CN108306557A - A kind of double-rotary brushless direct current motor commutation phase Self-regulation track method - Google Patents
A kind of double-rotary brushless direct current motor commutation phase Self-regulation track method Download PDFInfo
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- CN108306557A CN108306557A CN201711386092.1A CN201711386092A CN108306557A CN 108306557 A CN108306557 A CN 108306557A CN 201711386092 A CN201711386092 A CN 201711386092A CN 108306557 A CN108306557 A CN 108306557A
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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 invention discloses a kind of double-rotary brushless direct current motor commutation phase Self-regulation track methods, by analyzing double-rotary three-phase brushless DC motor position sensor output signal and the relationship of winding counter electromotive force, it is proposed that it is a kind of measure motor commutation phase effective ways and give a kind of Self-regulation track scheme；The position signal that inner and outer Rotator is resolved by software, can be made instantly available the relative angle of motor inner and outer rotors.The correspondence of position signal and counter electromotive force is obtained according to this relative angle, judges whether position sensor installation meets design requirement；The method of the present invention solves the problems, such as the accurate measurement of double-rotary non-brush permanent-magnet DC motor commutation phase by electronic measurement technique, and the accuracy for motor position sensor installation provides foundation, substantially increases the assembly work efficiency of motor production.
Description
Technical field
The invention belongs to brushless direct current motor technical fields, and in particular to a kind of double-rotary brushless direct current motor commutation
Phase Self-regulation track method.
Background technology
Common permanent magnetic brushless only rotor magnetic pole rotates, and armature is stationary.And made with anti-based on active force
Firmly the twin shaft of principle makes inside and outside two rotors simultaneously to turning rare earth permanent magnet brushless direct current motor under the driving of electromagnetic torque
It rotates in the opposite direction.Electric power is to turning in propulsion system under water, and twin shaft is to turning permanent-magnet brushless DC electric machine and to turning spiral shell
Rotation paddle is used cooperatively, and is remarkably improved the propulsive efficiency of submarine navigation device, while eliminating the cross brought by single propeller rotational
Rolling.
Position sensor is twin shaft to turning the important component of permanent-magnet brushless DC electric machine, and twin shaft is straight to turning brushless, permanently
The sequence of each phase winding conducting of galvanic electricity machine and time depend on the rotor position information of position sensor output.Position sensor must
Rotor magnetic pole position and armature winding position must be accurately measured, and rotor-position signal is converted into control motor-drive circuit
The electric signal of commutation, signal directly affect the commutation position of winding, are also had a direct impact to electric current, torque and efficiency.
Twin shaft permanent-magnet brushless DC electric machine position sensor includes interior shaft position sensor and outer shaft position sensor.Outer shaft
Position sensor detects motor body rotor magnetic steel location information, interior shaft position sensor detection motor body winding position letter
Breath.Position sensor includes position sensor stator and position sensor rotor.The theoretical installation site of position sensor passes through
Design can be realized, but the winding inductance amount of motor can be had an impact to angle of overlap and the installation of magnetic pole also will produce deviation.Around
The calculating of group inductance value is sufficiently complex, and in Project Realization, generally use manually adjusts.Usually outer shaft position sensor is using solid
Determine mounting means, interior shaft position sensor uses circumferencial direction dynamic installation site.Motor is generally made of multipair magnetic pole, therefore
The error of mechanical angle is affected to electrical angle.
Installation electrical angle precision directly affects the electronics commutation function of motor, torque pulsation that also can be to motor and grass
It influences, this requires position sensor installations to have accurate correspondence with the counter electromotive force of three-phase windings.Electronics commutation
At the time of determined by the sequential relationship of position signal and counter electromotive force, therefore fast and effeciently determine between position sensor and winding
Phase order relation be the key that realize brshless DC motor speed-regulating function.
