CN107612444A - Dust catcher, motor and its constant-power control method, device - Google Patents
Dust catcher, motor and its constant-power control method, device Download PDFInfo
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- CN107612444A CN107612444A CN201710807803.1A CN201710807803A CN107612444A CN 107612444 A CN107612444 A CN 107612444A CN 201710807803 A CN201710807803 A CN 201710807803A CN 107612444 A CN107612444 A CN 107612444A
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Abstract
The invention discloses a kind of dust catcher, motor and its constant-power control method, device, the constant-power control method comprises the following steps：Obtain the DC bus-bar voltage and DC bus current of motor；The DC bus current set-point of motor is obtained according to the power set-point of DC bus-bar voltage and motor；Obtain the current differential between DC bus current set-point and DC bus current；PI regulations are carried out to current differential to obtain the duty cycle signals for controlled motor, and power limitation control is carried out to motor according to duty cycle signals.This method is controlled to realize the power limitation control to motor by carrying out PI to DC bus current, hardware cost will not only be increased, and large-scale power adjusting and the effect of continuous control can be achieved without using position sensor, it can be effectively improved in production process simultaneously because of the control effect difference caused by such environmental effects the problem of, and it is versatile.
Description
Technical field
The present invention relates to motor control technology field, more particularly to a kind of constant-power control method of motor, a kind of motor
Constant power control device, a kind of motor with the control device and a kind of dust catcher.
Background technology
At present, high speed and the brshless DC motor (Brushless Direct Current Motor, BLDC) of miniaturization
Application it is more and more extensive, especially in small-sized electric tool (such as hand-held vacuum cleaner) field.When small electrical is started building
When tool uses battery powered, cell voltage can be gradually reduced with the change of usage time, in order to enable a device to export
Constant power introduces power limitation control strategy, it is necessary to during cell voltage declines.
In correlation technique, the power limitation control of motor is realized by way of tabling look-up and changing advance angle and afterflow angle.Tool
Body, as depicted in figs. 1 and 2, the input voltage of motor, i.e. cell voltage are detected in real time, then according to input voltage by looking into
Table obtains the advance angle and afterflow angle needed for controlled motor, when the location update signal of Hall sensor comes temporarily, according to current
Once or previous position signalling come determine when output control voltage, when closing control voltage, so as to realize motor
Power limitation control.
But when using above-mentioned control mode, there will be following shortcoming：
(1) change of power and present speed, load condition have relation, fully rely on the pulse width of tables of data output
It is single discrete operating point, is not suitable for the continuous acute variation of load and speed, Spline smoothing easily occurs, cause to export
Power is pulsed；
(2) tables of data is drawn by testing of electric motors, and in process of production, motor is easily influenceed and caused by various environmental factors
Parameter is inconsistent, so as to cause function deviation so that the effect of Power Control is had a greatly reduced quality in actual use；
(3) there is certain lead limitation in advance angle control, external hall sensor can only be introduced in order to break through the limit
Position signalling solve, therefore the power controlled range of the brshless DC motor of position-sensor-free type is limited；
(4) when power of motor changes, it is necessary to change the advance angle stored in program and afterflow angle table, single machine
Corresponding single program, is unfavorable for the production management of heterogenous change.
The content of the invention
It is contemplated that at least solves one of technical problem in correlation technique to a certain extent.Therefore, the present invention
First purpose is to propose a kind of constant-power control method of motor, controlled by carrying out PI to DC bus current to realize
To the power limitation control of motor, it will not only increase hardware cost, and can be achieved on a large scale without using position sensor
Power adjusting and continuous control effect, while can be effectively improved in production process caused by such environmental effects control
The problem of effect difference, and it is versatile.
Second object of the present invention is to propose a kind of non-transitorycomputer readable storage medium.The 3rd of the present invention
Individual purpose is to propose a kind of constant power control device of motor.Fourth object of the present invention is to propose a kind of motor.This
5th purpose of invention is to propose a kind of dust catcher.
To achieve the above object, first aspect present invention embodiment proposes a kind of constant-power control method of motor, bag
Include following steps：S1, obtain the DC bus-bar voltage and DC bus current of the motor；S2, according to dc bus electricity
The power set-point of pressure and the motor obtains the DC bus current set-point of the motor；S3, obtain the dc bus
Current differential between given value of current value and the DC bus current；S4, PI regulations are carried out to the current differential to obtain
Power limitation control is carried out to the motor for controlling the duty cycle signals of the motor, and according to the duty cycle signals.
The constant-power control method of motor according to embodiments of the present invention, DC bus-bar voltage and the direct current for obtaining motor are female
Line current, the DC bus current set-point of motor is then obtained according to the power set-point of DC bus-bar voltage and motor, and
Obtain the current differential between DC bus current set-point and DC bus current, and current differential is carried out PI regulations with
The duty cycle signals for controlled motor are obtained, and power limitation control is carried out to motor according to duty cycle signals.This method passes through
PI controls are carried out to DC bus current to realize the power limitation control to motor, will not only increase hardware cost, Er Qiewu
It is that large-scale power adjusting and the effect of continuous control can be achieved that position sensor, which need to be used, while can be effectively improved production
During because of the control effect difference caused by such environmental effects the problem of, it is and versatile.
According to one embodiment of present invention, the step S2 includes：Obtain the straight of motor described in current control period
Flow bus current set-point；The dc bus electricity of the motor according to the DC bus-bar voltage and the current control period
Flow the current power that set-point obtains the motor；Obtain the work(between the power set-point of the motor and the current power
Rate difference；PI regulations are carried out to the power difference to give to obtain the DC bus current of motor described in next controlling cycle
Value.
