WO2023078017A1 - Control system for reducing square-wave-operating torque ripple of brushless direct-current motor - Google Patents

Control system for reducing square-wave-operating torque ripple of brushless direct-current motor Download PDF

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WO2023078017A1
WO2023078017A1 PCT/CN2022/123757 CN2022123757W WO2023078017A1 WO 2023078017 A1 WO2023078017 A1 WO 2023078017A1 CN 2022123757 W CN2022123757 W CN 2022123757W WO 2023078017 A1 WO2023078017 A1 WO 2023078017A1
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calculation module
conduction
zero
phase
control system
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PCT/CN2022/123757
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French (fr)
Chinese (zh)
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张懿
卜云
魏海峰
王浩陈
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江苏科技大学
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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

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  • the invention belongs to the technical field of brushless direct current motors, and in particular relates to a control system for reducing square wave operation torque ripple of brushless direct current motors.
  • Brushless DC motors are widely used in aerospace, CNC machine tools, medical equipment, household appliances and other fields because of their high efficiency, high power density, convenient control methods and long service life.
  • the purpose of the present invention is to provide a control system for reducing the torque ripple of brushless DC motor square wave operation, which overcomes the deficiencies in the prior art, and uses the combination of two-two conduction calculation modules and three-three conduction calculation modules
  • the drive mode is used to solve the problem of relatively large torque ripple in the square wave operation of the brushless DC motor in the prior art.
  • a set of reducing torque ripple is designed by adopting the driving method combining the two-two conduction calculation module and the three-three conduction calculation module.
  • the control system simulates multi-step commutation, so as to achieve the purpose of reducing the torque ripple of brushless DC square wave operation.
  • a control system for reducing the torque ripple of brushless DC motor square wave operation including a zero-crossing acquisition module, an insertion module, a two-two conduction calculation module, and a three-three conduction calculation module, wherein:
  • the zero-crossing acquisition module is connected with the Hall position sensor, and is used to acquire the zero-crossing point of the Hall sensor; the insertion module is connected with the zero-crossing acquisition module, and is used to determine the second guideline according to the zero-crossing point captured by the Hall sensor.
  • the commutation sequence of the pass calculation module and the sequence of inserting the three-three conduction calculation module; the two-two conduction calculation module and the three-three conduction calculation module are respectively connected to the plug-in module for calculating the magnitude of the injected current , the two-two conduction calculation module and the three-three conduction calculation module are connected to the brushless DC motor through the BLDCM control system, and converted into PWM output to the BLDCM control system to control the operation of the brushless DC motor.
  • the specific process of the zero-crossing acquisition module and the insertion module determining the commutation timing of the two-to-two conduction calculation module is as follows:
  • the winding phases are C+ and B-
  • the power switches are T5 and T4
  • the commutation sequence is 330°.
  • the specific process of the zero-crossing acquisition module and the insertion module determining the timing of inserting the three-three conduction calculation module is as follows:
  • the energized phases of the winding are A+, C+, and B-, and the conduction power switches are T1, T5, and T4;
  • the energized phases of the winding are A+, B-, C-, and the conduction power switches are T1, T4, T6;
  • the winding energized phases are A+, B+, C-, and the conduction power switches are T1, T3, T6;
  • the energized phases of the winding are B+, C-, A-, and the conduction power switches are T3, T6, T2;
  • the winding energized phases are B+, C+, A-, and the conduction power switches are T3, T5, T2,
  • the winding phases are C+, A-, B-, and the power switches are T5, T2, T4.
  • the calculation principle of calculating the injection current by the two-two conduction calculation module and the three-three conduction calculation module is as follows:
  • the synthetic vector modulus length is calculated as It is also assumed that the phase current flowing into the neutral point when the three-three conduction calculation module is I, and the calculated composite vector modulus length is In order to make the synthetic vector modulus lengths of the two-two conduction calculation module and the three-three conduction calculation module equal, the phase current flowing into the neutral point when the two-two conduction calculation module is changed to The adjusted PWM is applied to the adjusted current phase, and the adjusted PWM is the original two-two conduction calculation module. times.
  • the present invention has the following beneficial effects:
  • the commutation is more accurate, and it is not easy to cause zero-crossing submersion and motor out of step. Therefore, it can be more adapted to the error during the actual commutation of the brushless DC motor, and further reduce the pulsation.
  • Fig. 1 is the system diagram of the control system that reduces the square wave running torque ripple of the brushless DC motor
  • Fig. 2 is a vector relationship diagram of A, B, and C phases under each commutation sequence of the control system for reducing the square wave operation torque ripple of the brushless DC motor;
  • Fig. 3 is the voltage diagram of the control system that reduces the square wave running torque ripple of the brushless DC motor
  • Fig. 4 is a control flow chart for reducing square-wave running noise of a brushless DC motor.