The installation to position sensor is needed to carry out adjustment after the completion of the general assembly of double-rotary rare earth permanent magnet brushless direct current motor.Peace
The foundation in adjustment school is the phase relation of position signal and counter electromotive force.But the position signal of double-rotary DC brushless motor and anti-
The phase relation detection of electromotive force is always the difficult point of motor general assembly debugging.
It is existing that the method for manually trying to gather is used in motor debugging process, i.e., with oscillograph crawl inner and outer Rotator position
Signal and back-emf signal, then measure the phase difference of counter electromotive force, finally by manually calculating the relative angles of motor inner and outer rotors
Degree.This method is very original, needs multiple person cooperational, repetition test, not only inefficiency, but also test job carries certain danger
It is dangerous, a large amount of human time's cost is expended, is unfavorable for producing in enormous quantities.
Invention content
In view of this, the object of the present invention is to provide a kind of double-rotary brushless direct current motor commutation phase Self-regulation track sides
The assembly work efficiency of motor production can be improved in method.
A kind of double-rotary brushless direct current motor commutation phase Self-regulation track method, includes the following steps：
(1) tooling motor identical with tested motor is used, the inside and outside shaft rotation by controlling tooling motor is dynamic to band
The inner and outer Rotator of dynamic tested motor rotates synchronously；
(2) three phase back-emf U, V, the W that tested motor is acquired by the way of Timing Synchronization sampling, are passed by position
Sensor acquisition is tested the position signal HU of the inner and outer Rotator of motor；It is with the failing edge of inner and outer Rotator position signal HU respectively
Zero moment, calculate the position signal HU of inner and outer Rotator twice the time between failing edge to get to the electricity week of inner and outer Rotator
Phase T1 and T2；
(3) since second electric period of tested motor, the failing edge with the position signal HU of inner and outer Rotator is zero
Moment calculates separately the run time t of the current inner and outer Rotator of tested motor according to sampling number and sampling period Ts1And t2；
The time t of internal rotor operation1=n1×Ts, the time t of outer rotor operation2=n2×Ts；Wherein, n1For the corresponding sampling of internal rotor
Points；n2For the corresponding sampling number of outer rotor；
(4) electrical angle of internal rotor operation is calculatedThe electrical angle of outer rotor operation
(5) electrical angle θ of the inner and outer Rotator relative to tested motor stationary part is calculated：
(6) the electrical angle θ is shown in the form of square wave, the lower jump of square wave calculates the lower jump edge of θ along corresponding to 0 degree
Phase angle β between the zero crossing of U phase back-emfs；
(7) the phase angle β that step (6) obtains is compared with the reference phase of setting, if comparison result is discontented
Foot requires, then adjusts the corresponding position sensor installation site of internal rotor, changes position and the U phase back-emfs on the lower jump edge of θ
Between phase angle β；After change, current phase angle β is obtained again, until the comparison result of phase angle β is met the requirements；Meet
After it is required that, the relative position and outer rotor by internal rotor corresponding position sensor at this time and tested motor winding are corresponding
The relative position of position sensor and tested motor magnet steel obtains the best commutation position of tested motor.
The sample rate of the Timing Synchronization sampling is determining according to electric machine frequency and disclosure satisfy that electrical angle resolution ratio 2~3
Degree.
The present invention has the advantages that：
The present invention passes through to double-rotary three-phase brushless DC motor position sensor output signal and winding counter electromotive force
Relationship analyzed, it is proposed that it is a kind of measure motor commutation phase effective ways and give a kind of Self-regulation track scheme；
The position signal that inner and outer Rotator is resolved by software, can be made instantly available the relative angle of motor inner and outer rotors.According to this relative angle
Degree obtains the correspondence of position signal and counter electromotive force, judges whether position sensor installation meets design requirement；The present invention
Method solves the problems, such as the accurate measurement of double-rotary non-brush permanent-magnet DC motor commutation phase by electronic measurement technique, is motor
The accuracy of position sensor installation provides foundation, substantially increases the assembly work efficiency of motor production.
