CN113452289A - Method for inhibiting torque ripple of brushless direct current motor - Google Patents
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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
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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
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Abstract
The invention relates to a method for suppressing torque ripple of a brushless direct current motor, which comprises the following steps: step 1: establishing a mathematical model of the three-phase permanent magnet brushless direct current motor; step 2: establishing a torque ripple inhibition model on the basis of the mathematical model in the step 1; and step 3: and a brushless direct current motor model is perfected, and the suppression of the torque pulsation of the brushless direct current motor is realized. Compared with the prior art, the invention has the advantages of good inhibition effect, low cost and the like.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a method for inhibiting torque pulsation of a brushless direct current motor.
Background
The brushless direct current motor has the advantages of good controllability, high efficiency, wide speed regulation range, convenience in maintenance and the like. The traditional brushless direct current motor utilizes the traditional Hall sensor, but the Hall sensor has the problems of overlarge installation volume, increased cost, phase change delay and even failure under the bad working condition. Therefore, the research of the position-free sensor is necessary, the phase change of the position-free sensor is accurate and reliable, the most direct method is to restrain the torque pulsation in the operation process of the motor, and therefore, in order to solve the situation, the research in the aspect is always a hot problem in recent years.
In a conventional modulation mode, unavoidable non-conducting phase follow currents are also a large factor causing torque ripple, and how to solve the main problems is the key to smooth operation of a position-sensorless device. At present, the conventional PWM modulation methods based on the current control method include the following methods: PWM _ ON type, ON _ PWM type, H _ PWM _ L _ ON type, and H _ ON _ L _ PWM type. Both full-bridge modulation and half-bridge modulation have respective problems, the loss is large due to the large number of times of full-bridge switching, and negative torque is generated by a half-bridge non-conducting phase. However, in the conventional modulation method, the generation of non-conducting phase follow current cannot be avoided, so that the change rate of the on-phase current and the off-phase current is inconsistent, the problem of large torque ripple of the motor is caused, and the current control method also needs the stability of current. Moreover, research finds that when the bus voltage value of the brushless direct current motor is also closely related to torque ripple when the motor runs, a topological-method-based Buck circuit and the like are commonly used at present, but the Buck circuit is also deficient.
Disclosure of Invention
The present invention aims to overcome the defects of the prior art and provide a method for suppressing torque ripple of a brushless dc motor, which has a good suppression effect and is low in cost.
The purpose of the invention can be realized by the following technical scheme:
a method for suppressing torque ripple of a brushless DC motor, the method comprising:
step 1: establishing a mathematical model of the three-phase permanent magnet brushless direct current motor;
step 2: establishing a torque ripple inhibition model on the basis of the mathematical model in the step 1;
and step 3: and a brushless direct current motor model is perfected, and the suppression of the torque pulsation of the brushless direct current motor is realized.
Preferably, the step 1 specifically comprises:
a mathematical model of a three-phase permanent magnet brushless direct current motor which is connected with two conductors in a star shape in a three-phase static coordinate system is established by adopting a position-free sensor.
More preferably, in the mathematical model of the three-phase permanent magnet brushless direct current motor, the three-phase inverter main loop adopts six N-channel IGBTs, the microcontroller outputs PWM waves, a 120-degree conduction mode is operated, two-phase windings in each state pass current, and the other phase is not conducted.
More preferably, the mathematical model of the three-phase permanent magnet brushless dc motor is specifically:
the three-phase terminal voltage of the motor is as follows:
wherein, UdIs a dc bus voltage; u shapea、UbAnd UcIs terminal voltage; e.g. of the typea、ebAnd ecRespectively, back electromotive force on the three-phase winding; i.e. ia、ibAnd icA, B, C three-phase currents respectively; l is a phase inductance; r is phase resistance;
in a brushless dc motor, the formula for the electromagnetic torque is:
wherein T is electromagnetic torque; ω is the mechanical angular velocity of the motor.
More preferably, the step 2 specifically includes: setting a modulation mode of a microcontroller; the modulation mode of the microcontroller is as follows: PWM _ ON _ PWM modulation.
More preferably, the step 2 further comprises:
step 2-2: and a Cuk converter for adjusting the voltage of the direct current bus is arranged in cooperation with the modulation of the microcontroller, and the Cuk converter is connected with the inverter.