According to another embodiment of the invention, the step S2 includes：Low pass filtered is carried out to the DC bus current
Ripple processing, and the current of the motor is obtained according to the DC bus current after low-pass filtering treatment and the DC bus-bar voltage
Power；Obtain the power difference between the power set-point of the motor and the current power；The power difference is carried out
PI is adjusted to obtain the DC bus current set-point of motor described in next controlling cycle.
Further, according to one embodiment of present invention, the step S2 also includes：The DC bus-bar voltage is entered
Row low-pass filtering treatment.
According to one embodiment of present invention, the constant-power control method of above-mentioned motor also includes：Obtain the motor
Anode-cathode voltage；The counter electromotive force zero cross signal of the motor is obtained according to the anode-cathode voltage of the motor；According to the motor
Counter electromotive force zero cross signal control the motor to be commutated, and obtained after the completion of commutation for controlling accounting for for the motor
Sky compares signal.
To achieve the above object, second aspect of the present invention embodiment proposes a kind of non-transitory computer-readable storage medium
Matter, is stored thereon with computer program, and the computer program realizes above-mentioned method when being executed by processor.
The non-transitorycomputer readable storage medium of the embodiment of the present invention, by performing above-mentioned power limitation control side
Method, it can will not only increase hardware by carrying out PI controls to DC bus current to realize the power limitation control to motor
Cost, and be that large-scale power adjusting and the effect of continuous control can be achieved without using position sensor, while can
It is effectively improved in production process because of the control effect difference caused by such environmental effects the problem of, and it is versatile.
To achieve the above object, the constant power control device for a kind of motor that third aspect present invention embodiment proposes, bag
Include：Busbar voltage acquisition module, for obtaining the DC bus-bar voltage of the motor；Bus current acquisition module, for obtaining
The DC bus current of the motor；Given value of current module, for the power according to the DC bus-bar voltage and the motor
Set-point obtains the DC bus current set-point of the motor；Current deviation acquisition module, for obtaining the dc bus
Current differential between given value of current value and the DC bus current；Current regulating module, for entering to the current differential
Row PI is adjusted to obtain the duty cycle signals for controlling the motor；Control module, for according to the duty cycle signals pair
The motor carries out power limitation control.
The constant power control device of motor according to embodiments of the present invention, motor is obtained by busbar voltage acquisition module
DC bus-bar voltage, and by the DC bus current of bus current acquisition module acquisition motor, and pass through given value of current mould
Root tuber obtains the DC bus current set-point of motor according to the power set-point of DC bus-bar voltage and motor.Then, electricity is passed through
The current differential between deviation acquisition module acquisition DC bus current set-point and DC bus current is flowed, and is adjusted by electric current
Section module carries out PI regulations to current differential to obtain the duty cycle signals for controlled motor, and by control module according to
Duty cycle signals carry out power limitation control to motor.The device is controlled to realize to motor by carrying out PI to DC bus current
Power limitation control, will not only increase hardware cost, and large-scale power can be achieved without using position sensor
Regulation and the effect of continuous control, while can be effectively improved in production process that control effect is poor caused by such environmental effects
The problem of, and it is versatile.
According to one embodiment of present invention, the given value of current module includes：First power acquisition module, for obtaining
The DC bus current set-point of motor described in current control period, and according to the DC bus-bar voltage and the current control
The DC bus current set-point of motor described in cycle processed obtains the current power of the motor；First power deviation obtains mould
Block, for obtaining the power difference between the power set-point of the motor and the current power；First power conditioning module,
Adjusted for carrying out PI to the power difference to obtain the DC bus current set-point of motor described in next controlling cycle.
According to another embodiment of the invention, the given value of current module includes：First filtering process module, for pair
The DC bus current carries out low-pass filtering treatment；Second power acquisition module, for according to straight after low-pass filtering treatment
Flow bus current and the DC bus-bar voltage obtains the current power of the motor；Second power deviation acquisition module, is used for
Obtain the power difference between the power set-point of the motor and the current power；Second power conditioning module, for pair
The power difference carries out PI regulations to obtain the DC bus current set-point of motor described in next controlling cycle.
Further, according to one embodiment of present invention, the given value of current module also includes：Second filtering process mould
Block, for carrying out low-pass filtering treatment to the DC bus-bar voltage.
According to one embodiment of present invention, the constant power control device of above-mentioned motor, in addition to：Terminal voltage obtains mould
Block, for obtaining the anode-cathode voltage of the motor；Counter electromotive force zero passage acquisition module, for the anode-cathode voltage according to the motor
Obtain the counter electromotive force zero cross signal of the motor；The control module, it is additionally operable to according to the counter electromotive force zero cross signal control
Make the motor to be commutated, and the duty cycle signals for controlling the motor are obtained after the completion of commutation.
To achieve the above object, fourth aspect present invention embodiment proposes a kind of motor, and it includes above-mentioned invariable power
Control device.
Motor according to embodiments of the present invention, can be by dc bus electricity by above-mentioned constant power control device
Stream carries out PI controls to realize the power limitation control to motor, will not only increase hardware cost, and pass without using position
Sensor is that large-scale power adjusting and the effect of continuous control can be achieved, while can be effectively improved in production process because of environment
Caused by factor influences the problem of control effect difference.
According to one embodiment of present invention, the motor is three-phase brushless dc motor.
