CN106712599A - Commutation torque ripple suppression device and suppression method for brushless DC motor - Google Patents
Commutation torque ripple suppression device and suppression method for brushless DC motor Download PDFInfo
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- CN106712599A CN106712599A CN201710050092.8A CN201710050092A CN106712599A CN 106712599 A CN106712599 A CN 106712599A CN 201710050092 A CN201710050092 A CN 201710050092A CN 106712599 A CN106712599 A CN 106712599A
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- electric capacity
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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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- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The present invention provides a commutation torque ripple suppression device and a suppression method for a brushless DC motor. The device comprises two power switches (S1 and S2), a power diode (VD) and a capacitor (C). The collector of the second power switch (S2) is connected in series with the cathode of the capacitor (C). The anode of the capacitor (C) is connected with the cathode of the power diode (VD). The emitter of the second power switch (S2) is connected with the negative electrode of a power supply. The collector of the first power switch (S1) and the anode of the power diode (VD) are connected with the positive electrode of the power supply. The emitter of the first power switch (S1) is connected with the cathode of the capacitor (C). According to the technical scheme of the invention, the advantages of fewer components, simple control method, low cost and easy implementation are realized. If the device breaks down, the normal operation of the motor is not influenced at all. Therefore, the fault tolerance rate is high. The device and a bus are connected in parallel, so that the transformation and the upgrading of existing equipment are facilitated.
Description
Technical field
The present invention relates to a kind of control device for brushless direct current machine, the present invention also relates to a kind of brshless DC motor control
Method processed.Specifically a kind of device and method for suppressing brshless DC motor commutation torque ripple.
Background technology
Brshless DC motor is because its high power density, high torque (HT), High Power Factor, control are simple, maintenance cost is low
Feature, has been widely used in various industrial circles.But because motor has torque pulsation, it is limited in high accuracy field
Application.
Cause the main cause of torque pulsation as follows：
1st, there is error in processing and manufacturing process, can cause periodic torque pulsation.
2nd, PWM method can cause the frequency torque of small magnitude to pulse.
3rd, commutation torque ripple, accounts for the 50% of total pulsating quantity, is the factor that most serious are influenceed on DC brushless motor.
Brshless DC motor can be operated under conducting two-by-two or three or three conduction modes, wherein two-by-two under conduction mode,
The every 60 ° of electrical angle commutations of motor are once.Because machine winding is perceptual device, electric current can not be mutated, so converting commutating current is with one
Constant speed rate raising and lowering, is not preferable square wave, but trapezoidal wave.If turning off the fall off rate of phase current and opening mutually electricity
The climbing speed of stream is unequal, then can cause the fluctuation of non-converting commutating current, so as to produce commutation torque ripple.
" the commutation of BLDCM Drive System disclosed in the patent document of Application No. CN201310487478.7
Method for suppressing torque ripple and system "；It is " a kind of brushless straight disclosed in the patent document of Application No. CN201410113711.X
Flow the electromagnetic torque pulsation suppression device of motor "；It is " a kind of disclosed in the patent document of Application No. CN201510130896.X
The method for reducing high-performance torque pulsation of brushless DC motor "；It is public in the patent document of the A1 of Application No. US 20050218849
" Method and apparatus for driving a brushless direct current motor " for opening etc. is open
The technical scheme related to brshless DC motor commutation torque ripple is suppressed all is disclosed in document.
The content of the invention
The brshless DC motor commutation torque ripple suppression high of simple, fault-tolerance is constituted it is an object of the invention to provide a kind of
Device processed.Press down the present invention also aims to provide a kind of brshless DC motor commutation torque ripple for controlling simple, low cost
Method processed.
Brshless DC motor commutation torque ripple restraining device of the invention includes two power switch (S1 and S2), one
Power diode (VD) and an electric capacity (C), the colelctor electrode of the second power switch (S2) are connected with electric capacity (C) negative electrode, electric capacity (C)
Anode is connected with power diode (VD) negative electrode, and the emitter stage of the second power switch (S2) is connected with power cathode, the first power
Switch the colelctor electrode of (S1), the anode of power diode (VD) to be connected with positive source, the transmitting of the first power switch (S1)
Pole is connected with the negative electrode of electric capacity (C).