  • the present invention provides a control system for reducing the torque ripple of the square wave operation of the brushless DC motor, including: a zero-crossing point acquisition module, an insertion module, and a two-two conduction calculation module, three-three conduction calculation module, wherein: the zero-crossing acquisition module is connected with the Hall position sensor for obtaining the zero-crossing of the Hall sensor; the insertion module is connected with the zero-crossing acquisition module for according to The zero-crossing point captured by the Hall sensor determines the commutation timing of two-two conduction and the timing of inserting three-three conduction; the two-two conduction calculation module and the three-three conduction calculation module are respectively connected to the insertion module, Used to calculate the size of the injected current, the two-two conduction calculation module and the three-three conduction calculation module are connected to the brushless DC motor through the BLDCM control system, and converted into PWM output to the BLDCM control system to control the operation of the brushless DC motor.
  • the specific process of determining the two-to-two conduction commutation sequence by the zero-crossing acquisition module and the insertion module is as follows:
  • the winding phases are C+ and B-
  • the power switches are T5 and T4
  • the commutation sequence is 330°.
  • the specific process of the zero-crossing acquisition module and the insertion module determining the insertion three-three conduction sequence is as follows:
  • the present invention provides the vector relationship diagrams of A, B, and C phases under each commutation sequence after the new commutation point, and the corresponding commutation angles are 0°, 30°, 60°, 90°, and 120° respectively. °, 150°, 180°, 210°, 240°, 270°, 300°, 330°.
  • a control method for reducing square-wave running noise of a brushless DC motor comprising the steps of:
  • Step 1 When the brushless DC motor is running, obtain the zero-crossing point of the Hall sensor
  • Step 2 According to the zero-crossing point captured by the Hall sensor, determine the commutation timing of the two-two conduction;
  • Step 3 According to the zero-crossing point captured by the Hall sensor, determine the timing of inserting the three-three conduction
  • Step 4 Determine the size of the injection current for the third and third conduction according to the magnitude of the injection current for the second and second conduction in step 2;
  • Step 5 Correct the injection current under two-two conduction and three-three conduction; after correcting the injection current under two-two conduction and three-three conduction, judge again whether the resultant vector modulus length is equal under the two conduction modes, if If they are not equal, continue to correct until the resultant vector modulus length is equal in the two conduction modes, and the correction process ends.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

The present invention belongs to the technical field of brushless direct-current motors, and in particular relates to a control system for reducing a square-wave-operating torque ripple of a brushless direct-current motor. The control system comprises a brushless direct-current motor, a BLDCM control system and a Hall position sensor, a zero-cross acquisition module, an insertion module, a 120-degree conduction calculation module and a 180-degree conduction calculation module. The defects of the prior art are overcome. For the limit of the square-wave operation of an existing brushless direct-current motor, a control system for reducing a torque ripple is designed under traditional square wave control and by means of a driving method in which a combination of a 120-degree conduction calculation module and a 180-degree conduction calculation module is used, such that multi-step commutation is simulated, thereby achieving the aim of reducing a square-wave-operating torque ripple of a brushless direct-current motor.

Description

一种减小无刷直流电机方波运行转矩脉动的控制***A Control System for Reducing Torque Ripple of Brushless DC Motor in Square Wave Operation 技术领域technical field
本发明属于无刷直流电机技术领域，具体涉及一种减小无刷直流电机方波运行转矩脉动的控制***。The invention belongs to the technical field of brushless direct current motors, and in particular relates to a control system for reducing square wave operation torque ripple of brushless direct current motors.
背景技术Background technique
无刷直流电机因具有较高的效率、较大的功率密度、方便实现的控制方法以及使用寿命长等诸多优点被广泛地应用到在航空航天、数控机床以及医疗器械、家用电器等领域。Brushless DC motors are widely used in aerospace, CNC machine tools, medical equipment, household appliances and other fields because of their high efficiency, high power density, convenient control methods and long service life.
传统无刷直流电机常应用二二导通计算模块六步梯形换相，这也是导致无刷直流电机方波运行转矩脉动较大的主要原因。因此需要研发一种可以降低无刷直流电机方波运行转矩脉动的方法。Traditional brushless DC motors often use six-step trapezoidal commutation with two-two conduction calculation modules, which is also the main reason for the large torque ripple of brushless DC motors in square wave operation. Therefore, it is necessary to develop a method that can reduce the torque ripple of the square wave operation of the brushless DC motor.