To achieve the above object, fifth aspect present invention embodiment proposes a kind of dust catcher, and it includes above-mentioned motor.
Dust catcher according to embodiments of the present invention, by above-mentioned motor, output-constant operation can be realized.
Brief description of the drawings
Fig. 1 is to realize the schematic diagram of motor power limitation control in correlation technique by changing advance angle and afterflow angle；
Fig. 2 is the relation table between cell voltage in correlation technique, advance angle, afterflow angle and power output；
Fig. 3 is the control system block diagram of three-phase brushless dc motor according to an embodiment of the invention；
Fig. 4 is the flow chart of the constant-power control method of motor according to embodiments of the present invention；
Fig. 5 a are the block diagrams of the constant power control device of motor according to an embodiment of the invention；
Fig. 5 b are the block diagrams of the constant power control device of motor in accordance with another embodiment of the present invention；
Fig. 6 is the schematic diagram of counter electromotive force zero passage processing according to an embodiment of the invention；
Fig. 7 is the schematic diagram of counter electromotive force zero passage processing in accordance with another embodiment of the present invention；
Fig. 8 is the flow chart of the constant-power control method of motor according to an embodiment of the invention；And
Fig. 9 is the block diagram of the constant power control device of motor in accordance with another embodiment of the present invention.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and is not considered as limiting the invention.
Below in conjunction with the accompanying drawings come the constant-power control method of the motor that describes to propose according to embodiments of the present invention, non-transitory
Computer-readable recording medium, the constant power control device of motor, motor and dust catcher with the control device.
In an embodiment of the present invention, motor can be three-phase brushless dc motor, the rotor of three-phase brushless dc motor
It can be made up of permanent magnet, its structure is at least one pair of magnetic pole, and stator can be made up of three-phase windings.
Fig. 3 is the control system block diagram of three-phase brushless dc motor according to an embodiment of the invention.As shown in figure 3,
The control system of three-phase brushless dc motor may include dc source 101 (such as battery), dc bus Support Capacitor 102 (as greatly
Electrochemical capacitor), three-phase bridge 103, DC-bus voltage sampling circuit 104, DC bus current sample circuit 105, motor side electricity
Press sample circuit 106 and MCU etc..
Wherein, DC bus current sample circuit, which is used to sample, obtains DC bus current idc, and by DC bus current
idcTransmit into MCU, to carry out calculation process.Wherein, DC bus current idcEqual to the three-phase output current instantaneous value of motor
iu、ivAnd iwQuadratic sum open radical sign, i.e.,Or DC bus current idcEqual to the three-phase of motor
Output current instantaneous value iu、ivAnd iwThe quadratic sum of the rotated dq shaft current instantaneous values transformed under two-phase rest frame is opened
Radical sign, i.e.,Wherein, idFor d shaft currents instantaneous value (also referred to as exciting current), iqFor q shaft currents instantaneous value (
Claim torque current).
When three-phase brushless dc motor is operated under rated speed, the equivalent excitation flowed through in the stator winding of motor is electric
Flow idMeet following formula (1)：
id≈0 (1)
Now, DC bus current idcMeet following formula (2)：
idc≈iq (2)
In addition, power input to a machine refers to the power output of dc source, it is equal to the work(of dc bus Support Capacitor
Rate.Wherein, dc bus Support Capacitor plays a part of flat ripple supporting bus voltage in three-phase bridge ON operation, can be by straight
Busbar voltage sample circuit is flowed by DC bus-bar voltage VdcChange is sent in MCU, and input power is that the power output of dc source expires
Foot states formula (3)：
Pin=Vdc*idc (3)
From above-mentioned formula (3) as can be seen that the power output P of dc sourceinWith DC bus-bar voltage VdcAnd dc bus
Electric current idcCorrelation, and DC bus current idcWith q shaft current instantaneous values iqIt is essentially identical, so in an embodiment of the present invention,
DC bus current i can be passed throughdcEquivalent q shaft currents instantaneous value iqMethod realize the power limitation control to motor.
Fig. 4 is the flow chart of the constant-power control method of motor according to embodiments of the present invention.It is as shown in figure 4, of the invention
The constant-power control method of the motor of embodiment comprises the following steps：
S1, obtain the DC bus-bar voltage and DC bus current of motor.
According to one embodiment of present invention, as shown in figure 3, DC-bus voltage sampling circuit (such as resistance point can be passed through
Volt circuit) sampling acquisition DC bus-bar voltage Vdc；Adopted by DC bus current sample circuit (such as dc bus sampling resistor)
Sample obtains voltage signal, and the voltage signal then is converted into current signal to obtain DC bus current idc。
S2, the DC bus current set-point of motor is obtained according to the power set-point of DC bus-bar voltage and motor.
According to one embodiment of present invention, step S2 includes：Obtain the dc bus electricity of motor in current control period
Flow set-point；Working as motor, is obtained according to the DC bus current set-point of motor in DC bus-bar voltage and current control period
Preceding power；Obtain the power difference between the power set-point of motor and current power；PI regulations are carried out to power difference to obtain
Obtain the DC bus current set-point of motor in next controlling cycle.
Specifically, as shown in Figure 5 a, DC bus-bar voltage V is being gotdcAfterwards, by DC bus-bar voltage VdcWith working as
The DC bus current set-point i of motor in preceding controlling cycledc *It is multiplied to obtain the current power P of motor, then calculates motor
Power set-point P*Power difference △ P between current power P, and PI regulations are carried out to power difference △ P to obtain
The DC bus current set-point i of motor in next controlling cycledc+1 *, then according to DC bus current set-point idc+1 *
Motor is controlled.