Brshless DC motor commutation torque ripple suppressing method of the invention is：
Step 1：During non-commutation, the switch S2 conductings of the second power switch, the first power switch S1 shut-offs, power supply is to electricity
Hold C and charge to offset voltage；
Step 2：Electric capacity C charges after terminating, and the second power switch S2 shut-offs, electric capacity does not have discharge loop, and voltage suspends, the
One power switch S1 is held off；
Step 3：When commutation starts, the first power switch S1 conductings, power diode VD cathode potentials are higher than anode potential,
Power diode VD is turned off, and power supply is connected with electric capacity C and powered to motor, according to formulaControl input phase switching tube
Dutycycle, wherein Ubus=Udc+Uc, UbusIt is busbar voltage, UdcIt is supply voltage, UcIt is electric capacity C voltage, E is counter electromotive force width
Value.
The device and method of the suppression brshless DC motor commutation torque ripple that the present invention is provided.To electric capacity during non-commutation
Charge, by charging capacitor and power sources in series during commutation, busbar voltage is improved, according to formulaControl input is mutually switched
The dutycycle of pipe, makes converting commutating current climbing speed consistent with fall off rate, suppresses commutation torque ripple.
Compared with prior art, beneficial effects of the present invention are：
1st, required component is few, and control method is simple, low cost, it is easy to accomplish.
If the 2, device breaks down, motor normal work is not influenceed, fault-tolerance is high.
3rd, device is in parallel with bus, it is easy to carry out transformation and upgrade to existing equipment.
Brief description of the drawings
Fig. 1 is brshless DC motor commutation torque ripple restraining device structure chart.
Fig. 2 (a)-Fig. 2 (c) is fundamental diagram of the present invention, and wherein Fig. 2 (a) to Fig. 2 (b) is preliminary filling electrical schematic diagram, Fig. 2
C () is voltage compensating principle figure.
Fig. 3 is busbar voltage of the present invention and switching sequence figure, wherein (a) is DC bus-bar voltage oscillogram, (b) to switch
S2 timing diagrams, (c) are switch S1 timing diagrams.
Fig. 4 is the embodiment three-phase current and torque profile figure being provided without under the inventive method control.
Fig. 5 is the embodiment three-phase current and torque profile figure under being controlled using the inventive method.
Specific embodiment
The present invention will be further described for citing below in conjunction with the accompanying drawings：
By taking conduction mode two-by-two as an example, wherein VT1-VT6 is switching tube.Motor model is made up of counter electromotive force and winding,
Wherein Ea、Eb、EcThe counter electromotive force amplitude of three-phase windings, L are represented respectivelysRepresent per phase winding inductance value, R is represented per phase winding
Resistance value, N represents motor midpoint.Commutation mode is：A phases C phases → B phase C phases.During A phases C is conducted, A phase currents Ia、C
Phase current IcLoop is formed through VT1, motor, VT2, is powered to motor；During commutation, VT1 shut-offs, VT3 conductings, B phase currents IbOn
Rise.Because machine winding is perceptual device, electric current can not be mutated, so diode and VT2 afterflow of the A phase currents by VT4, directly
To decaying to zero, commutation terminates.The present invention during commutation, according to formulaThe duty of control input phase switching tube
Than, make converting commutating current climbing speed consistent with fall off rate, suppress commutation torque ripple, wherein Ubus=Udc+Uc, UbusIt is bus
Voltage, UdcIt is supply voltage, UcIt is capacitance voltage.
Such as Fig. 1, voltage compensating device is by 2 switches S1, S2,1 diode, 1 electric capacity composition.During non-commutation,
Switch S2 control capacitance voltages charge；During commutation, switch S1 powers electric capacity with power sources in series to motor.