发明内容Contents of the invention
本发明的目的在于提供一种减小无刷直流电机方波运行转矩脉动的控制***，克服了现有技术的不足，通过使用二二导通计算模块和三三导通计算模块相结合的驱动方式，以解决现有技术中无刷直流电机方波运行转矩脉动较大的问题。针对现有无刷直流电机方波运行的局限性，在传统方波控制下通过采用二二导通计算模块与三三导通计算模块相结合的驱动方式，设计一套减小转矩脉动的控制***，模拟多步换相，从而达到减小无刷直流电方波运行转矩脉动的目的。The purpose of the present invention is to provide a control system for reducing the torque ripple of brushless DC motor square wave operation, which overcomes the deficiencies in the prior art, and uses the combination of two-two conduction calculation modules and three-three conduction calculation modules The drive mode is used to solve the problem of relatively large torque ripple in the square wave operation of the brushless DC motor in the prior art. Aiming at the limitation of the square wave operation of the existing brushless DC motor, under the traditional square wave control, a set of reducing torque ripple is designed by adopting the driving method combining the two-two conduction calculation module and the three-three conduction calculation module. The control system simulates multi-step commutation, so as to achieve the purpose of reducing the torque ripple of brushless DC square wave operation.
为解决上述问题，本发明所采取的技术方案如下：In order to solve the above problems, the technical scheme adopted in the present invention is as follows:
一种减小无刷直流电机方波运行转矩脉动的控制***，过零点获取模块、***模块、二二导通计算模块、三三导通计算模块，其中：A control system for reducing the torque ripple of brushless DC motor square wave operation, including a zero-crossing acquisition module, an insertion module, a two-two conduction calculation module, and a three-three conduction calculation module, wherein:
所述过零点获取模块与霍尔位置传感器相连，用于获取霍尔传感器的过零点；所述***模块与所述过零点获取模块相连，用于根据霍尔传感器捕获的过零点确定二二导通计算模块的换相时序和***三三导通计算模块的时序；所述二二导通计算模块和所述三三导通计算模块分别与所述***模块相连，用于计算注入电流的大小，所述二二导通计算模块和三三导通计算模块通过BLDCM控制***与无刷直流电机相连，转换成PWM输出给BLDCM控制***，控制无刷直流电机运行。The zero-crossing acquisition module is connected with the Hall position sensor, and is used to acquire the zero-crossing point of the Hall sensor; the insertion module is connected with the zero-crossing acquisition module, and is used to determine the second guideline according to the zero-crossing point captured by the Hall sensor. The commutation sequence of the pass calculation module and the sequence of inserting the three-three conduction calculation module; the two-two conduction calculation module and the three-three conduction calculation module are respectively connected to the plug-in module for calculating the magnitude of the injected current , the two-two conduction calculation module and the three-three conduction calculation module are connected to the brushless DC motor through the BLDCM control system, and converted into PWM output to the BLDCM control system to control the operation of the brushless DC motor.
可选地，所述过零点获取模块与所述***模块确定二二导通计算模块换相时序的具体过程如下：Optionally, the specific process of the zero-crossing acquisition module and the insertion module determining the commutation timing of the two-to-two conduction calculation module is as follows:
当捕获到霍尔传感器A相上升沿过零点时，绕组通电相为A+、B-，导通功率开关为T1、T4，换相时序为30°；When the zero-crossing point of the rising edge of the hall sensor phase A is captured, the winding phase is A+, B-, the power switch is T1, T4, and the commutation sequence is 30°;
当捕获到霍尔传感器C相下降沿过零点时，绕组通电相为A+、C-，导通功率开关为T1、T6，换相时序为90°；When the zero-crossing point of the falling edge of the hall sensor C phase is captured, the winding phase is A+, C-, the power switch is T1, T6, and the commutation sequence is 90°;
当捕获到霍尔传感器B相上升沿过零点时，绕组通电相为B+、C-，导通功率开关为T3、T6，换相时序为150°；When the zero-crossing point of the rising edge of the hall sensor phase B is captured, the winding phase is B+, C-, the power switch is T3, T6, and the commutation sequence is 150°;
当捕获到霍尔传感器A相下降沿过零点时，绕组通电相为B+、A-，导通功率开关为T3、T2，换相时序为210°；When the zero-crossing point of the falling edge of the hall sensor phase A is captured, the winding phase is B+, A-, the power switch is T3, T2, and the commutation sequence is 210°;
当捕获到霍尔传感器C相上升沿过零点时，绕组通电相为C+、A-，导通功率开关为T5、T2，换相时序为270°；When the zero-crossing point of the rising edge of the Hall sensor phase C is captured, the winding phases are C+ and A-, the power switches are T5 and T2, and the commutation sequence is 270°;
当捕获到霍尔传感器B相下降沿过零点时，绕组通电相为C+、B-，导通功率开关为T5、T4，换相时序为330°。When the zero-crossing point of the falling edge of the Hall sensor B phase is captured, the winding phases are C+ and B-, the power switches are T5 and T4, and the commutation sequence is 330°.