According to another embodiment of the invention, step S2 includes：Low-pass filtering treatment is carried out to DC bus current, and
The current power of motor is obtained according to the DC bus current after low-pass filtering treatment and DC bus-bar voltage；Obtain the work(of motor
Power difference between rate set-point and current power；PI regulations are carried out to power difference to obtain motor in next controlling cycle
DC bus current set-point.
Specifically, as shown in Figure 5 b, DC bus current i is being gotdcAfterwards, to DC bus current idcCarry out
Low-pass filtering treatment, then by the DC bus current after low-pass filtering treatment and the DC bus-bar voltage V gotdcIt is multiplied to
The current power P of motor is obtained, then calculates the power set-point P of motor*Power difference △ P between current power P, and
PI regulations are carried out to power difference △ P to obtain the DC bus current set-point i of motor in next controlling cycledc+1 *, so
Afterwards according to DC bus current set-point idc+1 *Motor is controlled.
Further, according to one embodiment of present invention, step S2 also includes：Low pass filtered is carried out to DC bus-bar voltage
Ripple processing.
That is, obtain DC bus-bar voltage V in samplingdcAfterwards, can be first to DC bus-bar voltage VdcCarry out low pass filtered
Ripple processing, as shown in figure 5 a and 5b, then according in the DC bus-bar voltage and current control period after low-pass filtering treatment
The DC bus current set-point i of motordc *It is multiplied, or is multiplied to obtain with the DC bus current after low-pass filtering treatment
The current power P of motor, it can so make it that Power Control is more stable, reduce the pulsation of power.
S3, obtain the current differential between DC bus current set-point and DC bus current.
S4, PI regulations are carried out to current differential to obtain the duty cycle signals for controlled motor, and believed according to dutycycle
Number to motor carry out power limitation control.
Specifically, as shown in figure 5 a and 5b, according to DC bus current set-point idc+1 *Motor is controlled
When, by DC bus current set-point idc+1 *With DC bus current idcBetween current differential △ idc=idc+1 *-idcAs
The margin of error of negative-feedback adjustment is sent in pi regulator, the signal of output control pulse width is adjusted by pi regulator, i.e.,
Duty cycle signals Duty, then by PWM units according to duty cycle signals Duty output drive signals to three-phase bridge, with to three-phase
The switching tube of bridge carries out ON/OFF control, and the voltage needed for final acquisition is supplied to three-phase brushless dc motor, so as to realize
By means of the power invariability regulatory function of DC bus current stability contorting.
Because the present invention carries out PI controls by way of the DC bus current of detection, thus continuous control can be reached
Effect, avoid in correlation technique because of the power output arteries and veins for value wave zone of being tabled look-up caused by default advance angle and afterflow angle table
The problem of dynamic, and table look-up schemes are compared to, Power Control is more stable, greatly reduces the pulsation of power；Simultaneously as
The introducing of PI controls, can have wider stable band domain characteristic so that production process causes by way of close loop negative feedback
The parameter of electric machine to change influence to system very low, simplify the process for debugging of dispatching from the factory, improve production efficiency；It is and different
Machine between the control mode that uses it is consistent, thus control to different machines can be achieved without be modified to software,
It is versatile.In addition, the detection of DC bus current is originally intended to the overcurrent protection of motor, the present invention is expanded to power control
System, do not increase hardware cost additionally, and adjusted without large-scale invariable power can be achieved using position sensor.This
Outside, because control process is fairly simple, thus the control effect for being achievable stabilization using relatively inexpensive MCU, reduce life
Produce cost.
Further, according to one embodiment of present invention, the constant-power control method of above-mentioned motor also includes：Obtain
The anode-cathode voltage of motor；The counter electromotive force zero cross signal of motor is obtained according to the anode-cathode voltage of motor；According to the anti-electronic of motor
Gesture zero cross signal controlled motor is commutated, and the duty cycle signals for controlled motor are obtained after the completion of commutation.
Specifically, the anode-cathode voltage U of motor can be obtained by terminal voltage sample circuit (such as voltage transformer)u、Uv、Uw,
Then according to the anode-cathode voltage U of motoru、Uv、UwThe counter electromotive force zero cross signal of motor is obtained (when anode-cathode voltage changes to 1/2Vdc
Position when, available for replace counter electromotive force zero passage), the zero cross signal can be read by way of external interrupt, its waveform
As shown in Figure 6；It can also be inquired about by way of software timing interruption, its waveform is as shown in Figure 7., wherein it is desired to illustrate
, the zero passage reading process of two ways has certain window time, under normal circumstances, soft in non-detection window phase
Part shields to the zero cross signal of counter electromotive force, and in detection window phase, reception zero cross signal, and receiving effectively mistake
After zero-signal, zero passage processing and corresponding PWM outputs are proceeded by.
Specifically, when treated counter electromotive force zero cross signal is changed into timing from negative, by external interrupt or by software
The energizing signal triggering zero passage processing that timer inquires, during zero passage processing, controlled motor carries out commutation and PWM is defeated
Go out, and the accounting for according to needed for the DC bus-bar voltage and DC bus current of detection obtain next controlling cycle after the completion of commutation
Sky compares signal.After the completion of commutation, commutation also has 60 ° of time to distance next time, so there is time enough to complete to table look-up
With the control computing of electric current loop.