Such as Fig. 2, compensation device fundamental diagram；In Fig. 2 (a), switch S2 conductings, S1 shut-offs, power supply charges to electric capacity, directly
Required offset voltage is reached to capacitance voltage；In Fig. 2 (b), S2 shut-offs, S1 is still turned off, and capacitance voltage suspends；In Fig. 2 (c), change
Mutually start, switch S1 is turned on immediately, now diode cathode current potential is higher than anode potential, diode shut-off, power supply and electric capacity string
Join and powered to motor, DC bus-bar voltage now is supply voltage and capacitance voltage sum, according to formulaControl
It is input into the dutycycle of phase switching tube, wherein Ubus=Udc+Uc, UbusIt is busbar voltage, UdcIt is supply voltage, UcIt is capacitance voltage,
Ensure that the climbing speed and fall off rate of converting commutating current are equal.
Such as Fig. 3, DC bus-bar voltage and switching sequence figure.A in (), DC bus-bar voltage is power supply electricity during non-commutation
Pressure, is supply voltage and capacitance voltage sum during commutation；In (b), switch S2 is turned on during non-commutation, electric capacity is charged, filled
Turned off after electricity to offset voltage；C in (), S1 conductings when commutation starts, commutation terminates S1 shut-offs.
The embodiment of the present invention is used for explaining the present invention, rather than limiting the invention, in the spirit and right of invention
It is required that protection domain in, any modifications and changes made to the present invention both fall within protection scope of the present invention.
Embodiment
The present invention uses the parameter of brshless DC motor：Rated power 3.7kW, rated voltage 300V, rated speed is
1500rmp, inductance 0.188mH, back EMF coefficient 0.592.Electric capacity both end voltage charges to 90V in this example.
In (a) of Fig. 3, DC bus-bar voltage is supply voltage 300V, DC bus-bar voltage during commutation during non-commutation
It is supply voltage and the common 390V of capacitance voltage sum.Fig. 4 is the embodiment three-phase current oscillogram being not used under the inventive method
With torque profile figure.Figure 4, it is seen that during commutation, converting commutating current fall off rate and climbing speed, commutation torque arteries and veins
It is dynamic larger.Now, torque is 22N*m, and torque minimum value is 17N*m during commutation, and torque rate of change is 23.6%.Fig. 5 is to use
Embodiment three-phase current oscillogram and torque profile figure under the inventive method.From figure 5 it can be seen that torque is still 22N*m,
But the small value of most torque is 20.5N*m, and torque rate of change is 6.8%, torque change after commutation torque ripple restraining device is installed additional
Rate reduces 16.8%.
The present invention is made up of 2 power switch, 1 power diode and 1 electric capacity, by controlling switch sequential, in electricity
During machine commutation, charging capacitor is connected into bus, busbar voltage is compensated, reduce non-converting commutating current amplitude fluctuations, and then
It is effective to suppress commutation torque ripple.
Claims (2)
1. a kind of brshless DC motor commutation torque ripple restraining device, it is characterized in that：Including two power switch (S1 and S2),
One power diode (VD) and an electric capacity (C), the colelctor electrode of the second power switch (S2) are connected with electric capacity (C) negative electrode, electricity
Hold (C) anode to be connected with power diode (VD) negative electrode, the emitter stage of the second power switch (S2) is connected with power cathode, first
The colelctor electrode of power switch (S1), the anode of power diode (VD) are connected with positive source, the first power switch (S1)
Emitter stage is connected with the negative electrode of electric capacity (C).
2. a kind of suppressing method of the brshless DC motor commutation torque ripple restraining device based on described in claim 1, it is special
Levy is to comprise the following steps：
Step 1：During non-commutation, the second power switch switch (S2) conducting, the first power switch (S1) shut-off, power supply is to electricity
Hold (C) and charge to offset voltage；
Step 2：Electric capacity (C) charges after terminating, and the second power switch (S2) shut-off, electric capacity does not have discharge loop, and voltage suspends, the
One power switch (S1) is held off；
Step 3：When commutation starts, the first power switch (S1) conducting, power diode (VD) cathode potential is higher than anode potential,
Power diode (VD) is turned off, and power supply is connected with electric capacity (C) and powered to motor, according to formulaControl input is mutually switched
The dutycycle of pipe, wherein Ubus=Udc+Uc, UbusIt is busbar voltage, UdcIt is supply voltage, UcIt is electric capacity (C) voltage, E is anti-electricity
Kinetic potential amplitude.