可选地，所述过零点获取模块与所述***模块确定***三三导通计算模块时序的具体过程如下：Optionally, the specific process of the zero-crossing acquisition module and the insertion module determining the timing of inserting the three-three conduction calculation module is as follows:
确定***三三导通计算模块的时序为：0°、60°、120°、180°、240°、300°；Determine the timing of inserting the three-three conduction calculation module: 0°, 60°, 120°, 180°, 240°, 300°;
0°时，绕组通电相为A+、C+、B-，导通功率开关为T1、T5、T4；At 0°, the energized phases of the winding are A+, C+, and B-, and the conduction power switches are T1, T5, and T4;
60°时，绕组通电相为A+、B-、C-，导通功率开关为T1、T4、T6；At 60°, the energized phases of the winding are A+, B-, C-, and the conduction power switches are T1, T4, T6;
120°时，绕组通电相为A+、B+、C-，导通功率开关为T1、T3、T6；At 120°, the winding energized phases are A+, B+, C-, and the conduction power switches are T1, T3, T6;
180°时，绕组通电相为B+、C-、A-，导通功率开关为T3、T6、T2；At 180°, the energized phases of the winding are B+, C-, A-, and the conduction power switches are T3, T6, T2;
240°时，绕组通电相为B+、C+、A-，导通功率开关为T3、T5、T2，At 240°, the winding energized phases are B+, C+, A-, and the conduction power switches are T3, T5, T2,
300°时，绕组通电相为C+、A-、B-，导通功率开关为T5、T2、T4。At 300°, the winding phases are C+, A-, B-, and the power switches are T5, T2, T4.
可选地，所述二二导通计算模块与所述三三导通计算模块模块计算注入电流的计算原理如下：Optionally, the calculation principle of calculating the injection current by the two-two conduction calculation module and the three-three conduction calculation module is as follows:
假设二二导通计算模块时正相注入电流为I，计算得出合成矢量模长为
Figure PCTCN2022123757-appb-000001
同样假设三三导通计算模块时的流入中性点相电流为I，计算得出合成矢量模长为
Figure PCTCN2022123757-appb-000002
为使二二导通计算模块与三三导通计算模块时的合成矢量模长相等，将二二导通计算模块时的流入中性点相电流变为
Figure PCTCN2022123757-appb-000003
在调节电流相上施加调节后的PWM，调节后的PWM为原二二导通计算模块时的
Figure PCTCN2022123757-appb-000004
倍。 Assuming that the positive-phase injection current is I when the two-two conduction calculation module is calculated, the synthetic vector modulus length is calculated as
Figure PCTCN2022123757-appb-000001
It is also assumed that the phase current flowing into the neutral point when the three-three conduction calculation module is I, and the calculated composite vector modulus length is
Figure PCTCN2022123757-appb-000002
In order to make the synthetic vector modulus lengths of the two-two conduction calculation module and the three-three conduction calculation module equal, the phase current flowing into the neutral point when the two-two conduction calculation module is changed to
Figure PCTCN2022123757-appb-000003
The adjusted PWM is applied to the adjusted current phase, and the adjusted PWM is the original two-two conduction calculation module.
Figure PCTCN2022123757-appb-000004
times.
本发明与现有技术相比较，具有以下有益效果：Compared with the prior art, the present invention has the following beneficial effects:
1、采用二二导通计算模块与三三导通计算模块方式相结合的控制***，结合两种导通方式的电压矢量，得到12个扇区，降低了三三导通计算模块方式下的换相转矩脉动，从而可以有效降低了有位置传感器的无刷直流电机的运行噪声。1. Adopt the control system combining the two-two conduction calculation module and the three-three conduction calculation module, and combine the voltage vectors of the two conduction methods to obtain 12 sectors, which reduces the cost of the three-three conduction calculation module. The commutation torque ripple can effectively reduce the running noise of the brushless DC motor with the position sensor.
2、采用二二导通计算模块与三三导通计算模块方式相结合的控制***，结合两种导通方式的电压矢量，使得换相更为准确，不易导致过零点淹没，电机失步，从而可以更加适应无刷直流电机实际换相时的误差，进一步的降低脉动。2. Adopting the control system combining the two-two conduction calculation module and the three-three conduction calculation module, combined with the voltage vector of the two conduction methods, the commutation is more accurate, and it is not easy to cause zero-crossing submersion and motor out of step. Therefore, it can be more adapted to the error during the actual commutation of the brushless DC motor, and further reduce the pulsation.
