CN110365261B - Smooth starting control method and control system for brushless direct current motor - Google Patents

Smooth starting control method and control system for brushless direct current motor Download PDF

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CN110365261B
CN110365261B CN201910612365.2A CN201910612365A CN110365261B CN 110365261 B CN110365261 B CN 110365261B CN 201910612365 A CN201910612365 A CN 201910612365A CN 110365261 B CN110365261 B CN 110365261B
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preset
time
brushless
duty ratio
commutation
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CN110365261A (en
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王浩陈
张懿
魏海峰
李震
李可礼
刘维亭
李垣江
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Ruizhan kinetic energy (Jiujiang) Co.,Ltd.
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
    • 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
    • H02P6/20—Arrangements for starting

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Abstract

The invention discloses a smooth starting control method and a smooth starting control system for a brushless direct current motor, wherein the control method comprises the following steps: acquiring the number of pole pairs of the brushless direct current motor; obtaining the rated rotating speed of the brushless direct current motor; setting the PWM duty ratio as a preset duty ratio; increasing PWM duty ratio in turn according to a preset period; and acquiring commutation time according to the PWM duty ratio, the rated rotating speed and the pole pair number. And determining real-time commutation time according to the PWM duty ratio, the rated rotating speed and the pole pair number of the brushless direct current motor, and gradually shortening the real-time commutation time to adapt to the change of the rotating speed so as to realize smooth starting of the brushless direct current motor.

