CN209419518U - A kind of novel brushless direct current motor sensorless control system - Google Patents
A kind of novel brushless direct current motor sensorless control system Download PDFInfo
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- CN209419518U CN209419518U CN201821750665.4U CN201821750665U CN209419518U CN 209419518 U CN209419518 U CN 209419518U CN 201821750665 U CN201821750665 U CN 201821750665U CN 209419518 U CN209419518 U CN 209419518U
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Abstract
The utility model provides a kind of novel brushless direct current motor sensorless control system, and hardware includes main control chip, circuit board, touch display screen；There are inversion road and sample circuit on circuit board, inversion road connects power supply and motor in main circuit；Sample circuit connects motor input and main control chip；Touch display screen has two kinds of functions of instruction input and display, connect with main control chip；Sample circuit includes motor terminal voltage continuous sampling circuit and sampled value processing circuit, and the voltage value of voltage continuous sampling circuit will be held to be converted to digital signal, pass to main control chip；After PWM generation module in main control chip obtains the information of control commutation module and current regulating module, control electric current is passed to the inverter circuit of main circuit, realizes the control of motor；The commutation when the difference at end voltage adjacent two moment of non-conduction phase is in particular range, when starting, artificially give an on state, obtain next commutation moment in the same way, realize motor quick start.
Description
Technical field
The present invention relates to a kind of control systems, control more particularly to a kind of novel brushless direct current motor sensorless
System.
Background technique
There are two main classes for the control mode of brshless DC motor, position sensor control mode and position-sensor-free control
Mode processed.Position Sensorless Control mode be at present be relatively widely used and more it is novel one kind control mode, include
Counter electromotive force control method, flux linkage calculation method, state observer method and artificial neural-network control method etc..Traditional counter electromotive force
There is a problem of in control methods it is many, such as the detection of back electromotive force zero-crossing it is inaccurate, it is diode continuousing flow it is inevitable, need
The overlong time etc. of artificial 30 degree of electrical angle commutations of delay and three-stage starting.These problems can all give brushless direct-current
Tremendous influence is brought on the control performance of motor, while also increasing staff to the work disposal amount of software and hardware.
The back emf waveform of brshless DC motor is rendered as trapezoidal wave, and holds voltage on the basis of back emf waveform
It is superimposed a PWM(pulse width modulation) signal, therefore we are it is observed that in non-conduction phase terminal voltage at the time of close to commutation
The difference at the adjacent midpoint PWM in front and back is constantly reducing, finally the adjacent midpoint the PWM difference in front and back in non-conduction phase terminal voltage
Motor has carried out commutation in the range of very little.Since counter electromotive force is not ideal flat-topped wave, stator tooth slot air gap it is uneven and
The reasons such as fluctuation occur for electric current during commutation, can all cause the aggravation of torque pulsation.
In addition, traditional three-stage starting can just be switched to the journey of position-sensorless control after needing motor to reach certain revolving speed
In sequence, such Starting mode certainly will have a greatly reduced quality in the rapidity of electric motor starting, so also needing in the starting control of motor
Do corresponding innovation.
The innovation of brushless direct current motor sensorless key control technology can solve installation site sensor to being
Regiment commander carrys out complex process, the problems such as is limited by work running environment, while system reliability and anti-interference can be improved
Can, there is highly important theoretical significance and practical application value.As the development of each field science and technology and environment are dirty
The emergence of the problems such as dye, in recent years all over the world government, it is realized that greatly developing New energy electric vehicle is to solve increasingly
One of serious petroleum resources shortage and the effective way of environmental problem, electric vehicle is with its compact volume and convenience, the spy of energy-saving and environmental protection
Point, is rapidly developed.The control technology of brshless DC motor in electric vehicle is the core technology of electric vehicle, so this new
The design of type brushless direct current motor sensorless control system, for solving petroleum resources shortage and problem of environmental pollution,
With long-range strategic importance.
Summary of the invention
Therefore, the present invention provides to overcome traditional counter electromotive force control method and three-stage to start the defect of method
A kind of novel brushless direct current motor sensorless control system realizes directly changing for brushless DC motor without position sensor
Phase and quick start.
The technical scheme adopted by the invention is that: a kind of novel brushless direct current motor sensorless control system,
Be characterized in that: hardware includes main control chip, circuit board, touch display screen.
The main control chip dress is on circuit boards.
The circuit board is pcb board (printed circuit board), is printed with switching circuit and sample circuit on circuit board, described
Switching circuit is serially connected in the main circuit that power supply is connected with motor；The sample circuit connection motor input and main control chip.
The touch display screen has two kinds of functions of instruction input and display, connect with main control chip.
In the main circuit that power supply is connected to motor, after DC power anode concatenates fuse and switch, it is connect with switching tube；
The cathode of DC power supply is directly connect with switching tube；Between switch and switching tube, the cathode for drawing capacitor and power supply is connected.