附图说明Description of drawings
图1为减小无刷直流电机方波运行转矩脉动的控制***的***图；Fig. 1 is the system diagram of the control system that reduces the square wave running torque ripple of the brushless DC motor;
图2为减小无刷直流电机方波运行转矩脉动的控制***各个换相时序下A、B、C相的矢量关系图；Fig. 2 is a vector relationship diagram of A, B, and C phases under each commutation sequence of the control system for reducing the square wave operation torque ripple of the brushless DC motor;
图3为减小无刷直流电机方波运行转矩脉动的控制***的电压图；Fig. 3 is the voltage diagram of the control system that reduces the square wave running torque ripple of the brushless DC motor;
图4为减小无刷直流电机方波运行噪声的控制流程图。Fig. 4 is a control flow chart for reducing square-wave running noise of a brushless DC motor.
具体实施方式Detailed ways
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
实施例一Embodiment one
如图所示，本发明如图1所示，本发明提供了一种减小无刷直流电机方波运行转矩脉动的控制***，包括：过零点获取模块、***模块、二二导通计算模块、三三导通计算模块，其中：所述过零点获取模块与霍尔位置传感器相连，用于获取霍尔传感器的过零点；所述***模块与所述过零点获取模块相连，用于根据霍尔传感器捕获的过零点确定二二导通的换相时序和***三三导通的时序；所述二二导通计算模块和所述三三导通计算模块分别与所述***模块相连，用于计算注入电流的大小，二二导通计算模块和三三导通计算模块通过BLDCM控制***与无刷直流电机相连，转换成PWM输出给BLDCM控制***，控制无刷直流电机运行。As shown in the figure, the present invention is shown in Figure 1. The present invention provides a control system for reducing the torque ripple of the square wave operation of the brushless DC motor, including: a zero-crossing point acquisition module, an insertion module, and a two-two conduction calculation module, three-three conduction calculation module, wherein: the zero-crossing acquisition module is connected with the Hall position sensor for obtaining the zero-crossing of the Hall sensor; the insertion module is connected with the zero-crossing acquisition module for according to The zero-crossing point captured by the Hall sensor determines the commutation timing of two-two conduction and the timing of inserting three-three conduction; the two-two conduction calculation module and the three-three conduction calculation module are respectively connected to the insertion module, Used to calculate the size of the injected current, the two-two conduction calculation module and the three-three conduction calculation module are connected to the brushless DC motor through the BLDCM control system, and converted into PWM output to the BLDCM control system to control the operation of the brushless DC motor.
可选地，所述过零点获取模块与所述***模块确定二二导通换相时序的具体过程如下：Optionally, the specific process of determining the two-to-two conduction commutation sequence by the zero-crossing acquisition module and the insertion module is as follows:
当捕获到霍尔传感器A相上升沿过零点时，绕组通电相为A+、B-，导通功率开关为T1、T4，换相时序为30°；When the zero-crossing point of the rising edge of the hall sensor phase A is captured, the winding phase is A+, B-, the power switch is T1, T4, and the commutation sequence is 30°;
当捕获到霍尔传感器C相下降沿过零点时，绕组通电相为A+、C-，导通功率开关为T1、T6，换相时序为90°；When the zero-crossing point of the falling edge of the hall sensor C phase is captured, the winding phase is A+, C-, the power switch is T1, T6, and the commutation sequence is 90°;
当捕获到霍尔传感器B相上升沿过零点时，绕组通电相为B+、C-，导通功率开关为T3、T6，换相时序为150°；When the zero-crossing point of the rising edge of the hall sensor phase B is captured, the winding phase is B+, C-, the power switch is T3, T6, and the commutation sequence is 150°;
当捕获到霍尔传感器A相下降沿过零点时，绕组通电相为B+、A-，导通功率开关为T3、T2，换相时序为210°；When the zero-crossing point of the falling edge of the hall sensor phase A is captured, the winding phase is B+, A-, the power switch is T3, T2, and the commutation sequence is 210°;
当捕获到霍尔传感器C相上升沿过零点时，绕组通电相为C+、A-，导通功率开关为T5、T2，换相时序为270°；When the zero-crossing point of the rising edge of the Hall sensor phase C is captured, the winding phases are C+ and A-, the power switches are T5 and T2, and the commutation sequence is 270°;
当捕获到霍尔传感器B相下降沿过零点时，绕组通电相为C+、B-，导通功率开关为T5、T4，换相时序为330°。When the zero-crossing point of the falling edge of the Hall sensor B phase is captured, the winding phases are C+ and B-, the power switches are T5 and T4, and the commutation sequence is 330°.