Description

Smooth starting control method and control system for brushless direct current motor
Technical Field
The invention relates to the technical field of sensorless brushless direct current motors, in particular to a smooth starting control method and a smooth starting control method of a brushless direct current motor.
Background
Brushless dc motors are widely used in devices and instruments for daily life, automotive industry, aviation, consumer electronics, medical electronics, industrial automation, and the like.
In the control of the brushless direct current motor by a position-free sensor driven by square waves, the brushless direct current motor can be started only by open loop because the counter electromotive force cannot be detected during starting, and the smooth starting can be realized only by timely setting the phase change time during the open loop starting. At present, the commutation time in the known starting method of the brushless direct current motor is mostly a fixed value, and the commutation time cannot be shortened along with the increase of the rotating speed when the motor is started.
Therefore, how to scientifically and accurately adjust the phase change time in order to smoothly start the brushless dc motor is a problem to be solved in the prior art.
Disclosure of Invention
The invention aims to provide a smooth starting control method and a smooth starting control system for a brushless direct current motor, which adopt accurate real-time commutation time and solve the problems that in the starting method of the brushless direct current motor driven by square waves without position sensor control in the prior art, commutation time is mostly constant, so that the brushless direct current motor has large vibration during starting, the starting performance is difficult to meet the requirement, and even the brushless direct current motor has serious jitter and can not be started successfully.
The invention provides a smooth starting control method of a brushless direct current motor, which comprises the following steps:
step 1: acquiring the number of pole pairs of the brushless direct current motor and the rated rotating speed of the brushless direct current motor; setting the trigger period of the period timer as a preset period; setting the PWM duty ratio of the brushless direct current motor as a preset duty ratio, a first preset value and a second preset value;
step 2: setting the commutation time of the commutation timer as the preset commutation time, and starting the commutation timer and the period timer;
and step 3: judging whether the period timer triggers the timing interruption or not, if so, resetting the period timer, and increasing the PWM duty ratio by a preset increase value;
and 4, step 4: calculating real-time commutation time, and changing the timing time of the commutation timer into the real-time commutation time;
and 5: judging whether the PWM duty ratio is greater than or equal to a first preset value, if so, ending the starting, and entering a closed-loop program; and if not, returning to the step 3.
Optionally, the preset growth value is 0.5%.
Optionally, the specific calculation method of the preset commutation time in the step 2 is calculation based on a preset duty ratio, a pole pair number and a rated rotation speed of PWM; the specific calculation method of the real-time commutation time in the step 4 is a real-time PWM duty cycle, pole pair number and rated rotation speed calculation based on PWM, and the specific formula is as follows:
Figure BDA0002121581930000021
wherein, when calculating the preset commutation time, TturnFor presetting the commutation time, TDutyIs the preset duty ratio of PWM, p is the pole pair number, neIs a rated rotating speed; when calculating the real-time commutation time, TturnFor real-time commutation time, TDutyPWM duty cycle for real-time PWM, p is the pole pair number, neIs the rated rotating speed.
Optionally, when the load of the brushless dc motor is less than 40% of the rated load of the brushless dc motor, the preset duty ratio is 0% to 1%;
the first preset value is 10% -11%;
the preset period is 50 ms.
Optionally, when the load of the brushless dc motor is greater than or equal to 40% of the rated load of the brushless dc motor, the preset duty ratio is 5% to 6%;
the first preset value is 10% -11%;
the preset period is 100 ms.
Optionally, before performing step 1, positioning a rotor of the brushless dc motor in an a-axis direction by a magnetic field is further included.
The invention also provides a smooth starting control system of the brushless direct current motor, which comprises:
the pole pair number acquisition module is used for acquiring the pole pair number of the brushless direct current motor;
the rated rotating speed acquisition module is used for acquiring the rated rotating speed of the brushless direct current motor;
the preset duty ratio module is used for setting a PWM (pulse width modulation) duty ratio initial value of the rotor of the brushless direct current motor;
the PWM duty ratio increasing module is used for sequentially increasing the PWM duty ratio according to a preset period;
the commutation time calculating module is used for calculating preset commutation time according to a preset duty ratio, a rated rotating speed and a pole pair number; calculating real-time commutation time according to the PWM duty ratio, the rated rotating speed and the pole pair number;
the pole pair number acquisition module, the rated rotating speed acquisition module, the preset duty ratio module and the PWM duty ratio increasing module transmit data to the commutation time calculation module.
The invention has the beneficial effects that:
1. and determining the commutation time according to the PWM duty ratio, the rated rotating speed and the pole pair number of the brushless direct current motor, and gradually shortening the commutation time to adapt to the change of the rotating speed so as to realize the smooth starting of the brushless direct current motor.
2. Compared with the traditional control method, the control method of the invention ensures that the starting process is smooth without shaking phenomenon, and the success rate of starting to enter a closed loop program is high.
Drawings
The features and advantages of the present invention will be more clearly understood by reference to the accompanying drawings, which are illustrative and not to be construed as limiting the invention in any way, and in which:
fig. 1 shows a general flowchart of a smooth start control method of a brushless dc motor according to the present invention;
FIG. 2 shows a schematic view of the rotor positioning of the brushless DC motor of the present invention;
FIG. 3 is a flow chart illustrating a smooth start control method of the brushless DC motor under light load according to the present invention;
FIG. 4 is a flow chart illustrating a smooth start control method of the brushless DC motor under heavy load according to the present invention;
FIG. 5 is a block diagram illustrating a smooth start control system for a brushless DC motor according to the present invention;
FIG. 6 shows a flow diagram of a commutation timer interrupt of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides a smooth starting control method of a brushless direct current motor, which comprises the following steps as shown in figure 1:
step S1: acquiring the number of pole pairs of the brushless direct current motor and the rated rotating speed of the brushless direct current motor; setting the trigger period of the period timer as a preset period; setting the PWM duty ratio of the brushless direct current motor as a preset duty ratio;
step S2: setting the commutation time of the commutation timer as the preset commutation time, and starting the commutation timer and the period timer;
step S3: judging whether the period timer triggers the timing interruption or not, if so, resetting the period timer, and increasing the PWM duty ratio by a preset increase value;
step S4: calculating real-time commutation time, and changing the timing time of the commutation timer into the real-time commutation time;
step S5: judging whether the PWM duty ratio is greater than or equal to a first preset value, if so, ending the starting, and entering a closed-loop program; and if not, returning to the step 3.
In the whole starting process of the motor, real-time commutation time is calculated once when the PWM duty ratio is periodically increased, namely the real-time commutation time is changed according to the PWM duty ratio; the motor performs commutation once every other real-time commutation time; and when the PWM duty ratio is larger than or equal to a first preset value, ending the starting process of the motor and entering a closed-loop procedure.
Further, in step S3, the preset increment value is 0.5%, 0.5% is selected for smooth speed ramp during starting, and 0.5% is also convenient for the control system to perform calculation.
Further, the specific calculation method of the preset commutation time is based on the preset duty ratio, the pole pair number and the rated rotating speed, and the specific formula is as follows:
Figure BDA0002121581930000041
wherein, TturnFor presetting the commutation time, TDutyIs the preset duty ratio of PWM, p is the pole pair number, neAt rated rotational speed
The specific calculation method of the real-time commutation time is based on PWM duty ratio, pole pair number and rated rotating speed, and the specific formula is as follows:
Figure BDA0002121581930000051
