1229972 玫、發明說明： 【發明所屬之技術領域】 本發明低成本直流無刷馬達數位式驅動控制系統是一具 有相當完整性之機電整合裝置，所涉及之技術領域也相當廣 泛，其中包含機械結構、電氣特性、半導體元件利用、磁場 分析、控制策略及微處理器應用等諸多迥然不同之範疇，·雖 然本务明所牽涉技術領域很廣，但其主要在於規劃出一完盖 之機電整合裝置，此裝置以微處理器為其中央驅動控制系統 之核心’並藉由已訂定完整之系統介面建立完整直流無刷馬· 達驅動架構，同時更湘發明中所提出之轉子角度估測器使 其達成低成本數位式驅動控制之目的。 【先前技術】 次2達產業是台灣發展極早的工業之一，此為高度技術與 貧本密集的卫業，因此早期發展甚緩，光復前至民國四十二 年間，為「未開發階段」。民國四十二年至民國五十年間，國籲 内業者方開始逐步投資設備生產小馬力馬達，屬於「低電壓 產品開發階段」。民國五十年至民國六十年間，配合僑外投資. 條例及技術合作條例之頒佈，電機卫業逐漸引進生產技術，. 製造工業用電機產品及家用電器製品’此時開始生產中、大 力率，達屬於「技術引進階段」。民國六十年以後，國内低、 中電壓之電機製品已有穩固基礎，為使電機卫業配合電力發 展的而要’電機工業邁人重電機及高效率電器產品時代，積 極引進重電機產品技術，至目前為止屬於重電機範圍之高電 1229972 壓、大電流或大谷里之馬達製品’國内廠商已建立堅實基礎，.. 成長減缓而漸趨成熟’但於技術層次上較歐、美、日科技先 進國家仍有一段距離。近年來，國内自動化工業蓬勃發展， 對於伺服馬達之需求與日俱增，工研院機械所於七十二年推” 出碳刷式直流伺服馬達驅動器，並技術移轉給國内微鋒科技_ 公司以及新烽公司，並於七十四年起，從事小馬力無刷伺服 馬達及其驅動器之研製，主要應用於事務機器及CNC工具機 的驅動控制應用。 以馬達特性來區分：步進馬達雖易控制，但運轉轉矩不 足，無法提供較大之力矩；直流有刷馬達易於驅動及控制， 但結構上需要碳刷及換相片，長期使用會磨損且需定期保養； 直流無刷馬達之轉子使財久磁鐵，於結構上毋需使用電刷， 並以電氣換流方式取代傳統錢馬達之機械整流方式，且其 控制^同於直流馬達並改善直流馬達結構上之缺點 ，有取 代直^馬達成為小型馬達主流之趨勢。 古a 兒’傳統的旋轉型馬達傳動機構採用間接致動的 a 攝另I而再透過皮▼及齒輪傳動，使用時間一久往往遠 U)輪的耗才貝，且在運轉過程因歯卜 的嗓音，因此直拯叙 予τ θ展土只 動機構通常亦需同==為則研究重點之-。直驅式傳 洗衣機為例，Γ 高轉速之特性，以直驅式 洗衣機脫切^時，練大扭力問減衣物，且於 之特性依II f 0轉於高轉速狀態，然而直流無刷馬達 流無刷:達!2ΓΓ極數量相異而不同’極數多之* "ΠΤ轉矩之特性，但不易達成高轉速控制，而換 6 1229972 [2] Κ· A. Corzine，and S. D. Sudhoff，“A hybrid observer for high performance brushless DC motor drives，” IEEE Transactions on Energy Conversion, vol. 11, pp. 318-323, 1996.1229972 Description of the invention: [Technical field to which the invention belongs] The low-cost DC brushless motor digital drive control system of the present invention is an electromechanical integration device with considerable integrity, and the technical field involved is also quite extensive, including mechanical structures , Electrical characteristics, use of semiconductor components, magnetic field analysis, control strategies, and microprocessor applications, etc. · Although this technology involves a wide range of technical fields, it is mainly about planning a complete mechanical and electrical integration device This device uses a microprocessor as the core of its central drive control system, and establishes a complete DC brushless motor drive architecture by using a complete system interface. At the same time, the rotor angle estimator proposed in the invention To achieve the purpose of low-cost digital drive control. [Previous technology] The second industry is one of the earliest developed industries in Taiwan. This is a high-tech and poverty-intensive health industry. Therefore, its early development was slow. Between the period of recovery and forty-two years of the Republic of China, it was an "undeveloped stage." ". From the forty-two years to the fifty-year period of the Republic of China, the government urged the industry to gradually invest in equipment to produce small horsepower motors, which is a "low-voltage product development stage." From the 50th year of the Republic of China to the 60th year of the Republic of China, in conjunction with the enactment of overseas investment. Regulations and technical cooperation regulations, the electrical machinery industry has gradually introduced production technology. , Da belongs to the "technology introduction stage". After 60 years of the Republic of China, domestic low and medium voltage motor products have a solid foundation. In order to make the motor health industry cooperate