有限公司 | Inverter motor driver |
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2016
- 2016-04-22 CN CN201610255056.0A patent/CN105703672A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110084639A1 (en) * | 2009-10-08 | 2011-04-14 | Microchip Technology Incorporated | Synchronized minimum frequency pulse width modulation drive for sensorless brushless direct current 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 |
| CN104753410A (en) * | 2015-02-27 | 2015-07-01 | 燕山大学 | Resultant current control based brushless direct-current motor instantaneous-torque control method |
| CN205596046U (en) * | 2016-04-22 | 2016-09-21 | 江苏新安电器有限公司 | Inverter motor driver |
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