可选地，所述过零点获取模块与所述***模块确定***三三导通时序的具体过程如下：Optionally, the specific process of the zero-crossing acquisition module and the insertion module determining the insertion three-three conduction sequence is as follows:
确定***三三导通的时序为：0°、60°、120°、180°、240°、300°；0°时，绕组通电相为A+、C+、B-，导通功率开关为T1、T5、T4；60°时，绕组通电相为A+、B-、C-，导通功率开关为T1、T4、T6；120°时，绕组通电相为A+、B+、C-，导通功率开关为T1、T3、T6；180°时，绕组通电相为B+、C-、A-，导通功率开关为T3、T6、T2；240°时，绕组通电相为B+、C+、A-，导通功率开关为T3、T5、T2，300°时，绕组通电相为C+、A-、B-，导通功率开关为T5、T2、T4。Determine the timing of inserting three-three conduction: 0°, 60°, 120°, 180°, 240°, 300°; at 0°, the winding phases are A+, C+, B-, and the power switches are T1, T5, T4; at 60°, the energized phase of the winding is A+, B-, C-, and the power switch is T1, T4, T6; at 120°, the energized phase of the winding is A+, B+, C-, and the power switch is turned on T1, T3, T6; at 180°, the energized phase of the winding is B+, C-, A-, and the conduction power switch is T3, T6, T2; at 240°, the energized phase of the winding is B+, C+, A-, the conduction When the power switches are T3, T5, T2, and 300°, the winding phases are C+, A-, B-, and the power switches are T5, T2, T4.
如图2所示本发明提供了新增换相点后各个换相时序下A、B、C相的矢量关系图，分别对应换相角度为0°、30°、60°、90°、120°、150°、180°、210°、240°、270°、300°、330°。二二导通时，假设流入中性点相电流为I，那么流出中性点相电流也为I，对应合成的矢量电流模 长为
Figure PCTCN2022123757-appb-000005
三三导通时，同样假设流入中性点相电流为I，那么流出中性点相电流均为
Figure PCTCN2022123757-appb-000006
合成后的矢量与流入中性点相电流重合，其实际模长为
Figure PCTCN2022123757-appb-000007
由于这两个矢量的模长不同，换相时会出现不必要的问题，所以需要控制三三导通时的输入电流，经计算，需要将三三导通时的流入中性点相电流变为
Figure PCTCN2022123757-appb-000008
最终，电压空间矢量的运动轨迹如图3所示。 As shown in Figure 2, the present invention provides the vector relationship diagrams of A, B, and C phases under each commutation sequence after the new commutation point, and the corresponding commutation angles are 0°, 30°, 60°, 90°, and 120° respectively. °, 150°, 180°, 210°, 240°, 270°, 300°, 330°. When two and two are turned on, assuming that the phase current flowing into the neutral point is I, then the phase current flowing out of the neutral point is also I, and the corresponding synthetic vector current modulus length is
Figure PCTCN2022123757-appb-000005
When three and three are turned on, it is also assumed that the phase current flowing into the neutral point is I, then the phase current flowing out of the neutral point is
Figure PCTCN2022123757-appb-000006
The synthesized vector coincides with the phase current flowing into the neutral point, and its actual modulus length is
Figure PCTCN2022123757-appb-000007
Because the modulus lengths of these two vectors are different, unnecessary problems will occur during commutation, so it is necessary to control the input current when the three-three is turned on. After calculation, it is necessary to change the phase current flowing into the neutral point when the three-three is turned on for
Figure PCTCN2022123757-appb-000008
Finally, the trajectory of the voltage space vector is shown in Figure 3.
实施例二Embodiment two
一种减小无刷直流电机方波运行噪声的控制方法，包括如下步骤：A control method for reducing square-wave running noise of a brushless DC motor, comprising the steps of:
步骤一、无刷直流电机运行时，获取霍尔传感器的过零点； Step 1. When the brushless DC motor is running, obtain the zero-crossing point of the Hall sensor;
步骤二：根据霍尔传感器捕获的过零点，确定二二导通的换相时序；Step 2: According to the zero-crossing point captured by the Hall sensor, determine the commutation timing of the two-two conduction;
步骤三：根据霍尔传感器捕获的过零点，确定***三三导通的时序；Step 3: According to the zero-crossing point captured by the Hall sensor, determine the timing of inserting the three-three conduction;
步骤四：根据步骤二中二二导通注入电流的大小，确定三三导通注入电流的大小；Step 4: Determine the size of the injection current for the third and third conduction according to the magnitude of the injection current for the second and second conduction in step 2;
步骤五：修正二二导通和三三导通下的注入电流；修正二二导通和三三导通下的注入电流后，再次判断两种导通方式下合成矢量模长是否相等，如果不相等，继续修正，直到两种导通方式下合成矢量模长相等，结束修正流程。Step 5: Correct the injection current under two-two conduction and three-three conduction; after correcting the injection current under two-two conduction and three-three conduction, judge again whether the resultant vector modulus length is equal under the two conduction modes, if If they are not equal, continue to correct until the resultant vector modulus length is equal in the two conduction modes, and the correction process ends.
