CN106998160A - A kind of condition control method of brshless DC motor, device and brshless DC motor - Google Patents
A kind of condition control method of brshless DC motor, device and brshless DC motor Download PDFInfo
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- CN106998160A CN106998160A CN201710253982.9A CN201710253982A CN106998160A CN 106998160 A CN106998160 A CN 106998160A CN 201710253982 A CN201710253982 A CN 201710253982A CN 106998160 A CN106998160 A CN 106998160A
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Classifications
-
- 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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
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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
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The embodiment of the invention discloses a kind of condition control method of brshless DC motor, the stator winding application commutation voltage to brshless DC motor, makes the rotor startup of brshless DC motor remained static, and obtain the current location information of rotor in advance；Then sliding mode observer state space is built according to rotor current location information and three-phase voltage and electric current, the back-emf signal that sliding mode observer detection current rotor is produced when rotating generates commutation control signal using motor mathematical model, to determine position that rotor is commutated 60 ° of sectors, so as to realize that driving brshless DC motor is rotated.The stationarity and success rate of electric motor starting are enhanced, the robustness of brshless DC motor is improved, motor maintainability and accuracy is improved.In addition, the embodiments of the invention provide device and brshless DC motor is realized accordingly, further such that methods described has more practicality, described device and brshless DC motor have corresponding advantage.
Description
Technical field
The present embodiments relate to technical field of motors, the state controlling party of more particularly to a kind of brshless DC motor
Method, device and brshless DC motor.
Background technology
Because brshless DC motor (Brushless DC Motor, BLDCM) has merged the control mode of dc motor
Simply, torque characteristics is good, good speed adjustment features and ac motor are simple to manufacture, without excitation loss, the high advantage of power density,
Outstanding figure as machine field.
But the operation of brshless DC motor is it needs to be determined that the positional information of rotor, traditional method is to use position sensing
Device detects the position of rotor in real time, but the volume of position sensor accounts for the percentage of whole electric system volume increasingly
Greatly, this allows for whole system and is difficult to miniaturization, so that its application in accurate small occasion is limited, and position sensing
The presence of device so that system complexity is increased, cost increases, reliability is reduced, add production and maintenance difficulties and right
The manufacturing process of motor also brings detrimental effect.
The many unfavorable factors brought for position sensor to brushless DC motor control system, present technology uses nothing
Mechanical position sensor control technology, i.e., in the operation process of motor, machinery is replaced by new position signalling detection method
Position sensor come provide the commutation of inverter bridge power device conducting clock signal.Typically all using external detection sensor come
The position of the rotor of brshless DC motor is detected, but is due to that device in whole system is more, whole system is caused
Stability is bad.
Therefore, it is accurate, quick, reliable how not by external position sensor, and only by three-phase voltage and electric current
Obtain rotor position information, so as to realize the operating to brshless DC motor, being that those skilled in the art are urgently to be resolved hurrily asks
Topic.
The content of the invention
The purpose of the embodiment of the present invention is to provide a kind of condition control method of brshless DC motor, device and brushless straight
Motor is flowed, to solve not by external position sensor, and only by three-phase voltage and electric current, accurate, quick, reliable
To rotor position information, so as to realize the operating to brshless DC motor.
In order to solve the above technical problems, the embodiment of the present invention provides following technical scheme：
On the one hand the embodiment of the present invention provides a kind of condition control method of brshless DC motor, including：
Apply default commutation voltage for the stator winding of brshless DC motor, so that the brushless direct-current remained static
The rotor startup of motor, and obtain the current location information of the rotor；
Sliding formwork observation is built according to the three-phase voltage and electric current of the current location information and the brshless DC motor
Device state space, and motor mathematical model is generated, the motor mathematical model is changed according to the back-emf signal generation detected
To control signal, to determine positional information that rotor is commutated 60 ° of sectors；
The commutation control signal exported according to the sliding mode observer drives the brshless DC motor to be rotated.
Optionally, the stator winding for brshless DC motor applies default commutation voltage and included：
Voltage is applied according to the stator winding that 6 step commutation methods are sequentially followed successively by the brshless DC motor.