with the development of electric power, the motor industry must enter the era of heavy motors and high-efficiency electrical products, and actively introduce heavy motor products. Technology, high-voltage 1229972 high-voltage, high-current, or Otari-based motor products so far, 'domestic manufacturers have established a solid foundation: slower growth and maturity', but at the technical level is more European, The United States and Japan still have a long way to go in terms of advanced technology. In recent years, the domestic automation industry has developed vigorously, and the demand for servo motors is increasing day by day. In 1972, the Institute of Mechanical Engineering of the Industrial Research Institute introduced a carbon brush DC servo motor driver, and transferred the technology to the domestic Weifeng Technology_ Company And Xinyi Company, since 74, has been engaged in the development of small horsepower brushless servo motors and their drivers, mainly used in drive control applications for office machines and CNC machine tools. Differentiated by motor characteristics: Easy to control, but the running torque is insufficient to provide a large torque; DC brushed motor is easy to drive and control, but the structure requires carbon brushes and photo change, which will wear out and require regular maintenance for long-term use; rotor of DC brushless motor The Caijiu magnet does not require brushes in the structure, and replaces the traditional rectification method of the traditional money motor with electrical commutation. The control is the same as that of the DC motor and improves the structural disadvantages of the DC motor. Motors have become the mainstream of small motors. The ancient a 'traditional rotary motor transmission mechanism uses indirect actuation of a camera and then through the skin And gear transmission, the use of a long time is often far away U) wheel consumption, and in the process of operation due to the voice of the auspicious, so straight forward to τ θ spread soil only moving mechanism usually also need to be the same == as the research focus -. Direct-drive washing machine as an example. Γ The characteristics of high speed. Take the direct-drive washing machine off when cutting ^, practice high torque to reduce clothes, and its characteristics turn to a high-speed state according to II f 0, but DC does not have Brush motor flow brushless: up to! 2ΓΓ The number of poles varies and the number of poles is different, and the characteristics of the number of torques, but it is not easy to achieve high speed control, and change 6 1229972 [2] K · A. Corzine, and SD Sudhoff, "A hybrid observer for high performance brushless DC motor drives," IEEE Transactions on Energy Conversion, vol. 11, pp. 318-323, 1996.
[3] N. Matsui, uSensorless PM brushless DC motor drives,IEEE Transactions on Industrial Electronics, vol. 43, pp. 300-308, 1996.[3] N. Matsui, uSensorless PM brushless DC motor drives, IEEE Transactions on Industrial Electronics, vol. 43, pp. 300-308, 1996.
[4] N. Kasa, and H. Watanabe, 6iA mechanical sensorless control system for salient-pole brushless DC motor with autocalibration of estimated position angles/* IEEE Transactions on Industrial Electronics, vol. 47, pp. 389-395, 2000.[4] N. Kasa, and H. Watanabe, 6iA mechanical sensorless control system for salient-pole brushless DC motor with autocalibration of estimated position angles / * IEEE Transactions on Industrial Electronics, vol. 47, pp. 389-395, 2000.