It include motor terminal voltage continuous sampling circuit and sampled value processing circuit, sampled value processing electricity in the sample circuit
Road will hold the voltage value of voltage continuous sampling circuit to be converted to digital signal, pass to main control chip.
In signal conditioning module and current sampling module acquisition main circuit in the main control chip after current information, transmitting
To current regulating module；Turn count module in the main control chip is passed to by the tachometer value that control commutation module obtains
Speed adjustment module；After speed adjustment module in the main control chip obtains given speed and the numerical value of turn count module,
Pass to current regulating module；PWM generation module in the main control chip obtains control commutation module and current regulating module
Information after, electric current will be controlled and pass to the switching circuit of main circuit, realize the control of motor.
Further, the control mode of the control commutation module of the main control chip are as follows: into the update of timer 1
It is disconnected, it assigns the terminal voltage value that sampling obtains to UA, UB, UC respectively, then does the difference at end voltage adjacent two moment, when end voltage
When the difference at adjacent two moment is in particular range, commutation simultaneously records mark A；When the difference at end voltage adjacent two moment does not exist
When in particular range, not commutation；Result judgement backed off after random interrupts.
The control system uses novel electric motor starting method: passing through artificial given conducting phase and Status Flag
Position A, and detect the end voltage of non-conduction phase；Although the counter electromotive force very little of non-conduction phase at this time, the end electricity of non-conduction phase
When pressure difference is still met near commutation point, the difference very little of the end voltage at moment and certain before and after non-conduction phase
In range, so that rapidly establishing commutation point realizes the quick start of motor.
The principle of the present invention are as follows: at the time of motor commutation, the front and back difference of non-conduction phase terminal voltage will become very little.
The commutation moment, non-conduction phase terminal voltage was within the scope of some, and the difference at moment also will before and after the end voltage of non-conduction phase
Can be within the scope of some, when the difference of non-conduction phase terminal voltage and end voltage meets above-mentioned condition, motor is being carried out
Commutation.So the direct commutation of realization motor the case where continuous test side voltage analysis end voltage can be passed through.
A kind of novel brushless direct current motor sensorless control system of the present invention has the advantages that
(1) detection of end voltage is chosen to realize that the direct commutation of motor does not use back EMF zero-crossing point detection delay
30 ° of angle commutations can successfully avoid influence of the diode continuousing flow to motor commutation, and its peripheral circuit also saves capacitance-resistance filter
Wave, realize the simplification of control circuit with it is easy to operate；
(2) the end voltage of non-conduction phase directly reflects its counter electromotive force and neutral point voltage, by detecting non-conduction phase end
Voltage can also avoid the problem that detecting the switching noise interference of brshless DC motor；
(3) (40us) can be interrupted in the update of a timer by this new Starting mode and just sets up commutation
Point, the quick start of the motor of realization.
So this novel brushless direct current motor sensorless control system, overcomes traditional counter electromotive force control
The defect of method and three-stage starting method, realizes the direct commutation and quick start of brushless DC motor without position sensor,
With highly important theoretical significance and practical application value.
Other features and advantages of the present invention will illustrate in the following description, or pass through the implementation present invention
Solution.
Detailed description of the invention
Attached drawing is only used for showing the purpose of specific embodiment, and is not to be construed as limiting the invention, in entire attached drawing
In, identical reference symbol indicates identical component.
Fig. 1 is the connection schematic diagram of hardware components of the invention.
Fig. 2 is the control system without position sensor functional block diagram of brshless DC motor of the present invention.
Fig. 3 is the end voltage sampling circuit figure of the control system without position sensor of brshless DC motor in the present embodiment.
Fig. 4 is the commutation control flow chart of the control system without position sensor of brshless DC motor of the present invention.
Fig. 5 is the starting control flow chart of the control system without position sensor of brshless DC motor of the present invention.
Fig. 6 is the control flow chart of the control system without position sensor of brshless DC motor in the present embodiment.
Fig. 7 is the electric motor starting speed responsive waveform diagram under traditional back electromotive force zero-crossing method.
Fig. 8 is the speed responsive waveform diagram of the method for controlling position-less sensor of the present embodiment.
Fig. 9 B phase terminal voltage actual waveform.
Figure 10 three phase terminals voltage analysis figure.
Figure 11 commutation comparison diagram.
Marked in the figure: BLDC- brshless DC motor, DA- digital-to-analogue conversion, the modulation of PWM- pulse width, CPU- main control chip,
BtoC- mono- is conducted state, ea, eb, ec- counter electromotive force, ia, ib, ic- electric current, commutation point of the P1- with Hall sensor, P2-
The commutation point of new method in the present invention.