Further, Fig. 8 is the flow chart of the constant-power control method of motor according to an embodiment of the invention.Such as figure
Shown in 8, the constant-power control method of the motor comprises the following steps：
S101, start.
S102, judge whether to be in the detection window phase.If it is, perform step S103；If not, continue to judge.
S103, judge whether to receive effective zero cross signal.If it is, perform step S04；If not, continue to judge.
S104, repeated detection prevent from malfunctioning, such as perform step S105 again after three zero cross signals are continuously received.
S105, carry out commutation processing.
S106, obtain DC bus-bar voltage VdcWith DC bus current idc。
S107, to DC bus-bar voltage VdcCarry out LPF processing (low-pass filtering treatment).
S108, DC bus-bar voltage and power set-point P after being handled according to LPF*Next control week is obtained by calculating
The DC bus current set-point i of phasedc+1 *。
S109, to DC bus current set-point idc+1 *With DC bus current idcBetween current differential △ idcCarry out
PI is adjusted, to obtain duty cycle signals Duty.
S110, update PWM value.
S11, the time of shielding zero cross signal is set.
Therefore, in during the zero passage processing of back-emf signal, by being tabled look-up to the DC bus-bar voltage of current feedback
Obtain the instruction current control power of the PI controls of bus current.
In summary, the constant-power control method of motor according to embodiments of the present invention, the dc bus electricity of motor is obtained
Pressure and DC bus current, the DC bus current of motor is then obtained according to the power set-point of DC bus-bar voltage and motor
Set-point, and the current differential between DC bus current set-point and DC bus current is obtained, and current differential is entered
Row PI regulations carry out power limitation control according to duty cycle signals to obtain the duty cycle signals for controlled motor to motor.
This method by DC bus current carry out PI control to realize the power limitation control to motor, will not only increase hardware into
This, and be that large-scale power adjusting and the effect of continuous control can be achieved without using position sensor, while can have
Effect improves in production process because of the control effect difference caused by such environmental effects the problem of, and versatile.
In addition, embodiments of the invention also proposed a kind of non-transitorycomputer readable storage medium, it is stored thereon with
Computer program, the computer program realize above-mentioned method when being executed by processor.
The non-transitorycomputer readable storage medium of the embodiment of the present invention, by performing above-mentioned power limitation control side
Method, it can will not only increase hardware by carrying out PI controls to DC bus current to realize the power limitation control to motor
Cost, and be that large-scale power adjusting and the effect of continuous control can be achieved without using position sensor, while can
It is effectively improved in production process because of the control effect difference caused by such environmental effects the problem of, and it is versatile.
Fig. 5 a are the block diagrams of the constant power control device of motor according to an embodiment of the invention, and Fig. 5 b are roots
According to the block diagram of the constant power control device of the motor of another embodiment of the present invention.As shown in figure 5 a and 5b, this hair
The constant power control device of the motor of bright embodiment includes：Busbar voltage acquisition module 201, bus current acquisition module 202, electricity
Stream given module 203, current deviation acquisition module 204, current regulating module 205 and control module 206.
Wherein, busbar voltage acquisition module 201 is used for the DC bus-bar voltage V for obtaining motordc；Bus current acquisition module
The 202 DC bus current i for obtaining motordc；Given value of current module 203 is used for according to DC bus-bar voltage VdcAnd motor
Power set-point P*Obtain the DC bus current set-point i of motordc *；Current deviation acquisition module 204 is used to obtain direct current
Bus current set-point idc *With DC bus current idcBetween current differential；Current regulating module 205 is used for current differential
PI regulations are carried out to obtain the duty cycle signals Duty for controlled motor；Control module 206 is used for according to duty cycle signals
Duty carries out power limitation control to motor.
According to one embodiment of present invention, as shown in Figure 5 a, given value of current module 203 includes：First power obtains mould
Block 2031, the first power deviation acquisition module 2032 and the first power conditioning module 2033, wherein, the first power acquisition module
The 2031 DC bus current set-point i for obtaining motor in current control perioddc-1 *, and according to DC bus-bar voltage Vdc
With the DC bus current set-point i of motor in current control perioddc-1 *Obtain the current power P of motor；First power deviation
Acquisition module 2032 is used for the power set-point P for obtaining motor*Power difference △ P between current power P；First power is adjusted
Section module 2033 be used for power difference △ P carry out PI regulation with obtain the DC bus current of motor in next controlling cycle to
Definite value idc *。
Specifically, as shown in Figure 5 a, when carrying out power limitation control to motor, busbar voltage acquisition module 201 passes through
Voltage signal on sampling resistor bleeder circuit obtains DC bus-bar voltage Vdc, bus current acquisition module 202 is by sampling directly
The voltage signal on bus sampling resistor is flowed, and the voltage signal is converted into current signal to obtain DC bus current idc。
Getting DC bus-bar voltage VdcAfterwards, the first power acquisition module 2031 is by DC bus-bar voltage VdcWith working as
The DC bus current set-point i of motor in preceding controlling cycledc *It is multiplied to obtain the current power P of motor, the first power deviation
Acquisition module 2032 calculates the power set-point P of motor*Power difference △ P between current power P, the first power adjusting mould
Block 2033 carries out PI regulations to power difference △ P to obtain the DC bus current set-point of motor in next controlling cycle
idc+1 *.Then, deviation acquisition module 204 (such as subtracter) obtains DC bus current set-point idc+1 *With DC bus current
idcBetween current differential △ idc=idc+1 *-idc, and by the △ idc=idc+1 *-idcThe margin of error as negative-feedback adjustment is sent into
Into current regulating module 205 (such as pi regulator), the letter of output control pulse width is adjusted by current regulating module 205
Number, i.e. duty cycle signals Duty, then by control module 206 (such as PWM units) according to duty cycle signals Duty output drivings
Signal is to three-phase bridge, and to carry out ON/OFF control to the switching tube of three-phase bridge, the voltage needed for final acquisition is supplied to three-phase
Brshless DC motor, so as to be achieved with the power invariability regulatory function of DC bus current stability contorting.