[5] S. Ogasawara, and H. Akagi, <eAn approach to position sensorless drive for brushless DC motors,,s IEEE Transactions on Industry Applications, vol. 27, pp. 928-933,1991. 【發明内容】 本發明提出一同時具備高轉矩及高轉速之低成本直流無 刷馬達數位式驅動控制系統，採用多極對直流無刷馬達提高 致動轉矩，並且利用弱磁方式使其能操作在高轉速區域；以 單顆霍爾元件之迴授訊號估測馬達轉子實際位置，計算出速 度控制命令，送往脈寬調變控制器調整送入馬達之電流大小， 再經由電氣隔離電路與智慧型功率半導體送入直流無刷馬 達，最後以實作驗證本發明之可行性。 本發明改善先前技術之原理及對照功效如下： 1·使用單顆霍爾元件迴授訊號為驅動基礎，較傳統需以三顆 霍爾元件訊號驅動更能節省生產成本，且此單顆霍爾元件可 安裝於馬達任一相線圈上，可降低系統組裝複雜度。 2·驅動方法亦採用弱磁方式進行高轉速控制，除可保持多極 對直流無刷馬達之高轉矩特性外，亦可使其操作於高轉速狀 態。 3·採取數位化驅動技術，可將傳統由類比電路產生之驅動訊 8 1229972 號功能以微處理器取代’不僅可大幅降低傳統類比電路體積 且提高系統可靠度，更進一步可增加驅動方式更新設計之便 利性。 4·本裝置利用智慧蜇功率模組使其具有保護功能，當系統發 生過載、欠壓或過流狀況時自動將開關訊號關閉，可防止電 源異常或因過載所造成之誤動作。 【實施方式】 本發明低成本直流無刷馬達數位式驅動控制系統架構如 「圖1」所示，圖中1〇〇微處理器包含1〇1轉子角度估測器、 102驅動訊號產生器、103轉速控制器；由ι〇1轉子角度估測 裔計算出現在馬達轉子位置再由1〇2驅動訊號產生器按照所 a又计之模式送出六個開關訊號，並依照馬達旋轉所需之順序 达入104互鎖電路；1〇4互鎖電路目的在於防止反流器中任一 臂上下兩個功率半導體開關同時導通而短路，以致於對元件 或馬達本體造成不必要損害；馬達轉速由1〇3轉速控制器決 定，100微處理器經過計算再透過103轉速控制電路送出一控 制命令，經由105脈寬調變控制器調整1〇2驅動訊號產生器 所送驅動訊號，控制送入馬達功率多寡；1〇6電氣隔離電路採 用光輕合ϋ，主要避免@反流H中功率半導體開關因共地而 產生短路現象；馬達驅動訊號最後由1〇7智慧型功率模組送 入108直流無刷馬達，1〇7智慧型功率模組内附六組裝ι〇Βτ 且具備驅動放大電路，同時在負載電流超過限 欠壓時可自動將開關訊號關閉，防止在電源不正常浮動或負° 1229972 載發生異常時之誤動作發生；108直流無刷馬達其定子為線圈 繞組共二十四極，内側永磁轉子則有二十極，109單顆霍爾元 件可任意裝設在馬達任何一相，主要功能為傳回100微處理 器中之101轉子角度估測器做馬達轉子實際位置之判斷。 本發明驅動原理建構於傳統六步方波一百八十度導通驅 動機制，一百八十度導通模式意指為半導體開關每間隔一百 八十度導通一次，如圖2三相反流器架構所示，三相反流器 由六個半導體開關及六個飛輪二極體所組成，以α相為例，當 上半臂半導體開關β導通時，β端連接於直流匯流排之正端，® 然而下臂之半導體開關a導通時，端連接於直流匯流排之 負端。每一個週期共有六個切換模式，每個切換模式為六十 度，根據圖2之編號，導通順序為模式一模 式二模式三)—&&&(模式四）—&&&(模式五)— aaa(模式六），其導通訊號波形及線電壓波形如圖3所示， 可產生相差六十度之平衡線電壓訊號。 無刷直流馬達定子上的三相線圈採用γ接型式，根據三$ 相反流器電路架構及γ接馬達内部三相線圈，將導通模式一 至模式六之半導體開關訊號及其導通角度與各相至中性點之. 電壓值關係整理如圖4所示。 向量控制中，控制變數通常以兩相座標軸來加以表示， 在此將圖4所示之馬達内的相電壓4、心以及^轉換至 α-Θ靜止座標上。根據Clarke Transformation可得到α-θ座 標上的電壓值如下： 1229972[5] S. Ogasawara, and H. Akagi, < eAn approach to position sensorless drive for brushless DC motors, IEEE Transactions on Industry Applications, vol. 27, pp. 928-933, 1991. [Inventive Content] This The invention proposes a low-cost DC brushless motor digital drive control system with both high torque and high speed. The multi-pole pair DC brushless motor is used to increase the actuation torque, and it can be operated at high speed by using a weak magnetic field Area; the feedback signal of a single Hall element is used to estimate the actual position of the motor rotor, the speed control command is calculated, and it is sent to the pulse width modulation controller to adjust the amount of current sent to the motor, and then through the electrical isolation circuit and smart power The semiconductor is fed into a DC brushless motor, and finally the feasibility of the invention is verified by implementation. The principle and control efficacy of the present invention to improve the prior art are as follows: 1. Using a single Hall element feedback signal as the driving basis, compared with the traditional need to drive with three Hall element signals, it can save production costs, and this single Hall The components can be installed on any phase coil of the motor, which can reduce the complexity of system assembly. 2. The driving method also adopts the field weakening method for high speed control. In addition to maintaining the high torque characteristics of the multi-pole DC brushless motor, it can also be operated at a high speed. 