Description of the drawings
Fig. 1 is the automatic calibrating device of the present invention.
Fig. 2 is the counter electromotive force of motor oscillogram of the present invention；
Fig. 3 is the motor position sensor signal graph of the present invention；
Fig. 4 is flow chart of the method for the present invention.
Specific implementation mode
The present invention will now be described in detail with reference to the accompanying drawings and examples.
As shown in Figure 1, the technical solution that the present invention embodies is：A kind of double-rotary brushless direct current motor commutation phase
Automatic calibrating device, detection device is mainly by analogue load circuit, signal condition and Acquisition Circuit, signal processing circuit and calculating
Machine forms；Its peripheral unit is tested motor and tooling motor.
The analogue load circuit major function is to sample the phase voltage signal (Fig. 2) of motor three-phase windings；Signal tune
Reason and Acquisition Circuit are by improving and sampling main completion inner and outer Rotator position sensor signal (Fig. 3) and three phase back-emf phases
The synchronized sampling of voltage signal.
As shown in figure 4, the motor commutation phase Self-regulation track method and step of the present invention is as follows：
(1) tooling motor identical with tested motor is used, by shaft coupling connecting tooling motor and tested motor
Axis and outer shaft；The dynamic inner and outer rotors for driving tested motor of inside and outside shaft rotation for controlling tooling motor rotate synchronously；
(2) (sample rate is determining according to electric machine frequency and disclosure satisfy that electrical angle is differentiated by the way of Timing Synchronization sampling
Rate is at 2~3 degree) acquisition tested motor three phase back-emf U, V, W, pass through position sensor acquire tested motor inside and outside turn
Sub- HU signals；Respectively using the failing edge of inner and outer Rotator position signal HU as zero moment, the HU for calculating inner and outer rotors declines twice
Time between, you can obtain the electric cycle T 1 and T2 of inner and outer Rotator；
(3) second of tested motor electric period, using the failing edge of the HU of inner and outer rotors as zero moment, according to adopting
Number of samples n and sampling period Ts calculates separately the run time t of current motor inner and outer Rotator1And t2；The time of internal rotor operation
t1=n1×Ts, the time t of outer rotor operation2=n2×Ts；Wherein, n1For the corresponding sampling number of internal rotor；n2For outer rotor pair
The sampling number answered；
(4) electrical angle of internal rotor operationThe electrical angle of outer rotor operation
(5) it calculates and works as electrical angle θ of the inner and outer rotors relative to motor stationary part：
(6) shown in the form of square wave relative to the electrical angle θ of motor stationary part, the lower jump of square wave along 0 degree corresponding,
The lower jump of θ is calculated along the phase angle β between the zero crossing of U phase back-emfs；
(7) the phase angle β that step (6) obtains is compared with the reference phase of setting, if comparison result is discontented
Foot requires, then adjusts interior shaft position sensor installation site, change the phase between the position and U phase back-emfs on the lower jump edge of θ
Parallactic angle β；After change, current phase angle β is obtained again, until the comparison result of phase angle β is met the requirements；After meeting the requirements,
Pass through the relative position of interior shaft position sensor and tested motor coil at this time, and outer shaft position sensor and tested motor magnetic
The relative position of steel obtains the best commutation position of tested motor.Wherein, the reference phase of setting is multiple according to engineering experience
Experiment obtains.
In conclusion the above is merely preferred embodiments of the present invention, being not intended to limit the scope of the present invention.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in the present invention's
Within protection domain.