According to another embodiment of the invention, as shown in Figure 5 b, given value of current module 203 includes：First filtering process
Module 2034, the second power acquisition module 2035, the second power deviation acquisition module 2036 and the second power conditioning module 2037,
Wherein, the first filtering process module 2034 is used to carry out low-pass filtering treatment to DC bus current；Second power acquisition module
2035 are used for the current power according to the DC bus current after low-pass filtering treatment and DC bus-bar voltage acquisition motor；Second
Power deviation acquisition module 2036 is used to obtain the power difference between the power set-point of motor and current power；Second power
Adjustment module 2037 be used for power difference carry out PI regulation with obtain the DC bus current of motor in next controlling cycle to
Definite value.
Specifically, as shown in Figure 5 b, when carrying out power limitation control to motor, busbar voltage acquisition module 201 passes through
Voltage signal on sampling resistor bleeder circuit obtains DC bus-bar voltage Vdc, bus current acquisition module 202 is by sampling directly
The voltage signal on bus sampling resistor is flowed, and the voltage signal is converted into current signal to obtain DC bus current idc。
Getting DC bus current idcAfterwards, the first filtering process module 2034 (such as LPF wave filters) is female to the direct current
Line current idcCarry out low-pass filtering treatment, the second power acquisition module 2035 by the DC bus current after low-pass filtering treatment with
The DC bus-bar voltage V gotdcIt is multiplied to obtain the current power P of motor, the second power deviation acquisition module 2036 calculates
The power set-point P of motor*Power difference △ P between current power P, the second power conditioning module 2037 is to the difference power
Value △ P carry out PI regulations to obtain the DC bus current set-point i of motor in next controlling cycledc+1 *.Then, deviation obtains
Module 204 (such as subtracter) obtains DC bus current set-point idc+1 *With DC bus current idcBetween current differential △
idc=idc+1 *-idc, and by the △ idc=idc+1 *-idcThe margin of error as negative-feedback adjustment is sent to current regulating module 205
In (such as pi regulator), the signal of output control pulse width, i.e. duty cycle signals are adjusted by current regulating module 205
Duty, then by control module 206 (such as PWM units) according to duty cycle signals Duty output drive signals to three-phase bridge, with
ON/OFF control is carried out to the switching tube of three-phase bridge, the voltage needed for final acquisition is supplied to three-phase brushless dc motor, from
And it is achieved with the power invariability regulatory function of DC bus current stability contorting.
Further, according to one embodiment of present invention, as shown in figure 5 a and 5b, given value of current module 203 is also wrapped
Include：Second filtering process module 2038, for carrying out low-pass filtering treatment to DC bus-bar voltage.
That is, obtain DC bus-bar voltage V in samplingdcAfterwards, the second filtering process module 2038 can be first passed through (such as
LPF wave filters) to DC bus-bar voltage VdcLow-pass filtering treatment is carried out, as shown in figure 5 a and 5b, then according to LPF
The DC bus current set-point i of motor in DC bus-bar voltage and current control period after processingdc *Be multiplied, or with it is low
DC bus current after pass filter processing is multiplied to obtain the current power P of motor, so can cause Power Control more
It is stable, reduce the pulsation of power.
According to one embodiment of present invention, as shown in figure 9, the constant power control device of above-mentioned motor also includes：End
Voltage acquisition module 208 and counter electromotive force zero passage acquisition module 209, wherein, terminal voltage acquisition module 208 is used to obtain motor
Anode-cathode voltage；Counter electromotive force acquisition module 209 is used for the counter electromotive force zero cross signal that motor is obtained according to the anode-cathode voltage of motor；
Control module 206 is additionally operable to be commutated according to counter electromotive force zero cross signal controlled motor, and obtains and be used for after the completion of commutation
The duty cycle signals of controlled motor.
Specifically, terminal voltage acquisition module 208 can obtain motor by the voltage signal on sampled voltage transformer
Anode-cathode voltage Uu、Uv、Uw, then it is sent in counter electromotive force zero passage acquisition module 209, to be obtained by counter electromotive force zero passage
Module 209 obtains the counter electromotive force zero cross signal of motor (when anode-cathode voltage changes to 1/2VdcPosition when, it is anti-available for replacing
Electromotive force zero passage), the zero cross signal can be read by way of external interrupt, and its waveform is as shown in Figure 6；Can also be by soft
The mode of part Interruption is inquired about, and its waveform is as shown in Figure 7., wherein it is desired to explanation, the zero passage of two ways is read
Processing has certain window time, and under normal circumstances, in non-detection window phase, software enters to the zero cross signal of counter electromotive force
Row shielding, and in the detection window phase, control module 206 receives zero cross signal, and after effective zero cross signal is received, starts
Carry out zero passage processing and corresponding PWM outputs.