Specific embodiment
Below with reference to drawings and examples novel brushless direct current motor sensorless control system a kind of to the present invention
System is described in further detail, control object be a voltage rating of Jie Meikang company be 24V, rated power 50W, volume
Determining revolving speed is 3000 revs/min, and number of pole-pairs is 4 extremely right, brshless DC motors.
Hardware includes main control chip, circuit board, touch display screen.
In the present embodiment, the main control chip use group, ST(STMicw Electronics) company STM32f103c8t6, be one
32 microcontroller of the money based on ARM Cortex-M kernel STM32 series, program storage capacity is 64KB, needs electricity
Press 2V ~ 3.6V, operating temperature be -40 DEG C ~ 85 DEG C, the ADC(digital-to-analogue conversion of this chip) sampling rate most fastly be 100,000 times/second；
The main control chip dress is on circuit boards.
The circuit board is pcb board (printed circuit board), is printed with switching circuit and sample circuit on circuit board, described
Switching circuit is serially connected in the main circuit that power supply is connected with motor；The sample circuit connection motor input and main control chip.
The touch display screen has two kinds of functions of instruction input and display, connect with main control chip, in the present embodiment,
Using the AK-043AE touch display screen of samkoon company.This touch display screen is based on modbus communication protocol.In program
In by oneself writing fixed modbus agreement successfully realize communication with SK-043AE, realize master control borad and touch screen
Man-machine information exchange.
In the main circuit that power supply is connected to motor, after DC power anode concatenates fuse and switch, it is connect with switching tube；
The cathode of DC power supply is directly connect with switching tube；Between switch and switching tube, the cathode for drawing capacitor and power supply is connected.
It include motor terminal voltage continuous sampling circuit and sampled value processing circuit, sampled value processing electricity in the sample circuit
Road will hold the voltage value of voltage continuous sampling circuit to be converted to digital signal, pass to main control chip.
As shown in Fig. 2, the signal conditioning module and current sampling module in the main control chip acquire electric current in main circuit
After information, current regulating module is passed to；What the turn count module in the main control chip was obtained by control commutation module
Tachometer value passes to speed adjustment module；Speed adjustment module in the main control chip obtains given speed and turn count mould
After the numerical value of block, current regulating module is passed to；PWM generation module in the main control chip obtains control commutation module and electricity
After the information for flowing adjustment module, control electric current is passed to the switching circuit of main circuit, realizes the control of motor.
Further, as shown in figure 4, the control mode of the control commutation module of the main control chip are as follows: enter timer 1
Update interrupt, assign the obtained terminal voltage value of sampling to UA, UB, UC respectively, then do the difference at end voltage adjacent two moment,
When holding the difference at voltage adjacent two moment in particular range, commutation simultaneously records mark A；When end voltage adjacent two moment
When difference is not in particular range, not commutation；Result judgement backed off after random interrupts.
Commutation control is come by the difference of non-conduction phase terminal voltage and non-conduction phase terminal voltage real by sampling end voltage
Existing commutation, by this commutation mode, the end voltage of its non-conduction phase contains one and changes in fact after a given on state
Phase information (commutation point), as long as there is first commutation point, it is exactly real fully according to above-mentioned commutation mode in commutation below
The commutation operating of existing motor.
As shown in figure 5, the control system uses novel electric motor starting method: giving a conducting phase by artificial
And state flag bit A, and detect the end voltage of non-conduction phase；Although the counter electromotive force very little of non-conduction phase at this time is non-leads
When the end voltage difference of logical phase is still met near commutation point, the difference very little of the end voltage at moment before and after non-conduction phase
And in a certain range, so that rapidly establishing commutation point realizes the quick start of motor.
At the time of motor commutation, the front and back difference of non-conduction phase terminal voltage will become very little.It is non-when commutation to lead
Logical phase terminal voltage is within the scope of some, and the difference at moment also will be in some range before and after the end voltage of non-conduction phase
Within, when the difference of non-conduction phase terminal voltage and end voltage meets above-mentioned condition, motor is carrying out commutation.So can be with
By the direct commutation for realizing motor the case where continuous test side voltage analysis end voltage.
Motor is realized in the processing that the present embodiment has done flow chart as shown in FIG. 6 to the data for the end voltage that sampling obtains
Direct commutation is conducted after state (BtoC) and state flag bit A when rigid starting by artificial given one, simultaneously
Voltage continuous sampling circuit and sampled value processing circuit is held also just in sampling end voltage, to pass through after the completion of electric motor starting and constantly adopt
Then sample end voltage does the difference of end voltage, and judge end voltage and hold the value of voltage difference and state flag bit, realizes electricity
The direct commutation of machine.
Further, what is used in main control chip internal program is PWM midpoint sample, while good by program strict control
The sampling at former and later two moment of opposite end voltage.