Optionally, described is that to apply default commutation voltage be brshless DC motor for the stator winding of brshless DC motor
Stator winding apply short-time pulse voltage vector.
Optionally, in addition to：
When the rotor is commutated, the rotor commutation position that will be determined according to the commutation control signal, to user
Shown.
On the other hand the embodiment of the present invention provides a kind of behavior control device of brshless DC motor, including：
Rotor startup module, for applying default commutation voltage for the stator winding of brshless DC motor, so as to be in
The rotor startup of the brshless DC motor of inactive state, and obtain the current location information of the rotor；
Commutation control signal generation module, for three according to the current location information and the brshless DC motor
Phase voltage and electric current build sliding mode observer state space, and generate motor mathematical model, and the motor mathematical model is according to inspection
The back-emf signal generation commutation control signal measured, to determine positional information that rotor is commutated 60 ° of sectors；
Driving operation module, for the commutation control signal exported according to the sliding mode observer, drives described brushless straight
Stream motor is rotated.
Optionally, the rotor startup module is sequentially to be followed successively by the brshless DC motor according to 6 step commutation signals
Stator winding applies alive module.
Optionally, in addition to：
Display module, for when the rotor is commutated, the rotor determined according to the commutation control signal to be changed
To position, shown to user.
The embodiment of the present invention additionally provides a kind of brshless DC motor, including the brushless dc as described in preceding any one
The behavior control device of machine.
The embodiments of the invention provide a kind of condition control method of brshless DC motor, in advance to brshless DC motor
Stator winding applies commutation voltage, makes the rotor startup of brshless DC motor remained static, and obtain the current of rotor
Positional information；Then sliding mode observer state space is built according to rotor current location information and three-phase voltage and electric current, it is sliding
The back-emf signal that mould observer detection current rotor is produced when rotating generates commutation control signal using motor mathematical model,
To determine positional information that rotor is commutated 60 ° of sectors, so as to realize that driving brshless DC motor is rotated.
The advantage for the technical scheme that the application is provided is, makes rotor startup by applying compulsory commutation voltage, triggers
The good sliding mode observer of robustness sets up state space, is determined with reference to three-phase voltage and electric current and detection back-emf signal
The position of the next commutation of rotor, it is accurate, quick, reliably obtain rotor position information so as to generate commutation control signal, increase
The strong stationarity and success rate of electric motor starting, improves the robustness of brshless DC motor, and improve motor operating can
By property and accuracy.
In addition, the embodiment of the present invention is provided also directed to the condition control method of brshless DC motor realizes device accordingly
And brshless DC motor, further such that methods described has more practicality, described device and brshless DC motor have phase
The advantage answered.
Brief description of the drawings
, below will be to embodiment or existing for the clearer explanation embodiment of the present invention or the technical scheme of prior art
The accompanying drawing used required in technology description is briefly described, it should be apparent that, drawings in the following description are only this hair
Some bright embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can be with root
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the principle schematic of 6 step commutation methods under an exemplary application scene provided in an embodiment of the present invention；
Fig. 2 is a kind of schematic flow sheet of the condition control method of brshless DC motor provided in an embodiment of the present invention；
Fig. 3 is the schematic flow sheet of the condition control method of another brshless DC motor provided in an embodiment of the present invention；
Fig. 4 is a kind of embodiment knot of the behavior control device of brshless DC motor provided in an embodiment of the present invention
Composition；
Fig. 5 is another embodiment of the behavior control device of brshless DC motor provided in an embodiment of the present invention
Structure chart.
Embodiment
In order that those skilled in the art more fully understand the present invention program, with reference to the accompanying drawings and detailed description
The present invention is described in further detail.Obviously, described embodiment is only a part of embodiment of the invention, rather than
Whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art are not making creative work premise
Lower obtained every other embodiment, belongs to the scope of protection of the invention.
Term " first ", " second ", " the 3rd " " in the description and claims of this application and above-mentioned accompanying drawing
Four " etc. be for distinguishing different objects, rather than for describing specific order.In addition term " comprising " and " having " and
Their any deformations, it is intended that covering is non-exclusive to be included.For example contain the process of series of steps or unit, method,
The step of system, product or equipment are not limited to list or unit, but the step of may include not list or unit.