More preferably, the Cuk converter comprises an energy storage inductor L1And L2And a coupling capacitor C1Filter capacitor C2A switching tube VT and a fly-wheel diode VD; the energy storage inductor L1And a coupling capacitor C1And an energy storage inductor L2Are connected in series; the collector of the switch tube VT is connected with an energy storage inductor L1And a coupling capacitor C1The emitter is grounded; the anode of the fly-wheel diode VD is connected with a coupling capacitor C1And a filter capacitor C2The negative electrode of the joint is grounded; the filter capacitor C2Positive electrode and energy storage inductor L2The output ends of the two are connected, and the negative electrode of the two is grounded.
More preferably, the method for adjusting the dc bus voltage by the Cuk converter includes:
after the switching tube VT is turned on, the energy storage inductor L1The medium current rises; when VT is turned off, the coupling capacitor C1Is charged; after VT is turned on again, the coupling capacitor C1To filter capacitor C2And an energy storage inductor L2Discharge is performed so that the filter capacitor C2The DC bus voltage can be adjusted by being controlled by the switching tube VT, and the adjusting formula is as follows:
where E is the power supply electromotive force before regulation, UdAnd D is the calculated duty ratio.
Preferably, the step 3 specifically comprises: and carrying out feedback control on the rotating speed of the motor.
More preferably, the feedback control specifically includes: and carrying out PI closed-loop control by using the rotating speed output by the motor and the initial given speed.
Compared with the prior art, the invention has the following beneficial effects:
firstly, the inhibition effect is good: aiming at the problem of inconsistent phase current change rates of ON-phase and off-phase caused by non-conducting phase afterflow, the method for inhibiting the torque ripple of the direct current motor adopts a means of combining a current control method and a topological structure method, so that the Cuk converter can enable the output voltage to be more stable and reliable, the method for obtaining the PWM _ ON _ PWM modulation mode has higher efficiency, and the Cuk converter can inhibit the torque ripple by performing voltage boosting and reducing operation ON the bus voltage, thereby greatly improving the effect of inhibiting the torque ripple of the direct current motor.
Secondly, the cost is low: according to the method for inhibiting the torque ripple of the direct current motor, the microcontroller is only needed to perform PWM _ ON _ PWM modulation, the Cuk converter is added, the torque ripple of the direct current motor can be effectively inhibited, and the implementation cost is low.
Drawings
FIG. 1 illustrates a brushless DC motor model according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of PWM _ ON _ PWM modulation according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a freewheeling condition when VD1 is turned off and VD2 is turned on during AC → BC commutation according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating waveforms of three-phase currents during AC → BC commutation period when non-conducting free-wheeling exists in the embodiment of the present invention;
FIG. 5 is a schematic diagram of a topology model of a Cuk converter inverter according to an embodiment of the present invention;
FIG. 6 shows U in the embodiment of the present inventiondAnd 4EmA three-phase current waveform schematic diagram during phase change when different relations are satisfied;
wherein, FIG. 6(a) is Ud＞4EmA three-phase current waveform schematic diagram during time phase change;
FIG. 6(b) shows Ud＝4EmA three-phase current waveform schematic diagram during time phase change;
FIG. 6(c) shows Ud＜4EmA three-phase current waveform schematic diagram during time phase change;
fig. 7 is a schematic diagram of the motor speed PI feedback control in the embodiment of the present invention.
Detailed Description
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, not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, shall fall within the scope of protection of the present invention.
A torque ripple suppression method of a brushless direct current motor comprises the following steps:
step 1: a mathematical model of a three-phase permanent magnet brushless direct current motor which is connected with two switches in a star-shaped manner in a three-phase static coordinate system is established by adopting a position-free sensor without depending on a Hall sensor;
in a basic model of the brushless direct current motor, a three-phase inverter main loop adopts six N-channel IGBTs, and a microcontroller outputs PWM waves. And the device operates in a 120-degree conduction mode, two phases of windings in each state pass current, and the other phase is not conducted. Some assumptions and simplifications will be made in this motor model. The three phases of the motor are assumed to be symmetrical; ignoring stator winding armature reaction and disregarding cogging; the air gap magnetic conductance of the motor is uniform, the magnetic circuit is unsaturated, and factors such as eddy current loss are not counted;
the three-phase terminal voltage of the motor is as follows:
wherein, UdIs a dc bus voltage; u shapea、UbAnd UcIs terminal voltage; e.g. of the typea、ebAnd ecRespectively, back electromotive force on the three-phase winding; i.e. ia、ibAnd icA, B, C three-phase currents respectively; l is phase inductance, and R is phase resistance;
in a brushless dc motor, the formula for the electromagnetic torque is:
wherein T is electromagnetic torque; ω is the mechanical angular velocity of the motor.