3. Adopt digital driving technology, which can replace the traditional drive signal 8 1229972 function generated by analog circuit with microprocessor. Not only can it greatly reduce the volume of traditional analog circuit and improve the reliability of the system, it can also increase the driving mode and update the design. Convenience. 4. This device uses a smart power module to make it have a protection function. When the system has an overload, undervoltage, or overcurrent condition, it automatically turns off the switching signal to prevent abnormal power supply or malfunction caused by overload. [Embodiment] The architecture of the low-cost DC brushless motor digital drive control system of the present invention is shown in "Fig. 1". The 100 microprocessor in the figure includes a 101 rotor angle estimator, a 102 drive signal generator, 103 speed controller; calculated from ι〇1 rotor angle calculation, appear at the rotor position of the motor, and then drive by the 102 drive signal generator to send six switching signals according to the calculated mode, and in accordance with the order required for motor rotation The 104 interlock circuit is reached; the purpose of the 104 interlock circuit is to prevent the two power semiconductor switches on either arm of the inverter from turning on and short-circuiting at the same time, causing unnecessary damage to the component or the motor body; the motor speed is controlled by 1 〇3 The speed controller determines that the 100 microprocessor sends a control command through the 103 speed control circuit after calculation. The 105 pulse width modulation controller adjusts the drive signal sent by the 102 drive signal generator to control the power of the motor. How many; 106 electrical isolation circuit uses light and light, mainly to avoid the short circuit phenomenon caused by the common ground of the power semiconductor switch @ 反 流 H; the motor drive signal is finally from 107 The intelligent power module sends 108 DC brushless motors. The 107 power module comes with six assemblies and is equipped with a driving amplifier circuit. At the same time, the switch signal can be automatically turned off when the load current exceeds the limit and undervoltage. Prevents malfunctions when the power supply is abnormally floating or negative ° 1229972 load abnormality; 108 DC brushless motors have a coil winding with a total of 24 poles, an inner permanent magnet rotor with 20 poles, and 109 single Hall elements It can be arbitrarily installed in any phase of the motor. The main function is to return the 101 rotor angle estimator in the 100 microprocessor to judge the actual position of the motor rotor. The driving principle of the present invention is built on the traditional six-step square-wave 180-degree conduction driving mechanism. The 180-degree conduction mode means that semiconductor switches are turned on every 180 degrees, as shown in FIG. 2 As shown, the three inverters are composed of six semiconductor switches and six flywheel diodes. Taking the α phase as an example, when the upper half semiconductor switch β is turned on, the β terminal is connected to the positive terminal of the DC bus, However, when the semiconductor switch a of