Present inventor has found that sliding mode observer is by sliding mode control theory and brushless dc by research
Machine is combined, and builds sliding mode observer and the back-emf signal of brshless DC motor is estimated.The characteristics of sliding mode observer is
Structure is relatively easy, and real-time is good, and has preferable robustness to the Parameters variation of object of observation.
But, in the case where motor remains static, sliding mode observer be can not by detecting rotor position information, without
The current positional information of rotor is can not to build the state space of sliding mode observer.
In consideration of it, the application makes rotor startup, the good sliding formwork observation of triggering robustness by applying compulsory commutation voltage
Device sets up state space, and the position of the next commutation of rotor is determined with reference to three-phase voltage and electric current and detection back-emf signal
Put, so as to generate commutation control signal, to determine positional information that rotor is commutated 60 ° of sectors, so as to realize driving nothing
Brushless motor is rotated.
Technical scheme based on the embodiments of the present invention, first below with reference to technical sides of the Fig. 1 to the embodiment of the present invention
Some possible application scenarios that case is related to carry out citing introduction, and Fig. 1 is the principle schematic of 6 step commutation methods.
Brshless DC motor is sequentially followed successively by according to 6 step commutation methods and applies voltage signal, to promote opening for rotor
It is dynamic, after the completion of the application of 6 step commutation voltage signals, it is switched to operating of the sliding mode observer to motor and is controlled.Sliding formwork is observed
Device is by detecting the positional information of current rotor, that is, detects faint back-emf signal, triggering generation state space, so
The control signal of motor is generated according to three-phase current and voltage afterwards, to determine that the position that rotor is commutated 60 ° of sectors is believed
Breath, so as to realize that driving brshless DC motor is rotated.
It should be noted that above-mentioned application scenarios are for only for ease of the thought and principle for understanding the application and shown, this
The embodiment of application is unrestricted in this regard.On the contrary, presently filed embodiment can apply to it is applicable any
Scene.
After the technical scheme of the embodiment of the present invention is described, the various non-limiting realities of detailed description below the application
Apply mode.
Referring first to Fig. 2, Fig. 2 is a kind of stream of the condition control method of brshless DC motor provided in an embodiment of the present invention
Journey schematic diagram, the embodiment of the present invention may include herein below：
S201：Apply default commutation voltage for the stator winding of brshless DC motor, so that the nothing remained static
The rotor startup of brushless motor, and obtain the current location information of the rotor.
Under static state, rotor is motionless for motor, when without any mechanical position sensor or external sensor,
It is that can not detect the positional information of rotor, therefore rotor motion can be promoted by applying compulsory commutation voltage.
Commutation voltage can be short-time pulse voltage vector, certainly, or other kinds of voltage, the parameter of commutation voltage
It can be chosen according to specific actual conditions, the application does not do any restriction to this.
Commutation voltage is alternatively the stator winding for being sequentially followed successively by brshless DC motor according to 6 step commutation methods and applies electricity
Pressure, concrete principle figure see shown in Fig. 1, and continuous several times virtual voltage can reduce the rotor position information that rotor shake is brought
The situation of mistake is detected, after 6 voltages have been applied successively, can be further ensured that the operation of motor is relatively stable, then cut again
Change to and commutation control is carried out to motor by sliding mode observer, to realize that motor rotates.
S202：Sliding formwork is built according to the three-phase voltage and electric current of the current location information and the brshless DC motor
Observer state space, and motor mathematical model is generated, the motor mathematical model is given birth to according to the back-emf signal detected
Into commutation control signal, to determine positional information that rotor is commutated 60 ° of sectors.
Sliding mode observer is a class dynamical system, can be according to the reality of the external variable (input variable and output variable) of system
Measured value draws a class dynamical system of state variable estimate.The technology and control engineering of feedback of status are can be applied to, for example
Disturbance is replicated to realize full remuneration to disturbance etc..