Claims (2)
1. a kind of double-rotary brushless direct current motor commutation phase Self-regulation track method, which is characterized in that include the following steps：
(1) tooling motor identical with tested motor is used, the inside and outside shaft rotation by controlling tooling motor is dynamic to drive quilt
The inner and outer Rotator for surveying motor rotates synchronously；
(2) three phase back-emf U, V, the W that tested motor is acquired by the way of Timing Synchronization sampling, pass through position sensor
Acquisition is tested the position signal HU of the inner and outer Rotator of motor；When being respectively zero with the failing edge of inner and outer Rotator position signal HU
Carve, calculate the position signal HU of inner and outer Rotator twice the time between failing edge to get to the electric cycle T 1 of inner and outer Rotator
And T2；
(3) since second electric period of tested motor, when the failing edge with the position signal HU of inner and outer Rotator is zero
It carves, according to sampling number and sampling period Ts, calculates separately the run time t of the current inner and outer Rotator of tested motor1And t2；It is interior
The time t of rotor operation1=n1×Ts, the time t of outer rotor operation2=n2×Ts；Wherein, n1For the corresponding sampled point of internal rotor
Number；n2For the corresponding sampling number of outer rotor；
(4) electrical angle of internal rotor operation is calculatedThe electrical angle of outer rotor operation
(5) electrical angle θ of the inner and outer Rotator relative to tested motor stationary part is calculated：
(6) the electrical angle θ is shown in the form of square wave, the lower jump of square wave calculates lower jump edge and the U phases of θ along corresponding to 0 degree
Phase angle β between the zero crossing of counter electromotive force；
(7) the phase angle β that step (6) obtains is compared with the reference phase of setting, if comparison result is unsatisfactory for wanting
It asks, then adjusts the corresponding position sensor installation site of internal rotor, between the position and U phase back-emfs that change the lower jump edge of θ
Phase angle β；After change, current phase angle β is obtained again, until the comparison result of phase angle β is met the requirements；It meets the requirements
Afterwards, pass through the relative position and outer rotor corresponding position of internal rotor corresponding position sensor at this time and tested motor winding
The relative position of sensor and tested motor magnet steel obtains the best commutation position of tested motor.
2. a kind of double-rotary brushless direct current motor commutation phase Self-regulation track method as described in claim 1, feature exist
In the sample rate of the Timing Synchronization sampling is determining according to electric machine frequency and disclosure satisfy that electrical angle resolution ratio at 2~3 degree.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711386092.1A CN108306557A (en) | 2017-12-20 | 2017-12-20 | A kind of double-rotary brushless direct current motor commutation phase Self-regulation track method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711386092.1A CN108306557A (en) | 2017-12-20 | 2017-12-20 | A kind of double-rotary brushless direct current motor commutation phase Self-regulation track method |
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| CN108306557A true CN108306557A (en) | 2018-07-20 |
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| CN201711386092.1A Pending CN108306557A (en) | 2017-12-20 | 2017-12-20 | A kind of double-rotary brushless direct current motor commutation phase Self-regulation track method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI798151B (en) * | 2022-08-29 | 2023-04-01 | 茂達電子股份有限公司 | Forward and reverse rotation detector and motor driver having forward and reverse rotation detector |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103453929A (en) * | 2012-05-30 | 2013-12-18 | 圣杰机器工业股份有限公司 | Brushless direct current motor Hall sensor installation position correction method |
| CN105186944A (en) * | 2015-08-04 | 2015-12-23 | 西北工业大学 | Position detection method of inner and outer rotors of high precision biaxial counter-rotating brushless direct current motor |
-
2017
- 2017-12-20 CN CN201711386092.1A patent/CN108306557A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103453929A (en) * | 2012-05-30 | 2013-12-18 | 圣杰机器工业股份有限公司 | Brushless direct current motor Hall sensor installation position correction method |
| CN105186944A (en) * | 2015-08-04 | 2015-12-23 | 西北工业大学 | Position detection method of inner and outer rotors of high precision biaxial counter-rotating brushless direct current motor |
Non-Patent Citations (1)
| Title |
|---|
| 何苗: "双转式永磁无刷电动机的控制", 《微特电机》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI798151B (en) * | 2022-08-29 | 2023-04-01 | 茂達電子股份有限公司 | Forward and reverse rotation detector and motor driver having forward and reverse rotation detector |
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