Step 2: ON the basis of the basic model, a torque ripple suppression model of a system is established, a PWM _ ON _ PWM modulation mode is applied to the motor, and a Cuk converter is applied in front of an inverter, namely, the problem that the phase current change rates of an ON phase and an off phase are inconsistent is solved, and a PWM _ ON _ PWM modulation schematic diagram is shown in FIG. 2.
For the condition that the non-conducting phase can generate follow current during the phase change of the motor (taking the phases A and B as the conducting phase as an example), the generation of follow current can be effectively inhibited by PWM _ ON _ PWM modulation in combination with theoretical knowledge; compared with other traditional modulation modes, the PWM _ ON _ PWM modulation mode has obvious advantages in controlling non-conduction phase free-wheeling.
The following is an analysis of the freewheeling condition of the non-conducting phase when the motor is running. First define MXFor level state quantities of the terminal voltage concerned, MXThe value representing terminal voltage as a dc bus voltage, MXThe value representing terminal voltage is zero at 0.
The motor phase voltages may be expressed as:
taking phase C as an example of the non-conductive phase, two phases a and B are substituted into the above equation, and the two equations are added. Since the two phases A and B are conductive phases, there is ia＝-ib，ea＝-eb，ua＝ub＝UdSo the following equation can be obtained:
further, for the brushless dc motor, the following equation holds:
in the PWM _ ON _ PWM modulation scheme, the C phase is a non-conducting phase as an example, and four non-conducting phases are analyzed to prove the specific free-wheeling condition analyzed according to the above equation when the C phase is in the non-conducting phase.
When the phase is in the interval of pi/3-pi/2, the lower bridge T4 of phase A is constantly switched on, and the upper bridge T3 of phase B is PWM modulated, namely PA＝0，PB1 or PB＝0。
When the phase is in the interval of 7 pi/6-4 pi/3, the phase A upper bridge T1 is PWM modulated, the phase B lower bridge T6 is constant, namely PA1 or PB＝0，PB＝0。
The above two states are according to the formula u n0 or un＝Ud2, since 0 < ec＜Ud/2, according to the formula 0 < uc＜UdAnd VD2 and VD5 are not conductive, so that the C phase does not generate non-conductive phase follow current.
When the phase is in the interval of 4 pi/3-3 pi/2, the phase A upper bridge T1 is constantly switched on, and the phase B lower bridge T6 is PWM-modulated, i.e. PA＝1，PB1 or PB＝0。
When the phase is in the interval of pi/6-pi/3, the lower bridge T4 of phase A is PWM modulated, and the upper bridge T3 of phase B is constant-current, i.e. PA＝1，P A0 or PB＝1。
The above two states are represented by the formula un-Ud/2 or un-Ud, because ec < 0, and 0 < uc < Ud is obtained according to the formula, VD2 and VD5 are not conductive, and thus no non-conductive phase current flows are generated in the C phase.
When the a phase and the B phase are the non-conductive phase, the determination can be made according to the above-described procedure, that is, the non-conductive phase follow current is not generated during the non-conductive period in the PWM _ ON _ PWM modulation method, and therefore the torque ripple phenomenon due to the non-conductive phase follow current is not generated.
The above analysis shows that the working principle of PWM _ ON _ PWM is: and under the condition that the non-conducting opposite potential is larger than zero, the upper bridge arm is subjected to PWM modulation, and the lower bridge arm is constantly conducted, so that the terminal voltage of the non-conducting phase cannot exceed the voltage of the direct-current bus. And under the condition that the non-conducting opposite potential is less than zero, the upper bridge arm is in constant conduction, and the lower bridge arm is subjected to PWM modulation, so that the terminal voltage of the non-conducting phase is not lower than zero voltage, and the phenomenon of non-conducting phase follow current is avoided. The rate of current flow for normal commutation is also unaffected during commutation.