Sliding mode observer can obtain the estimation of given system internal state by measuring the input and output of real system
Value.Due to forcing estimated state to approach hyperplane using non-linear High Gain Feedback, estimation output is set to be equal to measurement output.Cause
This, can accurately and rapidly determine the positional information that will be commutated of rotor, so as to drive rotor to be rotated.
Because sliding mode observer has preferable robustness, anti-interference is stronger, therefore electric system and external environment condition
Interference does not influence the output of sliding mode observer, so as to be conducive to obtaining accurate positional information, improve the stabilization of whole motor with
Reliability service.
Using three-phase current and voltage as the input quantity of sliding mode observer, when the positional information for detecting current rotor
Afterwards, next positional information of rotor, that is, commutation control information can be calculated according to motor mathematical model.
S203：The commutation control signal exported according to the sliding mode observer drives the brshless DC motor to be revolved
Turn.
In the technical scheme that the application is provided, make rotor startup by applying compulsory commutation voltage, trigger robustness
Good sliding mode observer sets up state space, is determined with reference to three-phase voltage and electric current and detection back-emf signal under rotor
The position of one commutation, it is accurate, quick, reliably obtain rotor position information so as to generate commutation control signal, enhance electricity
Machine start stationarity and success rate, improve the robustness of brshless DC motor, improve motor maintainability with
And accuracy.
In a kind of specific embodiment, the condition control method of the brshless DC motor may also include：
S204：When the rotor is commutated, the rotor commutation position that will be determined according to the commutation control signal, to
User is shown.
The back-emf signal of the next position of rotor is estimated according to current back-emf signal in sliding mode observer,
The back-emf signal calculated can be converted into the positional information for the rotor that can be recognized by technical staff, shown.
Pronunciation prompting can be also carried out by setting liquid crystal display to be shown, certainly, this does not influence the reality of the application
It is existing.
By the way that the positional information that will be commutated is shown, more convenient user check current motor operating whether
Normally, when finding that operating is abnormal, the root of decision problem can be quickly carried out, is repaired as early as possible, be conducive to improving whole
The Stability and dependability of motor.
The embodiment of the present invention provides also directed to the condition control method of brshless DC motor and realizes device accordingly, enters one
Step causes methods described to have more practicality.Below to the behavior control device of brshless DC motor provided in an embodiment of the present invention
It is introduced, the state control of the behavior control device of brshless DC motor described below and above-described brshless DC motor
Method processed can be mutually to should refer to.
Fig. 4 is referred to, Fig. 4 is specific in one kind for the behavior control device of brshless DC motor provided in an embodiment of the present invention
Structure chart under embodiment, the device may include：
Rotor startup module 401, for applying default commutation voltage for the stator winding of brshless DC motor, so that place
In the rotor startup of the brshless DC motor of inactive state, and obtain the current location information of the rotor.
Commutation control signal generation module 402, for according to the current location information and the brshless DC motor
Three-phase voltage and electric current build sliding mode observer state space, and generate motor mathematical model, the motor mathematical model root
Commutation control signal is generated according to the back-emf signal that detects, to determine positional information that rotor is commutated 60 ° of sectors.
Driving operation module 403, for the commutation control signal exported according to the sliding mode observer, drives described brushless
Direct current generator is rotated.
Optionally, in some embodiments of the present embodiment, referring to Fig. 5, described device can also for example include：
Display module 404, for when the rotor is commutated, the rotor that will be determined according to the commutation control signal
Commutation position, is shown to user.
The function of each functional module of the behavior control device of brshless DC motor described in the embodiment of the present invention can be according to upper
The method stated in embodiment of the method is implemented, and it implements the associated description that process is referred to above method embodiment,
Here is omitted.
From the foregoing, it will be observed that the embodiment of the present invention makes rotor startup by applying compulsory commutation voltage, triggering robustness is good
Sliding mode observer sets up state space, determines that rotor is next with reference to three-phase voltage and electric current and detection back-emf signal
The position of commutation, it is accurate, quick, reliably obtain rotor position information so as to generate commutation control signal, enhance motor and open
Dynamic stationarity and success rate, improves the robustness of brshless DC motor, improves motor maintainability and standard
True property.