the lower arm is turned on, the terminal is connected to the negative terminal of the DC bus. There are six switching modes in each cycle. Each switching mode is sixty degrees. According to the number in Figure 2, the conduction sequence is mode one, mode two, and mode three.) — &Amp; & & (mode four) — & & & (Mode 5)-aaa (Mode 6), the pilot signal waveform and line voltage waveform are shown in Figure 3, which can produce a balanced line voltage signal with a difference of 60 degrees. The three-phase coil on the stator of the brushless DC motor adopts the γ connection type. According to the circuit structure of the three-phase inverter and the three-phase coil inside the γ motor, the semiconductor switch signals of conduction mode 1 to mode 6 and their conduction angles are connected to each phase. The relationship between the neutral point and the voltage value is shown in Figure 4. In vector control, the control variables are usually represented by two-phase coordinate axes. Here, the phase voltages 4, cores, and ^ in the motor shown in FIG. 4 are converted to α-Θ stationary coordinates. According to Clarke Transformation, the voltage value on the α-θ coordinate is as follows: 1229972
三相馬達使用系統中，其電壓、電流、磁通可以透過複 數平面的向量來表示。以定子電壓為例，由於定子線圈採空 間上相隔一百二十度的佈線，因此三相定子電壓可用複數平 面的向量&表示為 K-Kn+aVbn+a2Vc 其中a = 以及a2=e3 ，以向量方式呈現如圖5(a)所示。 原本表示於三相靜止座標系統中的電壓、電流或磁通，亦可 以轉換至α - /?的兩軸垂直靜止座標系統上，其中α軸與α軸 的方向相同，以前面所述之定子電壓為例，其轉換後的關係 式如下：In a three-phase motor system, its voltage, current, and magnetic flux can be represented by vectors in a complex plane. Taking the stator voltage as an example, because the stator coils are spaced 120 degrees apart from each other, the three-phase stator voltage can be expressed as a vector of the complex plane as K-Kn + aVbn + a2Vc where a = and a2 = e3, The vector representation is shown in Figure 5 (a). The voltage, current, or magnetic flux originally expressed in the three-phase stationary coordinate system can also be converted to a two-axis vertical stationary coordinate system of α-/ ?, where the α axis and the α axis have the same direction. The voltage is taken as an example, and the relationship after conversion is as follows:
上式的轉換關係稱為Clarke Transformation，可將原本三個分 量〇，Z?，c)表示的向量，簡化成為只需要兩個向量來表示， 兩軸垂直靜止座標系統關係如圖5(b)所示。經過Clarke Transformation之後，定子相電壓與時間和轉速具有相依性， 為了解決這個問題，同步旋轉座標系統於是被提出，此即為 1229972The transformation relationship of the above formula is called Clarke Transformation, which can simplify the vector represented by the original three components 0, Z ?, c) into only two vectors for representation. The relationship between the two-axis vertical stationary coordinate system is shown in Figure 5 (b). As shown. After Clarke Transformation, the stator phase voltage is dependent on time and speed. In order to solve this problem, a synchronous rotating coordinate system was proposed, which is 1229972