wherein, TturnFor real-time commutation time, TDutyFor real-time PWM duty cycle, p is the pole pair number, neIs the rated rotating speed.
Further, when the load of the brushless direct current motor is less than 40% of the rated load of the brushless direct current motor, namely the load of the brushless direct current motor belongs to a light load state, the preset duty ratio is 0% -1%;
the first preset value is 10% -11%;
the preset period is 50 ms. When the brushless direct current motor is in a light load state, the speed climbing is fast due to small load inertia during starting, the incremental period of the PWM duty ratio is required to be short, and the preset period is set to be 50 ms.
Further, when the load of the brushless direct current motor is more than or equal to 40% of the rated load of the brushless direct current motor, namely the load of the brushless direct current motor belongs to a heavy load state, the preset duty ratio is 5% -6%;
the first preset value is 10% -11%;
the preset period is 100 ms. When the brushless direct current motor is in a heavy-load state, the speed climbing is slow due to large load inertia during starting, the incremental period of the PWM duty ratio needs to be long, and therefore the preset period is set to be 100 ms.
The first preset value is selected to be 10% -11%, because when the PWM duty ratio is 10% -11%, the brushless direct current motor can be guaranteed to have clear back electromotive force signals to enter a closed-loop program.
Further, before performing step S1, positioning the rotor of the brushless dc motor in the a-axis direction by the magnetic field is further included. The rotor position of the brushless direct current motor is fixed before starting, and the starting success rate can be improved.
The invention also provides a smooth starting control system of the brushless direct current motor, which comprises:
a pole pair number obtaining module 51, configured to obtain a pole pair number of the brushless dc motor;
a rated rotation speed obtaining module 52, configured to obtain a rated rotation speed of the brushless dc motor;
a preset duty ratio module 53, configured to set an initial value of a PWM duty ratio of the rotor of the brushless dc motor;
a PWM duty ratio increasing module 54 for sequentially increasing the PWM duty ratios according to a preset period;
the commutation time calculating module 55 is configured to calculate a preset commutation time according to a preset duty ratio, a rated rotation speed, and a pole pair number; calculating real-time commutation time according to the PWM duty ratio, the rated rotating speed and the pole pair number;
the pole pair number obtaining module 51, the rated rotating speed obtaining module 52, the preset duty ratio module 53 and the PWM duty ratio increasing module 54 transmit data to the commutation time calculating module 55.
The first embodiment is as follows:
the invention is an application process of starting the brushless direct current motor under the condition of light load.
The parameters of the brushless direct current motor are selected as follows: 4 pairs of pole pairs, 3000rpm of rated rotation speed, 24V of rated voltage, 2.3A of rated current, 30W of rated power and 0.1N.m of rated load, wherein the parameters can be directly obtained from a parameter table of the brushless DC motor. The load is the fan blade for the model airplane aircraft with the radius of 10cm, and the load is less than 40% of the rated load of the brushless direct current motor.
As shown in fig. 3, the specific process is as follows:
step A1: the a-phase winding of the brushless dc motor is supplied with current, and the rotor is positioned in the a-axis direction by the magnetic field, and the a-axis direction is adjusted to the direction shown in fig. 2.
Step A2: setting the trigger period of the period timer to a preset period of 50ms, preset duty cycle TDuty_int＝0.5％。
Step A3: setting a first preset value of 10%, and calculating a preset commutation time:
Figure BDA0002121581930000061
and setting the commutation time of the commutation timer as the preset commutation time. A commutation timer and a cycle timer are started.
Step A4: and judging whether the periodic timer triggers the timer interruption or not, if so, entering the step A5, and if not, continuing to wait for timing.
Step A5: the timing value of the period timer is cleared, and the PWM duty ratio is increased by 0.5 percent of the preset increase value.
Step A6: calculating real-time commutation time Tcur：
Figure BDA0002121581930000062
Wherein, TDutyIs a real-time PWM duty cycle. And changing the timing time of the commutation timer into real-time commutation time.
Step A7: judging whether the PWM duty ratio is greater than or equal to a first preset value by 10%, if so, ending the starting, and entering a closed-loop program; if not, return to step A4.
The execution of the commutation of the brushless dc motor is completed in the interruption of the commutation timer: as shown in fig. 6, when the timing of the commutation timer reaches a set value, an interrupt is triggered; after the interruption, firstly clearing the interruption flag bit, executing the brushless DC motor phase change, clearing the timing value of the phase change timer, and finally exiting the interruption.
Table 1 is a table of PWM duty ratio and commutation time for each counting period of the period timer.
Figure BDA0002121581930000071
TABLE 1
As shown in table 2, the method of the present invention was used to start the brushless dc motor with 50 light loads, wherein 50 successful starts were performed; 0 times of failure, the success rate reaches 100 percent. The brushless direct current motor is started by a transmission method for 50 times of light load, wherein 43 times of light load are successful; the success rate reaches 86 percent after 7 times of failures. And in the starting process, the brushless direct current motor shakes seriously, and the starting failure is determined when the brushless direct current motor cannot enter a closed-loop program.
Control method The control method of the invention Conventional control method
Number of successes 50 43
Number of failures 0 7
Success rate 100％ 86％
TABLE 2
Example two:
the application process of the invention is started under the condition of heavy load of the brushless DC motor
In the embodiment, the parameters of the brushless dc motor are: the number of pole pairs is 2, the rated rotation speed is 3000rpm, the rated voltage is 24V, the rated current is 8.7A, the rated power is 150W, and the rated load is 0.8 N.m; the load is the industrial fan blade with the radius of 60cm, and the load is more than 40% of the rated load of the brushless direct current motor.
As shown in fig. 4, the specific process is as follows:
step B1: the a-phase winding of the brushless dc motor is supplied with current, and the rotor is positioned in the a-axis direction by the magnetic field, and the a-axis direction is adjusted to the direction shown in fig. 2.
Step B2: setting the trigger period of the period timer to be a preset period of 50ms and a preset duty ratio TDuty_int＝5％。
Step B3: setting a first preset value of 10%, and calculating a preset commutation time:
Figure BDA0002121581930000081
and setting the commutation time of the commutation timer as the preset commutation time. A commutation timer and a cycle timer are started.
Step B4: and judging whether the periodic timer triggers the timer interruption or not, if so, entering the step B5, and if not, continuing to wait for timing.
Step B5: the timing value of the period timer is cleared, and the PWM duty ratio is increased by 0.5 percent of the preset increase value.
Step B6: calculating real-time commutation time Tcur：
Figure BDA0002121581930000091
Wherein, TDutyIs a real-time PWM duty cycle. And changing the timing time of the commutation timer into real-time commutation time.
Step B7: judging whether the PWM duty ratio is greater than or equal to a first preset value by 10%, if so, ending the starting, and entering a closed-loop program; if not, return to step B4.
The execution of the commutation of the brushless dc motor is completed in the interruption of the commutation timer: as shown in fig. 6, when the timing of the commutation timer reaches a set value, an interrupt is triggered; after the interruption, firstly clearing the interruption flag bit, executing the brushless DC motor phase change, clearing the timing value of the phase change timer, and finally exiting the interruption.
For example, table 3 is a table of PWM duty ratio and commutation time for each counting period of the period timer.
Figure BDA0002121581930000092
TABLE 3
As shown in table 4, the method of the present invention was used to perform 50 heavy load starts on the brushless dc motor, wherein 50 of the 50 successful starts were performed; 0 times of failure, the success rate reaches 100 percent. The brushless direct current motor is subjected to 50 times of heavy load starting by adopting a transmission method, wherein 41 times of heavy load starting are successful; the success rate reaches 82 percent after 9 failures. And in the starting process, the brushless direct current motor shakes seriously, and the starting failure is determined when the brushless direct current motor cannot enter a closed-loop program.
Control method Control method of the embodiment Conventional control method
Number of successes 50 41
Number of failures 0 9
Success rate 100％ 82％
TABLE 4
Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.