Specifically, when treated counter electromotive force zero cross signal is changed into timing from negative, determined by external interrupt or software
When device inquire energizing signal triggering zero passage processing, zero passage processing during, the controlled motor of control module 206 is changed
Exported to PWM, and after the completion of commutation, it is female according to the DC bus-bar voltage and direct current of detection by the grade of PI adjustment modules 205
Line current obtains the duty cycle signals needed for next controlling cycle.After the completion of commutation, commutation also has 60 ° to distance next time
Time, so there is time enough to complete the control computing tabled look-up with electric current loop.
It should be noted that the details not disclosed in the constant power control device of the motor of the embodiment of the present invention, refer to
Details disclosed in the constant-power control method of the motor of the embodiment of the present invention, is specifically just no longer described in detail here.
The constant power control device of motor according to embodiments of the present invention, motor is obtained by busbar voltage acquisition module
DC bus-bar voltage, and by the DC bus current of bus current acquisition module acquisition motor, and pass through given value of current mould
Root tuber obtains the DC bus current set-point of motor according to the power set-point of DC bus-bar voltage and motor.Then, electricity is passed through
The current differential between deviation acquisition module acquisition DC bus current set-point and DC bus current is flowed, and is adjusted by electric current
Section module carries out PI regulations to current differential to obtain the duty cycle signals for controlled motor, and by control module according to
Duty cycle signals carry out power limitation control to motor.The device is controlled to realize to motor by carrying out PI to DC bus current
Power limitation control, will not only increase hardware cost, and large-scale power can be achieved without using position sensor
Regulation and the effect of continuous control, while can be effectively improved in production process that control effect is poor caused by such environmental effects
The problem of, and it is versatile.
In addition, embodiments of the invention also proposed a kind of motor, it includes above-mentioned constant power control device.Wherein,
Motor can be three-phase brushless dc motor.
Motor according to embodiments of the present invention, can be by dc bus electricity by above-mentioned constant power control device
Stream carries out PI controls to realize the power limitation control to motor, will not only increase hardware cost, and pass without using position
Sensor is that large-scale power adjusting and the effect of continuous control can be achieved, while can be effectively improved in production process because of environment
Caused by factor influences the problem of control effect difference.
In addition, embodiments of the invention also proposed a kind of dust catcher, it includes above-mentioned motor.
Dust catcher according to embodiments of the present invention, by above-mentioned motor, output-constant operation can be realized.
It should be appreciated that each several part of the present invention can be realized with hardware, software, firmware or combinations thereof.Above-mentioned
In embodiment, software that multiple steps or method can be performed in memory and by suitable instruction execution system with storage
Or firmware is realized.If, and in another embodiment, can be with well known in the art for example, realized with hardware
Any one of row technology or their combination are realized：With the logic gates for realizing logic function to data-signal
Discrete logic, have suitable combinational logic gate circuit application specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
In addition, in the description of the invention, term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ", " thickness ",
" on ", " under ", "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outer ", " clockwise ", " inverse time
The orientation or position relationship of the instruction such as pin ", " axial direction ", " radial direction ", " circumference " be based on orientation shown in the drawings or position relationship,
Be for only for ease of the description present invention and simplify description, rather than instruction or imply signified device or element must have it is specific
Orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are only used for describing purpose, and it is not intended that instruction or hint relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the invention, " multiple " are meant that at least two, such as two, three
It is individual etc., unless otherwise specifically defined.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integrally；Can be that machinery connects
Connect or electrically connect；Can be joined directly together, can also be indirectly connected by intermediary, can be in two elements
The connection in portion or the interaction relationship of two elements, limited unless otherwise clear and definite.For one of ordinary skill in the art
For, the concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
In the present invention, unless otherwise clearly defined and limited, fisrt feature can be with "above" or "below" second feature
It is that the first and second features directly contact, or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature are directly over second feature or oblique upper, or be merely representative of
Fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be
One feature is immediately below second feature or obliquely downward, or is merely representative of fisrt feature level height and is less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy for combining the embodiment or example description
Point is contained at least one embodiment or example of the present invention.In this manual, to the schematic representation of above-mentioned term not
Identical embodiment or example must be directed to.Moreover, specific features, structure, material or the feature of description can be with office
Combined in an appropriate manner in one or more embodiments or example.In addition, in the case of not conflicting, the skill of this area
Art personnel can be tied the different embodiments or example and the feature of different embodiments or example described in this specification
Close and combine.
Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, one of ordinary skill in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changed, replacing and modification.
Claims (14)
1. a kind of constant-power control method of motor, it is characterised in that comprise the following steps：
S1, obtain the DC bus-bar voltage and DC bus current of the motor；
S2, the DC bus current that the motor is obtained according to the power set-point of the DC bus-bar voltage and the motor are given
Definite value；
S3, obtain the current differential between the DC bus current set-point and the DC bus current；
S4, PI regulations are carried out to the current differential to obtain the duty cycle signals for controlling the motor, and according to described
Duty cycle signals carry out power limitation control to the motor.
2. the constant-power control method of motor as claimed in claim 1, it is characterised in that the step S2, including：
Obtain the DC bus current set-point of motor described in current control period；
The DC bus current set-point of the motor according to the DC bus-bar voltage and the current control period obtains
The current power of the motor；
Obtain the power difference between the power set-point of the motor and the current power；
PI regulations are carried out to the power difference to obtain the DC bus current set-point of motor described in next controlling cycle.
3. the constant-power control method of motor as claimed in claim 1, it is characterised in that the step S2, including：
Low-pass filtering treatment is carried out to the DC bus current, and according to the DC bus current after low-pass filtering treatment and institute
State the current power that DC bus-bar voltage obtains the motor；
Obtain the power difference between the power set-point of the motor and the current power；
PI regulations are carried out to the power difference to obtain the DC bus current set-point of motor described in next controlling cycle.