Park Transformation。其原理是訂出一個與定子磁場同步旋轉 的正交座標系統（ί/，7)，由於轉子與定子磁場亦是同步旋轉， 假設轉子磁通的位置就是d軸的位置，同步旋轉座標系統如圖 5(c)所示。Θ所代表的角度為轉子磁通％的位置，亦即靜止座 標α-/?與同步旋轉座標之角度差，所以定子電壓於兩個座標 系統上的關係可表示成 vsd =Κα 〇〇^θ + ν8βύηθ vsq =^vsa sin6> + F^cos6> 此時的定子電壓已經不再具有時間與轉速的相依性，因此可 以將馬達模型中的變數做獨立控制。經由上述對座標轉換的 說明，可將圖4之各開關導通模式的相電壓]^、心以及]^ 轉換至7座標上，整理後可得到以座標的開關切換順 序，如圖6所示。 將圖6的六個空間電壓向量，平分在空間中的六個區域， 將圖6之『電壓向量代號』以『導通向量』取代並重新整理， 再制定三個霍爾元件磁極迴授訊號之『迴授向量』，如圖7所 示。依圖7之六步方波六種導通模式分別通電於三相線圈， 於定子内建立起空間磁場向量，對永磁式轉子產生吸力，使 轉子旋轉至所對應之六組霍爾磁極元件迴授向量。將空間磁 場以向量表示如圖8所示，巧至為霍爾元件磁極迴授向量， 黑色實線代表轉子之實際位置，由霍爾元件偵測，整體霍爾 12 1229972 元件迴授向量依照轉子實際位置而變化；（匕至匕）為反流器開 關導通向量，依照反流器開關導通方式出現，此圖中，霍爾 元件磁極迴授向量昃與反流器開關導通向量0重疊，所建立 之空間磁場向量全分配予磁通分量（¢/軸），並無轉矩分量（分 轴）’此時馬達鎖住。 如欲使轉子以逆時針方向旋轉，導通r2反流器開關向量 改變空間所建立之磁場，此時F2建立一磁通分量為1/2P；，磁 通分量為過激磁狀態，並有V^；/2之轉矩分量吸引致動轉子， 使轉子以逆時針方向旋轉，當轉子旋轉超過扇形區I之一半 角度，霍爾元件讀取迴授向量變為，此時利用驅動器再更 改反流器導通向量為匕，使轉子具有1/2匕之轉矩分量，使轉 子繼續以逆時針方向旋轉，直到霍爾元件感測磁場向量為/ί3， 再利用驅動器更改反流器向量為F4，以此類推；操作方法為 在圖8中霍爾元件偵測到迴授向量變為巧時則將反流器導通向 量操作於Ρ；·+1(ζ·=1〜6，，即可使直流無刷馬達以逆時針 方式旋轉。 如欲使轉子以弱磁方式逆時針方向旋轉，當霍爾磁極於 狀態時，導通匕反流器開關向量，改變空間所建立之磁場， 此時Γ3所建立弱磁分量為-G/2，並具有相同λ^Γ,/2之轉矩分 量，操作方法為在圖8中霍爾元件偵測到迴授向量變為巧·時則 將反流器導通向量操作於匕2(卜1〜6，6=5，，使轉 子以逆時針方向旋轉，以此種方式驅動馬達，使馬達運轉於 13 1229972 元件磁極迴授訊號驅動之糸統響應，此二張圖分別將霍爾元 件安裝於不同磁極位置，於五秒時以步進轉速起動，使用步 進轉速帶動馬達五秒後，以遞增轉速規晝轨跡，馬達轉速遞 增至667rpm後定速，由圖可知’雖將霍爾迴授元件安裝於不 同磁極位置，仍可對單霍爾元件直流無刷馬達系統完成驅動 任務，並追隨所設計之轉速軌跡用以驗證本發明所設計低成 本數位式驅動控制系統之可行性。 圖13表示本發明所揭示之低成本直流無刷馬達數位式驅籲 動控制系統操作於轉速5〇〇rpm時實作響應之一實施例，其中 圖13(a)、圖13(b)及圖13(c)分別為單獨U相、V相或W相霍爾 元件磁極迴授訊號驅動之系統響應，在不同磁極霍爾元件迴 授訊號狀況下，依然對馬達加以驅動，並追隨執跡於500rpm， 可見低成本數位式驅動控制系統之適用性。 【圖式簡單說明】 春 圖1 表示本發明所揭示之低成本直流無刷馬達數位式驅 動控制系統架構圖。 100 微處理器 101 轉子角度估測器 102 驅動訊號產生器 103 轉速控制器 104 互鎖電路 105 脈1調變控制器 16 106電氣隔離電路 107智慧型功率模組 108 直流無刷馬達 109單顆霍爾元件 表示本發明所揭示之低成本直流無刷馬達數位式驅 動控制系統之三相反流器架構。 表示本發明所揭示之低成本直流無刷馬達數位式驅 動控制系統之180°導通訊號波形及線間電壓波形。 表示本發明所赫之低縣錢錢4魏位式驅 動控制系統之各導通模式之各相至中性點之電壓 關係。 ⑻表示本發賴揭以低成本直流無刷⑽數位式 驅動控制系統之三相靜止座標系統。 (b)表不本發明所揭示之低成本直流無刷馬達數 驅動控制系統之兩料靜止座標系統關係。 (C)表示本發明所—之低成本直絲刷馬達數位式 驅動控制系統之同步旋轉座標系統轉換。 1 示本發明賴&減本錢錢料數位式驅 空制系統之α-Α座標開關切換順序。 表不本發明所揭低成本直流錢馬達數位式驅 ^控制线之霍_元件雜迴授導通向量對 應關係。 ^ =不本發明所揭示之反流器導通向量與霍爾元件债 測迴授訊號之軸座標圖。 1229972 圖9 表示本發明所揭示之低成本直流無刷馬達數位式驅 動控制系統之單顆霍爾元件順時針方向旋轉開關切 換順序。 圖10 表示本發明所揭示之低成本直流無刷馬達數位式驅 動控制系統之估測半導體開關導通時間示意圖。 圖11 表示本發明所揭示之低成本直流無刷馬達數位式驅 動控制系統之驅動控制程式流程圖。 圖12 表示本發明所揭示之低成本直流無刷馬達數位式驅 動控制系統操作於轉速667rpm時實作響應之一實施 例。 圖13 表示本發明所揭示之低成本直流無刷馬達數位式驅 動控制系統操作於轉速500rpm時實作響應之一實施 例0 18Park Transformation. The principle is to set up an orthogonal coordinate system (ί /, 7) that rotates synchronously with the stator magnetic field. Since the rotor and stator magnetic fields also rotate synchronously, assuming that the position of the rotor magnetic flux is the position of the d-axis, a synchronous rotating coordinate system such as Figure 5 (c). The angle represented by Θ is the position of the rotor magnetic flux%, that is, the angle difference between the stationary coordinate α- /? And the synchronous rotation coordinate, so the relationship between the stator voltage on the two coordinate systems can be expressed as vsd = Κα 〇〇 ^ θ + ν8βύηθ vsq = ^ vsa sin6 > + F ^ cos6 > At this time, the stator voltage no longer has time and speed dependence, so the variables in the motor model can be controlled independently. According to the above description of the coordinate conversion, the phase voltages of the on-states of the switches in FIG. 4] ^, core, and] ^ can be converted to 7 coordinates, and the coordinated switch sequence can be obtained after finishing the arrangement, as shown in FIG. 6. The six space voltage vectors in FIG. 6 are equally divided into six regions in space, and the “voltage vector code” in FIG. 6 is replaced with “conduction vector” and rearranged, and then three Hall element magnetic pole feedback signals are established. "Feedback vector", as shown in Figure 7. According to the six-step square-wave six conduction modes in Figure 7, the three-phase coils are respectively