对于本领域技术人员而言，显然本发明不限于上述示范性实施例的细节，而且在不背离本发明的精神或基本特征的情况下，能够以其他的具体形式实现本发明。因此，无论从哪一点来看，均应将实施例看作是示范性的，而且是非限制性的，本发明的范围由所附权利要求而不是上述说明限定，因此旨在将落在权利要求的等同要件的含义和范围内的所有变化囊括在本发明内。不应将权利要求中的任何附图标记视为限制所涉及的权利要求。It will be apparent to those skilled in the art that the invention is not limited to the details of the above-described exemplary embodiments, but that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Accordingly, the embodiments should be regarded in all points of view as exemplary and not restrictive, the scope of the invention being defined by the appended claims rather than the foregoing description, and it is therefore intended that the scope of the invention be defined by the appended claims rather than by the foregoing description. All changes within the meaning and range of equivalents of the elements are embraced in the present invention. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims (5)

  1. 一种减小无刷直流电机方波运行转矩脉动的控制***，包括无刷直流电机、BLDCM控制***和霍尔位置传感器，其特征在于：还包括过零点获取模块、***模块、二二导通计算模块、三三导通计算模块，所述过零点获取模块与霍尔位置传感器相连，用于获取霍尔传感器的过零点，所述***模块与过零点获取模块相连，用于根据霍尔传感器捕获的过零点确定二二导通计算模块的换相时序和***三三导通计算模块的时序，所述二二导通计算模块和三三导通计算模块分别与***模块相连，用于计算注入电流的大小，所述二二导通计算模块和三三导通计算模块通过BLDCM控制***与无刷直流电机相连，转换成PWM输出给BLDCM控制***，控制无刷直流电机运行。A control system for reducing the torque ripple of brushless DC motor in square wave operation, including brushless DC motor, BLDCM control system and Hall position sensor, characterized in that it also includes a zero-crossing point acquisition module, a plug-in module, two and two conductors through calculation module and three-three conduction calculation module, the zero-crossing acquisition module is connected with the Hall position sensor for obtaining the zero-crossing point of the Hall sensor, and the insertion module is connected with the zero-crossing acquisition module for The zero-crossing point captured by the sensor determines the commutation timing of the 22 conduction calculation module and the timing sequence of inserting the 33 conduction calculation module, and the 22 conduction calculation module and the 33 conduction calculation module are respectively connected to the insertion module for Calculate the size of the injected current, the two-two conduction calculation module and the three-three conduction calculation module are connected to the brushless DC motor through the BLDCM control system, and converted into PWM output to the BLDCM control system to control the operation of the brushless DC motor.
  2. 根据权利要求1所述的一种减小无刷直流电机方波运行转矩脉动的控制***，其特征在于：所述二二导通计算模块与所述三三导通计算模块模块计算注入电流的计算原理为：假设二二导通计算模块时正相注入电流为I，计算得出合成矢量模长为
    Figure PCTCN2022123757-appb-100001
    同样假设三三导通计算模块时的流入中性点相电流为I，计算得出合成矢量模长为
    Figure PCTCN2022123757-appb-100002
    为使二二导通计算模块与三三导通计算模块时的合成矢量模长相等，将三三导通计算模块时的流入中性点相电流变为
    Figure PCTCN2022123757-appb-100003
    在调节电流相上施加调节后的PWM，调节后的PWM为原三三导通计算模块时的
    Figure PCTCN2022123757-appb-100004
    倍。     A control system for reducing the torque ripple of brushless DC motor square wave operation according to claim 1, characterized in that: the two-two conduction calculation module and the three-three conduction calculation module calculate the injection current The calculation principle is: assuming that the positive-phase injection current is I when the two-two conduction calculation module is calculated, the synthetic vector modulus length is calculated as
    Figure PCTCN2022123757-appb-100001
    It is also assumed that the phase current flowing into the neutral point when the three-three conduction calculation module is I, and the calculated composite vector modulus length is
    Figure PCTCN2022123757-appb-100002
    In order to make the synthetic vector modulus lengths of the two-two conduction calculation module and the three-three conduction calculation module equal, the phase current flowing into the neutral point when the three-three conduction calculation module is changed to
    Figure PCTCN2022123757-appb-100003
    The adjusted PWM is applied to the adjusted current phase, and the adjusted PWM is the original three-three conduction calculation module.