Claims (4)

1. A smooth starting control method for a brushless direct current motor comprises the following steps:
step 1: acquiring the number of pole pairs of the brushless direct current motor and the rated rotating speed of the brushless direct current motor; setting the trigger period of the period timer as a preset period; setting the PWM duty ratio of the brushless direct current motor as a preset duty ratio, a first preset value and a preset increasing value;
step 2: setting the commutation time of the commutation timer as the preset commutation time, and starting the commutation timer and the period timer;
and step 3: judging whether the period timer triggers the timing interruption or not, if so, resetting the period timer, and increasing the PWM duty ratio by a preset increase value;
and 4, step 4: calculating real-time commutation time, and changing the timing time of the commutation timer into the real-time commutation time;
and 5: judging whether the PWM duty ratio is greater than or equal to a first preset value, if so, ending the starting, and entering a closed-loop program; if not, returning to the step 3;
the method is characterized in that the specific calculation method of the preset commutation time in the step 2 is based on the preset duty ratio, the pole pair number and the rated rotating speed; the specific calculation method of the real-time commutation time in the step 4 is based on real-time PWM duty cycle, pole pair number and rated rotation speed, and the specific formula is as follows:
Figure FDA0002850967590000011
wherein, when calculating the preset commutation time, TturnFor presetting the commutation time, TDutyIs the preset duty ratio of PWM, p is the pole pair number, neIs a rated rotating speed; when calculating the real-time commutation time, TturnFor real-time commutation time, TDutyFor real-time PWM duty cycle, p is the pole pair number, neIs the rated rotating speed.
2. The method for controlling smooth start of a brushless dc motor according to claim 1, wherein the predetermined increase value in step 3 is 0.5%.
3. The smooth start control method of the brushless DC motor according to claim 1, wherein when the load of the brushless DC motor is less than 40% of the rated load of the brushless DC motor,
the preset duty ratio is 0% -1%;
the first preset value is 10% -11%;
the preset period is 50 ms;
when the load of the brushless DC motor is more than or equal to 40% of the rated load of the brushless DC motor,
the preset duty ratio is 5% -6%;
the first preset value is 10% -11%;
the preset period is 100 ms.
4. The smooth start control method of the brushless dc motor according to claim 1, further comprising positioning a rotor of the brushless dc motor in an a-axis direction by a magnetic field before performing the step 1.
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