energized, and a spatial magnetic field vector is established in the stator, which generates a suction force on the permanent magnet rotor and rotates the rotor to the corresponding six sets of Hall pole element return. Award vector. The space magnetic field is represented by a vector as shown in FIG. 8, which is the Hall element magnetic pole feedback vector. The black solid line represents the actual position of the rotor, which is detected by the Hall element. The overall Hall 12 1229972 element feedback vector follows the rotor. The actual position varies; (dagger to dagger) is the conduction vector of the inverter switch, which appears in accordance with the conduction mode of the inverter switch. The created space magnetic field vector is all assigned to the magnetic flux component (¢ / axis), and there is no torque component (minor axis). At this time, the motor is locked. If you want to rotate the rotor counterclockwise, turn on the r2 inverter switch vector to change the magnetic field created in the space. At this time, F2 establishes a magnetic flux component of 1 / 2P; the magnetic flux component is overexcited and has V ^ The torque component of / 2 attracts the actuating rotor to rotate the rotor in a counterclockwise direction. When the rotor rotates more than one and a half angles of the sector I, the Hall element reads the feedback vector and changes the backflow using the driver. The conduction vector of the device is a dagger, so that the rotor has a torque component of 1/2 dagger, so that the rotor continues to rotate in a counterclockwise direction until the magnetic field vector sensed by the Hall element is / ί3, and then the driver changes the inverter vector to F4. And so on; the operation method is that when the Hall element detects that the feedback vector becomes coincident in FIG. 8, the inverter's conduction vector is operated at P; · + 1 (ζ · = 1 ~ 6, so that The brushless DC motor rotates counterclockwise. If you want to make the rotor rotate counterclockwise in a weak magnetic mode, when the Hall magnetic pole is in the state, the switch vector of the dagger inverter is turned on to change the magnetic field established in the space. Create a field weakening component of -G / 2 and have The torque component is the same as λ ^ Γ, / 2. The operation method is to operate the inverter conduction vector on the dagger 2 when the Hall element detects that the feedback vector becomes coincidence in Fig. 8 (Bus 1 to 6, 6 = 5, make the rotor rotate counterclockwise, drive the motor in this way, and make the motor run at 13 1229972. The system responds to the magnetic pole feedback signal drive. These two pictures respectively install the Hall element on different magnetic poles. Position, start at step speed at five seconds, use step speed to drive the motor for five seconds, then use daylight trajectory with increasing speed, motor speed will increase to 667rpm and then set the speed. It can be seen from the figure that although the Hall feedback element Installed at different magnetic pole positions, it can still complete the driving task of the single Hall element DC brushless motor system, and follow the designed speed track to verify the feasibility of the low-cost digital drive control system designed by the present invention. Figure 13 shows The embodiment of the low-cost