In a brushless dc motor that is switched on two by two, one commutation period of the motor is AC → BC → BA → CA → CB → AB. As shown in fig. 3, the effect of suppressing torque ripple by suppressing the non-conducting phase flow will be described in detail by taking AC → BC as an example. In the process of AC → BC, VD1 and VD2 are conducted when the AC phase is conducted, and VD2 is kept conducted and VD1 is turned off when the phase is changed. A non-conducting phase follow current of the B phase is generated, and in the AC → BC phase change process, VD1 is turned off, VD3 is turned on, and VD2 is kept on, as shown in fig. 4, a turn-on current in the same direction as the non-conducting phase B current is generated, so the rising current rate of the B phase is faster than the falling current rate of the a phase, and torque ripple is caused.
Once the problem of non-conducting phase follow current is solved, the problem of inconsistent change rates of the phase current of the on phase and the phase current of the off phase during phase change can be well improved under ideal conditions.
The design scheme for suppressing the torque ripple in step 2 further includes adding a Cuk converter in front of the inverter, as shown in fig. 5, the Cuk converter can be regarded as a series connection of a Boost converter and a Buck converter, and a switching tube is combined. In this structure, C1 is a coupling capacitor, C2 is a filter capacitor, wherein L1 and L2 are used as energy storage inductors, VT is a switching tube, and VD is a freewheeling diode. The Cuk converter functions to provide a high or low voltage to the input, with the added benefit that both the input and output currents are non-pulsating and continuous.
As shown in fig. 6, it was found through experiments that when the dc bus voltage is 4 times the peak value of the opposite potential, the rate of change of the on-phase current and the off-phase current is substantially the same, thereby eliminating the torque ripple. When the brushless dc motor bus voltage is less than 4 times the back emf, the non-commutation current is affected less because sufficient power cannot be provided, so that the torque will decrease during commutation, and vice versa. Therefore, in order to change the voltage of the direct current bus, a topological method can be used, so that an ideal voltage can be obtained, and a continuous and non-pulsating ground current can be obtained, so that the PWM _ ON _ PWM modulation mode is implemented more smoothly, and a Cuk converter can be added in front of an inverter of the brushless direct current motor to adjust and obtain a proper voltage value. After VT turns on, current rises in the L1 inductor; when VT is off, C1 will be charged; after VT is turned on again, the capacitor C1 discharges C2 and L2, so that C2 can be controlled by the switching tube VT, and the dc bus voltage can be adjusted. The regulation formula is as follows:
Where E is the power supply electromotive force before regulation, UdAnd D is the calculated duty ratio.
The reason why the current is stabilized is that the L2 inductor freewheels the capacitor C2 and the VD diode when the switching transistor VT is turned off again. The Cuk converter has inductance at the input end and the output end, so that the Cuk converter has a filtering effect, the current fluctuation is not large, and the obtained output current has certain stability.
And step 3: and the whole brushless direct current motor model is perfected, and feedback PI control is performed on the motor rotating speed output by the motor and the starting given rotating speed.
As shown in fig. 7, in the motor rotational speed PI feedback control, a closed loop control is performed using the initial set speed and the rotational speed of the motor output. The proportional control algorithm and the integral control algorithm are carried out on the motor speed, and are used for reducing deviation and eliminating static difference for the motor rotating speed, so that the purpose that the controlled quantity is equal to the given quantity is achieved. The whole motor is more stable in operation, and the effect of inhibiting torque pulsation is well reflected.
In order to enable the phase current change rates of the ON-phase and the off-phase to be consistent, the working principle of the PWM _ ON _ PWM modulation method is utilized, so that the upper bridge arm is PWM-modulated and the lower bridge arm is constant-current under the condition that the non-conducting opposite potential is larger than zero, and the end voltage of the non-conducting phase cannot exceed the direct-current bus voltage. Under the condition that the non-conducting opposite potential is less than zero, the upper bridge arm is in constant conduction, the lower bridge arm is subjected to PWM modulation, so that the terminal voltage of a non-conducting phase is not lower than zero voltage, the phenomenon of non-conducting phase follow current is avoided, and the current dropping rate and the current rising rate are kept consistent during phase change. The traditional PWM modulation mode of the optimal modulation mode has great advantages; the Cuk converter can effectively adjust the voltage of the direct-current bus, has a wider application range compared with a traditional Buck circuit, and is wider in function and more stable in performance. The PWM mode has certain requirements on the stability of the used current, the Cuk converter can just make up the requirements and has a torque inhibition effect, and therefore the combination of the current control method and the topological structure method has a better torque ripple inhibition effect.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A method for suppressing torque ripple of a brushless DC motor is characterized by comprising the following steps:
step 1: establishing a mathematical model of the three-phase permanent magnet brushless direct current motor;
step 2: establishing a torque ripple inhibition model on the basis of the mathematical model in the step 1;
and step 3: and a brushless direct current motor model is perfected, and the suppression of the torque pulsation of the brushless direct current motor is realized.