4. the constant-power control method of motor as claimed in claim 2 or claim 3, it is characterised in that the step S2, in addition to：
Low-pass filtering treatment is carried out to the DC bus-bar voltage.
5. the constant-power control method of the motor as any one of claim 1-4, it is characterised in that also include：
Obtain the anode-cathode voltage of the motor；
The counter electromotive force zero cross signal of the motor is obtained according to the anode-cathode voltage of the motor；
Control the motor to be commutated according to the counter electromotive force zero cross signal of the motor, and obtain and be used for after the completion of commutation
Control the duty cycle signals of the motor.
6. a kind of non-transitorycomputer readable storage medium, is stored thereon with computer program, it is characterised in that the calculating
The method as described in any in claim 1-5 is realized when machine program is executed by processor.
A kind of 7. constant power control device of motor, it is characterised in that including：
Busbar voltage acquisition module, for obtaining the DC bus-bar voltage of the motor；
Bus current acquisition module, for obtaining the DC bus current of the motor；
Given value of current module, for obtaining the motor according to the power set-point of the DC bus-bar voltage and the motor
DC bus current set-point；
Current deviation acquisition module, for obtaining the electricity between the DC bus current set-point and the DC bus current
Flow difference；
Current regulating module, adjusted for carrying out PI to the current differential to obtain for controlling the dutycycle of the motor to believe
Number；
Control module, for carrying out power limitation control to the motor according to the duty cycle signals.
8. the constant power control device of motor as claimed in claim 7, it is characterised in that the given value of current module includes：
First power acquisition module, for obtaining the DC bus current set-point of motor described in current control period, and root
The electricity is obtained according to the DC bus current set-point of motor described in the DC bus-bar voltage and the current control period
The current power of machine；
First power deviation acquisition module, for obtaining the power between the power set-point of the motor and the current power
Difference；
First power conditioning module, adjusted for carrying out PI to the power difference to obtain motor described in next controlling cycle
DC bus current set-point.
9. the constant power control device of motor as claimed in claim 7, it is characterised in that the given value of current module includes：
First filtering process module, for carrying out low-pass filtering treatment to the DC bus current；
Second power acquisition module, for being obtained according to the DC bus current after low-pass filtering treatment and the DC bus-bar voltage
Take the current power of the motor；
Second power deviation acquisition module, for obtaining the power between the power set-point of the motor and the current power
Difference；
Second power conditioning module, adjusted for carrying out PI to the power difference to obtain motor described in next controlling cycle
DC bus current set-point.
10. the constant power control device of motor as claimed in claim 8 or 9, it is characterised in that the given value of current module is also
Including：
Second filtering process module, for carrying out low-pass filtering treatment to the DC bus-bar voltage.
11. the constant power control device of the motor as any one of claim 7-10, it is characterised in that also include：
Terminal voltage acquisition module, for obtaining the anode-cathode voltage of the motor；
Counter electromotive force zero passage acquisition module, for obtaining the counter electromotive force zero passage of the motor according to the anode-cathode voltage of the motor
Signal；
The control module, it is additionally operable to control the motor to be commutated according to the counter electromotive force zero cross signal, and is commutating
After the completion of obtain duty cycle signals for controlling the motor.
12. a kind of motor, it is characterised in that including the constant power control device as any one of claim 7-11.
13. motor as claimed in claim 12, it is characterised in that the motor is three-phase brushless dc motor.
14. a kind of dust catcher, it is characterised in that including the motor as any one of claim 12-13.
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| CN201710807803.1A CN107612444A (en) | 2017-09-08 | 2017-09-08 | Dust catcher, motor and its constant-power control method, device |
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| CN201710807803.1A CN107612444A (en) | 2017-09-08 | 2017-09-08 | Dust catcher, motor and its constant-power control method, device |
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| CN108923717A (en) * | 2018-08-07 | 2018-11-30 | 珠海格力电器股份有限公司 | Handheld dust collector, motor and method and device for quickly adjusting power of handheld dust collector |
| CN110138311A (en) * | 2019-06-18 | 2019-08-16 | 宁波奥克斯电气股份有限公司 | A kind of compressor invariable power preheating control method, circuit and air conditioner |
| EP3627690A1 (en) * | 2018-09-19 | 2020-03-25 | Miele & Cie. KG | Care appliance and method and device for adjusting the operating state of a motor driving at least one floor brush for a care appliance |
| CN112332715A (en) * | 2020-11-03 | 2021-02-05 | 无锡同方聚能控制科技有限公司 | Intelligent power regulation control method and control system of motor |
| CN112398373A (en) * | 2019-08-13 | 2021-02-23 | 江苏美的清洁电器股份有限公司 | Control method and device of brushless direct current motor and storage medium |
| CN113131806A (en) * | 2019-12-31 | 2021-07-16 | 广东美的白色家电技术创新中心有限公司 | Control device and method of brushless direct current motor |
| CN114623567A (en) * | 2022-03-15 | 2022-06-14 | 青岛海信日立空调***有限公司 | Air conditioner |
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| CN114623567A (en) * | 2022-03-15 | 2022-06-14 | 青岛海信日立空调***有限公司 | Air conditioner |
| CN114623567B (en) * | 2022-03-15 | 2023-10-17 | 青岛海信日立空调***有限公司 | Air conditioner |
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