The embodiment of the present invention additionally provides a kind of brshless DC motor, it may include the shape of brshless DC motor as described above
State control device.
The function of each functional module of brshless DC motor described in the embodiment of the present invention can be according in above method embodiment
Method implement, it implements the associated description that process is referred to above method embodiment, and here is omitted.
The embodiment of each in this specification is described by the way of progressive, what each embodiment was stressed be with it is other
Between the difference of embodiment, each embodiment same or similar part mutually referring to.For being filled disclosed in embodiment
For putting, because it is corresponded to the method disclosed in Example, so description is fairly simple, related part is referring to method part
Explanation.
Professional further appreciates that, with reference to the unit of each example of the embodiments described herein description
And algorithm steps, can be realized with electronic hardware, computer software or the combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software, generally describes the composition and step of each example according to function in the above description.These
Function is performed with hardware or software mode actually, depending on the application-specific and design constraint of technical scheme.Specialty
Technical staff can realize described function to each specific application using distinct methods, but this realization should not
Think beyond the scope of this invention.
Directly it can be held with reference to the step of the method or algorithm that the embodiments described herein is described with hardware, processor
Capable software module, or the two combination are implemented.Software module can be placed in random access memory (RAM), internal memory, read-only deposit
Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology
In any other form of storage medium well known in field.
Above to a kind of condition control method of brshless DC motor provided by the present invention, device and brshless DC motor
It is described in detail.Specific case used herein is set forth to the principle and embodiment of the present invention, and the above is real
The explanation for applying example is only intended to the method and its core concept for helping to understand the present invention.It should be pointed out that for the art
For those of ordinary skill, under the premise without departing from the principles of the invention, some improvement and modification can also be carried out to the present invention,
These are improved and modification is also fallen into the protection domain of the claims in the present invention.
Claims (8)
1. a kind of condition control method of brshless DC motor, it is characterised in that including：
Apply default commutation voltage for the stator winding of brshless DC motor, so that the brshless DC motor remained static
Rotor startup, and obtain the current location information of the rotor；
Sliding mode observer shape is built according to the three-phase voltage and electric current of the current location information and the brshless DC motor
State space, and motor mathematical model is generated, the motor mathematical model is according to the back-emf signal generation commutation control detected
Signal processed, to determine positional information that rotor is commutated 60 ° of sectors；
The commutation control signal exported according to the sliding mode observer drives the brshless DC motor to be rotated.
2. according to the method described in claim 1, it is characterised in that the stator winding for brshless DC motor applies default
Commutation voltage include：
Voltage is applied according to the stator winding that 6 step commutation methods are sequentially followed successively by the brshless DC motor.
3. method according to claim 2, it is characterised in that the stator winding for brshless DC motor applies default
Commutation voltage be brshless DC motor stator winding apply short-time pulse voltage vector.
4. the method according to claims 1 to 3 any one, it is characterised in that also include：
When the rotor is commutated, the rotor commutation position that will be determined according to the commutation control signal is carried out to user
Display.
5. a kind of behavior control device of brshless DC motor, it is characterised in that including：
Rotor startup module, for applying default commutation voltage for the stator winding of brshless DC motor, so that in static
The rotor startup of the brshless DC motor of state, and obtain the current location information of the rotor；
Commutation control signal generation module, for the three-phase electricity according to the current location information and the brshless DC motor
Pressure and electric current build sliding mode observer state space, and generate motor mathematical model, and the motor mathematical model is according to detecting
Back-emf signal generation commutation control signal, to determine positional information that rotor is commutated 60 ° of sectors；
Driving operation module, for the commutation control signal exported according to the sliding mode observer, drives the brushless dc
Machine is rotated.
6. device according to claim 5, it is characterised in that the rotor startup module is to be pressed according to 6 step commutation signals
The stator winding that sequence is followed successively by the brshless DC motor applies alive module.
7. device according to claim 6, it is characterised in that also include：
Display module, for when the rotor is commutated, by the rotor commutation position determined according to the commutation control signal
Put, shown to user.
8. a kind of brshless DC motor, it is characterised in that including the brushless dc as described in claim 5 to 7 any one
The behavior control device of machine.
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