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| CN201710050092.8A CN106712599B (en) | 2017-01-23 | 2017-01-23 | Brshless DC motor commutation torque ripple inhibits device and suppressing method |
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| CN201710050092.8A CN106712599B (en) | 2017-01-23 | 2017-01-23 | Brshless DC motor commutation torque ripple inhibits device and suppressing method |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107294434A (en) * | 2017-07-12 | 2017-10-24 | 哈尔滨工程大学 | A kind of commutation torque ripple restraining device and method with energy feedback function |
| CN107437906A (en) * | 2017-07-12 | 2017-12-05 | 哈尔滨工程大学 | A kind of brushless electric machine phase change method of DC bus-bar voltage control |
| CN108521232A (en) * | 2018-04-26 | 2018-09-11 | 南京理工大学 | A kind of three-phase tri-level inverter based on switching capacity |
| CN108768222A (en) * | 2018-05-07 | 2018-11-06 | 哈尔滨工程大学 | Inhibit the circuit and control method of brushless DC motor without position sensor commutation torque ripple |
| CN109687775A (en) * | 2018-12-28 | 2019-04-26 | 杭州哲申科技有限公司 | Low-voltage, high-current BLDC motor accurately shifts to an earlier date phase change method |
| CN109713949A (en) * | 2018-12-28 | 2019-05-03 | 武汉工程大学 | A kind of suppressing method and system of torque pulsation of brushless DC motor |
| CN112311267A (en) * | 2020-10-28 | 2021-02-02 | 燕山大学 | Feedback voltage regulation four-level inverter topology and BLDCM torque ripple suppression method driven by same |
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| CN102163947A (en) * | 2011-04-14 | 2011-08-24 | 天津大学 | Commutation torque ripple suppression method for permanent magnet brushless DC motor |
| CN104852642A (en) * | 2015-05-22 | 2015-08-19 | 哈尔滨工程大学 | Compensating circuit for restraining torque ripple of brushless DC motor |
| CN105958874A (en) * | 2016-03-30 | 2016-09-21 | 曹子沛 | Three-phase brushless direct current motor adaptive commutation angle compensation method |
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| CN104852642A (en) * | 2015-05-22 | 2015-08-19 | 哈尔滨工程大学 | Compensating circuit for restraining torque ripple of brushless DC motor |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107294434A (en) * | 2017-07-12 | 2017-10-24 | 哈尔滨工程大学 | A kind of commutation torque ripple restraining device and method with energy feedback function |
| CN107437906A (en) * | 2017-07-12 | 2017-12-05 | 哈尔滨工程大学 | A kind of brushless electric machine phase change method of DC bus-bar voltage control |
| CN107437906B (en) * | 2017-07-12 | 2019-12-06 | 哈尔滨工程大学 | Brushless motor phase change method controlled by direct-current bus voltage |
| CN108521232A (en) * | 2018-04-26 | 2018-09-11 | 南京理工大学 | A kind of three-phase tri-level inverter based on switching capacity |
| CN108521232B (en) * | 2018-04-26 | 2020-07-07 | 南京理工大学 | Three-phase three-level inverter based on switched capacitor |
| CN108768222A (en) * | 2018-05-07 | 2018-11-06 | 哈尔滨工程大学 | Inhibit the circuit and control method of brushless DC motor without position sensor commutation torque ripple |
| CN109687775A (en) * | 2018-12-28 | 2019-04-26 | 杭州哲申科技有限公司 | Low-voltage, high-current BLDC motor accurately shifts to an earlier date phase change method |
| CN109713949A (en) * | 2018-12-28 | 2019-05-03 | 武汉工程大学 | A kind of suppressing method and system of torque pulsation of brushless DC motor |
| CN109713949B (en) * | 2018-12-28 | 2020-05-22 | 武汉工程大学 | Method and system for suppressing torque ripple of brushless direct current motor |
| CN112311267A (en) * | 2020-10-28 | 2021-02-02 | 燕山大学 | Feedback voltage regulation four-level inverter topology and BLDCM torque ripple suppression method driven by same |
| CN112311267B (en) * | 2020-10-28 | 2021-09-03 | 燕山大学 | Feedback voltage regulation four-level inverter topology and BLDCM torque ripple suppression method driven by same |
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