    Figure PCTCN2022123757-appb-100004
    times.
  3. 根据权利要求2所述的一种减小无刷直流电机方波运行转矩脉动的控制***，其特征在于：所述过零点获取模块与***模块确定二二导通计算模块换相时序的具体过程如下：According to claim 2, a control system for reducing the torque ripple of brushless DC motor square wave operation, characterized in that: said zero-crossing point acquisition module and insertion module determine the specific timing of commutation sequence of two-two conduction calculation module The process is as follows:
    当捕获到霍尔传感器A相上升沿过零点时，绕组通电相为A+、B-，导通功率开关为T1、T4，换相时序为30°；When the zero-crossing point of the rising edge of the hall sensor phase A is captured, the winding phase is A+, B-, the power switch is T1, T4, and the commutation sequence is 30°;
    当捕获到霍尔传感器C相下降沿过零点时，绕组通电相为A+、C-，导通功率开关为T1、T6，换相时序为90°；When the zero-crossing point of the falling edge of the hall sensor C phase is captured, the winding phase is A+, C-, the power switch is T1, T6, and the commutation sequence is 90°;
    当捕获到霍尔传感器B相上升沿过零点时，绕组通电相为B+、C-，导通功率开关为T3、T6，换相时序为150°；When the zero-crossing point of the rising edge of the hall sensor phase B is captured, the winding phase is B+, C-, the power switch is T3, T6, and the commutation sequence is 150°;
    当捕获到霍尔传感器A相下降沿过零点时，绕组通电相为B+、A-，导通功率开关为T3、T2，换相时序为210°；When the zero-crossing point of the falling edge of the hall sensor phase A is captured, the winding phase is B+, A-, the power switch is T3, T2, and the commutation sequence is 210°;
    当捕获到霍尔传感器C相上升沿过零点时，绕组通电相为C+、A-，导通功率开关为T5、T2，换相时序为270°；When the zero-crossing point of the rising edge of the Hall sensor phase C is captured, the winding phases are C+ and A-, the power switches are T5 and T2, and the commutation sequence is 270°;
    当捕获到霍尔传感器B相下降沿过零点时，绕组通电相为C+、B-，导通功率开关为T5、T4，换相时序为330°。When the zero-crossing point of the falling edge of the Hall sensor B phase is captured, the winding phases are C+ and B-, the power switches are T5 and T4, and the commutation sequence is 330°.
  4. 根据权利要求3所述的一种减小无刷直流电机方波运行转矩脉动的控制***，其特征在于：所述过零点获取模块与***模块确定三三导通计算模块换相时序的具体过程如下：确定***三三导通计算模块的时序为：0°、60°、120°、180°、240°、300°。According to claim 3, a control system for reducing the torque ripple of brushless DC motor square wave operation, characterized in that: the zero-crossing acquisition module and the insertion module determine the specific time sequence of the commutation sequence of the three-three conduction calculation module The process is as follows: determine the timing of inserting the three-three conduction calculation module as: 0°, 60°, 120°, 180°, 240°, 300°.
  5. 根据权利要求4所述的一种减小无刷直流电机方波运行转矩脉动的控制***，其特征在于：A control system for reducing the torque ripple of brushless DC motor square wave operation according to claim 4, characterized in that:
    0°时，绕组通电相为A+、C+、B-，导通功率开关为T1、T5、T4；At 0°, the energized phases of the winding are A+, C+, and B-, and the conduction power switches are T1, T5, and T4;
    60°时，绕组通电相为A+、B-、C-，导通功率开关为T1、T4、T6；At 60°, the energized phases of the winding are A+, B-, C-, and the conduction power switches are T1, T4, T6;
    120°时，绕组通电相为A+、B+、C-，导通功率开关为T1、T3、T6；At 120°, the winding energized phases are A+, B+, C-, and the conduction power switches are T1, T3, T6;
    180°时，绕组通电相为B+、C-、A-，导通功率开关为T3、T6、T2；At 180°, the energized phases of the winding are B+, C-, A-, and the conduction power switches are T3, T6, T2;
    240°时，绕组通电相为B+、C+、A-，导通功率开关为T3、T5、T2，At 240°, the winding energized phases are B+, C+, A-, and the conduction power switches are T3, T5, T2,
    300°时，绕组通电相为C+、A-、B-，导通功率开关为T5、T2、T4。At 300°, the winding phases are C+, A-, B-, and the power switches are T5, T2, T4.
PCT/CN2022/123757 2021-11-04 2022-10-08 Control system for reducing square-wave-operating torque ripple of brushless direct-current motor WO2023078017A1 (en)

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