Further, sample frequency and the sampling period it is too fast or excessively slowly can all cause sampling come out data can not be tight
The situation of change of the reactive end voltage of lattice, sample frequency 8MHZ, sampling period are that 3us is the most suitable.
Brshless DC motor is controlled frequently with the mode be connected two-by-two, 120 ° of the conducting electrical angle of every switching tube, when per
It carves and there was only the conducting of two phase windings, just there is phase switching tube shutdown, phase switching tube conducting, another phase to open at interval of 60 ° of electrical angles
It closes pipe and keeps Heng Tong.
As shown in figure 8, in the present embodiment, it can be found that starting speed responsive under the position Sensorless Control new method
Time, the response time of the starting speed under traditional back electromotive force zero-crossing method existed as seen from Figure 7 in 0.4s or so
0.6s or so.Therefore the response time of the starting speed under brushless direct current motor sensorless control new method is bright
The response time of the aobvious starting speed being better than under traditional back electromotive force zero-crossing.Simultaneously it can be seen that in position sensorless
The variation that device controls speed under new method is more stable than in traditional back electromotive force zero-crossing method velocity variations.
As shown in figure 9, passing through the end voltage waveform of oscillograph actual observation in the present embodiment, by analyzing end voltage waveform
It obtains commutation point and holds the relationship between voltage swing, to determine commutation point.
As shown in Figure 10, three phase terminals voltage waveform is obtained according to a phase terminal voltage waveform, and is compared with back emf waveform,
Further determine that the correctness of phase change method.
As shown in figure 11, by the motor experiment observation in position sensor (Hall sensor), position sensor is defeated
Commutation signal out is consistent with the commutation signal that the method for the present invention is realized, illustrates the accuracy of the method for the present invention.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.
Claims (3)
1. novel brushless direct current motor sensorless control system, it is characterised in that: hardware includes main control chip, circuit
Plate, touch display screen；
The circuit board is printed circuit board, is printed with inverter circuit and sample circuit on circuit board, the inverter circuit be
Power supply and motor are connected in main circuit；The sample circuit connection motor input and main control chip；
The touch display screen has two kinds of functions of instruction input and display, connect with main control chip；
In the main circuit that power supply is connected to motor, after DC power anode concatenates fuse and switch, with opening in inverter circuit
It closes and manages upper bridge arm connection；The cathode of DC power supply is directly connect with switching tube lower bridge arm；Between switch and switching tube, and power on
Container；
It include motor terminal voltage continuous sampling circuit and sampled value processing circuit in the sample circuit, sampled value processing circuit will
The voltage value of end voltage continuous sampling circuit is converted to digital signal, passes to main control chip；
In signal conditioning module and current sampling module acquisition main circuit in the main control chip after current information, electricity is passed to
Flow adjustment module；Turn count module in the main control chip passes to speed by the tachometer value that control commutation module obtains
Adjustment module；After speed adjustment module in the main control chip obtains given speed and the numerical value of turn count module, transmitting
To current regulating module；PWM generation module in the main control chip obtains the letter of control commutation module and current regulating module
After breath, control electric current is passed to the switching circuit of main circuit, realizes the control of motor.
2. novel brushless direct current motor sensorless control system according to claim 1, it is characterised in that: described
What is used in main control chip internal program is PWM midpoint sample.
3. novel brushless direct current motor sensorless control system according to claim 1, it is characterised in that: described
Sample circuit is 8MHZ, sampling period 3us in the sample frequency of motor terminal voltage.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821750665.4U CN209419518U (en) | 2018-10-27 | 2018-10-27 | A kind of novel brushless direct current motor sensorless control system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821750665.4U CN209419518U (en) | 2018-10-27 | 2018-10-27 | A kind of novel brushless direct current motor sensorless control system |
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| CN209419518U true CN209419518U (en) | 2019-09-20 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109347374A (en) * | 2018-10-27 | 2019-02-15 | 宁德职业技术学院 | A kind of novel brushless direct current motor sensorless control system and method |
| CN111342713A (en) * | 2020-03-03 | 2020-06-26 | 浙江大学 | Control method for bidirectional starting of single-phase brushless direct current motor |
-
2018
- 2018-10-27 CN CN201821750665.4U patent/CN209419518U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109347374A (en) * | 2018-10-27 | 2019-02-15 | 宁德职业技术学院 | A kind of novel brushless direct current motor sensorless control system and method |
| CN109347374B (en) * | 2018-10-27 | 2024-02-06 | 宁德职业技术学院 | Novel brushless direct current motor sensorless control system and method |
| CN111342713A (en) * | 2020-03-03 | 2020-06-26 | 浙江大学 | Control method for bidirectional starting of single-phase brushless direct current motor |
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Granted publication date: 20190920 Termination date: 20201027 |
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| CF01 | Termination of patent right due to non-payment of annual fee |