2. The method for suppressing the torque ripple of the brushless dc motor according to claim 1, wherein the step 1 is specifically as follows:
a mathematical model of a three-phase permanent magnet brushless direct current motor which is connected with two conductors in a star shape in a three-phase static coordinate system is established by adopting a position-free sensor.
3. The method according to claim 2, wherein six N-channel IGBTs are used in the main loop of the three-phase inverter in the mathematical model of the three-phase permanent magnet brushless dc motor, the microcontroller outputs PWM waves, and the three-phase inverter operates in a 120 ° conduction mode, in which each state has two phases of windings passing current and the other phase not conducting.
4. The method for suppressing the torque ripple of the brushless dc motor according to claim 2, wherein the mathematical model of the three-phase permanent magnet brushless dc motor is specifically:
the three-phase terminal voltage of the motor is as follows:
wherein, UdIs a dc bus voltage; u shapea、UbAnd UcIs terminal voltage; e.g. of the typea、ebAnd ecRespectively, back electromotive force on the three-phase winding; i.e. ia、ibAnd icA, B, C three-phase currents respectively; l is a phase inductance; r isA phase resistance;
in a brushless dc motor, the formula for the electromagnetic torque is:
wherein T is electromagnetic torque; ω is the mechanical angular velocity of the motor.
5. The method for suppressing the torque ripple of the brushless dc motor according to claim 4, wherein the step 2 is specifically as follows: setting a modulation mode of a microcontroller, wherein the modulation mode of the microcontroller is as follows: PWM _ ON _ PWM modulation.
6. The method for suppressing torque ripple of a brushless dc motor according to claim 4, wherein the step 2 further comprises:
step 2-2: and a Cuk converter for adjusting the voltage of the direct current bus is arranged in cooperation with the modulation of the microcontroller, and the Cuk converter is connected with the inverter.
7. The method as claimed in claim 6, wherein the Cuk converter comprises an energy storage inductor L1And L2And a coupling capacitor C1Filter capacitor C2A switching tube VT and a fly-wheel diode VD; the energy storage inductor L1And a coupling capacitor C1And an energy storage inductor L2Are connected in series; the collector of the switch tube VT is connected with an energy storage inductor L1And a coupling capacitor C1The emitter is grounded; the anode of the fly-wheel diode VD is connected with a coupling capacitor C1And a filter capacitor C2The negative electrode of the joint is grounded; the filter capacitor C2Positive electrode and energy storage inductor L2The output ends of the two are connected, and the negative electrode of the two is grounded.
8. The method for suppressing the torque ripple of the brushless dc motor according to claim 7, wherein the method for the Cuk converter to regulate the dc bus voltage comprises:
after the switching tube VT is turned on, the energy storage inductor L1The medium current rises; when VT is turned off, the coupling capacitor C1Is charged; after VT is turned on again, the coupling capacitor C1To filter capacitor C2And an energy storage inductor L2Discharge is performed so that the filter capacitor C2The DC bus voltage can be adjusted by being controlled by the switching tube VT, and the adjusting formula is as follows:
where E is the power supply electromotive force before regulation, UdAnd D is the calculated duty ratio.
9. The method for suppressing the torque ripple of the brushless dc motor according to claim 1, wherein the step 3 is specifically: and carrying out feedback control on the rotating speed of the motor.
10. The method for suppressing torque ripple of a brushless dc motor according to claim 9, wherein the feedback control is specifically: and carrying out PI closed-loop control by using the rotating speed output by the motor and the initial given speed.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117155180A (en) * | 2023-09-07 | 2023-12-01 | 北京易动空间科技有限公司 | Torque pulsation suppression method for brushless direct current motor |
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| CN103427730A (en) * | 2012-06-19 | 2013-12-04 | 上海理工大学 | Permanent magnet brushless direct current motor torque ripple suppression system and method |
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