DC brushless motor digital drive control system disclosed in the present invention implements a response when operating at a speed of 5000 rpm, in which FIG. 13 (a), FIG. 13 (b), and FIG. 13 ( c) Individual U-phase, V-phase or W-phase The response of the system driven by the magnetic pole feedback signal of the magnetic element, under the condition of the feedback signal of the different magnetic pole Hall element, the motor is still driven and follows the track at 500rpm, which shows the applicability of the low-cost digital drive control system. [Figure Brief description of the formula] Spring Figure 1 shows the architecture diagram of the low-cost DC brushless motor digital drive control system disclosed by the present invention. 100 Microprocessor 101 Rotor angle estimator 102 Drive signal generator 103 Speed controller 104 Interlock circuit 105 Pulse 1 Modulation Controller 16 106 Electrical Isolation Circuit 107 Intelligent Power Module 108 Brushless DC Motor 109 Single Hall Element Represents Three Opposite Flows of Low-cost DC Brushless Motor Digital Drive Control System Revealed by the Present Invention Device architecture. It shows the 180 ° pilot signal waveform and line voltage waveform of the low-cost DC brushless motor digital drive control system disclosed by the present invention. It shows the voltage relationship between the phases of each conduction mode and the neutral point of the low-level drive control system of the present invention. ⑻ indicates that the present invention relies on the three-phase stationary coordinate system of a low-cost DC brushless digital drive control system. (b) Represents the relationship between the two stationary coordinate systems of the low-cost DC brushless motor drive control system disclosed in the present invention. (C) shows the conversion of the synchronous rotation coordinate system of the low-cost linear wire brush motor digital drive control system of the present invention. 1 shows the switching sequence of the α-Α coordinate switch of the digital drive system of the present invention, which is based on the & cost reduction method. It shows the corresponding relationship of the conduction feedback vector of the low-cost DC motor digital drive control line disclosed in the present invention. ^ = The axis coordinate diagram of the inverter conduction vector and Hall element debt measurement feedback signal disclosed in the present invention. 1229972 Figure 9 shows the switching sequence of a single Hall element clockwise rotation switch of a low-cost DC brushless motor digital drive control system disclosed in the present invention. FIG. 10 is a schematic diagram showing an estimated semiconductor switch on-time of a low-cost DC brushless motor digital drive control system disclosed by the present invention. FIG. 11 shows a flowchart of a drive control program of a low-cost DC brushless motor digital drive control system according to the present invention. FIG. 12 shows an embodiment of an implementation response of the low-cost DC brushless motor digital drive control system disclosed in the present invention when the rotation speed is 667 rpm. FIG. 13 shows an implementation response of the low-cost DC brushless motor digital drive control system disclosed in the present invention when operating at a speed of 500 rpm. Example 0 18