CN100428621C - Variable frequency control device of brushless DC motor - Google Patents
Variable frequency control device of brushless DC motor Download PDFInfo
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- CN100428621C CN100428621C CNB2006100008545A CN200610000854A CN100428621C CN 100428621 C CN100428621 C CN 100428621C CN B2006100008545 A CNB2006100008545 A CN B2006100008545A CN 200610000854 A CN200610000854 A CN 200610000854A CN 100428621 C CN100428621 C CN 100428621C
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Abstract
This invention discloses a frequency conversion control device of a brushless DC motor including: a test resistor with the resistor serial on a DC bus for getting the bus current test signal and outputting it, an intelligent conversion module including an inverter composed of large power electronic switch components receiving control of switch signals to alter the logic state of the switch controlled by the switch signal and invert DC bus voltage to three-phase drive current to drive rotation of the motor, a control unit used in receiving test signals output by the test resistor to compute and get three-phase input current of the motor based on said test signal and the switch logic state of the large power electronic switch components in the conversion module and to get the position of the rotor based on the current to generate said switch signal and output it based on the position and the expected rev of the motor.
Description
Technical field
The present invention relates to the converter technique field, relate in particular to the brushless direct-current frequency conversion control device of DC motor.
Background technology
About 5 one-tenth power consumption all is used for the driving of motor in the world, therefore improves the important method that motor drive efficiency becomes energy savings, and is significant for constructing economical society.
In the motor driven technology, common squirrel-cage alternating current motor has obtained to use widely owing to simple in structure.But the control performance of this motor is poor, is difficult to obtain required rotating speed and moment.For example, adopt common squirrel-cage to exchange the compressor of electrically driven (operated) air-conditioning and refrigerator, because uncontrollable motor speed, moment, so the refrigerating capacity during compressor operating is identical, can't regulate compressor cooling as required.Therefore, this kind compressor adopts method that motor works at interval to obtain suitable control temperature.Problems such as motor stops repeatedly, starts, and causes power consumption big, and temperature is non-constant, effect is very undesirable.
Owing to have the problems referred to above, at the very big development of variable-frequency control technique acquisition of squirrel-cage motor.This kind technology adopts change drive current frequency to keep the constant method of V/F simultaneously according to the characteristics of common squirrel-cage alternating current motor, realizes rotating speed control.But,, still can't accomplish accurate control because the armature supply and the exciting current of squirrel-cage alternating current motor are coupled.The variable-frequency control technique that is used for the squirrel-cage motor frequency control at present, vector control method are the most ripe.This method utilization modern control theory by the vector conversion, is untied the armature supply and the exciting current that are coupled in the alternating current machine, realizes the rotating speed control to motor.But this kind control mode still can't make alternating current motor reach the speed adjusting performance of DC motor, more can't accurately control motor torque.In addition, this control method also has defectives such as speed adjustable range is narrow.And, adopt the convertible frequency air-conditioner of this kind technology can't realize real infinitely variable speeds at present, and can only realize becoming the level speed governing.Change above-mentioned defective, have only not re-use the alternating current motor that essential defect is arranged on control performance, change into and use the good DC motor of control characteristic.
With respect to alternating current motor, the armature supply of DC motor and exciting current can separately be controlled, and are easy to obtain good speed adjusting performance and Torque Control characteristic.
For above-mentioned reasons, fields such as air-conditioning, refrigerator use the DC frequency-changing technology to begin gradually to popularize at present.In Japan, by 2003, the Japanese family more than 95% all used convertible frequency air-conditioner, more than 95% all was DC frequency converting air-conditioner wherein.In Europe, introduced convertible frequency air-conditioner since 1998, DC frequency-changing has occupied quite great proportion.Along with improving constantly of the relevant air conditioner energy saving standard in Europe in recent years, 2004, European convertible frequency air-conditioner occupation rate of market reached more than 50%, and wherein 90% is DC frequency converting air-conditioner.Present Chinese convertible frequency air-conditioner market enters convertible frequency air-conditioner comprehensively and regenerates the epoch, and DC frequency-changing becomes the primary factor that current Chinese Consumer's is selected air-conditioning rapidly, and market sales volume presents multiple and increases.
DC motor is divided into brush DC motor and brushless DC motor.The brush DC motor is arranged because brush is easily frayed, have problems such as difficult in maintenance, failure free time weak point.Therefore, brshless DC motor has obtained using widely.
Brushless DC motor adopts p-m rotor, there is not the rotor current consumption that exists in the ac three-phase asynchronous motor, have higher energy conversion efficiency, and have rotation steadily, distinguishing feature such as noise is low and motor size is little, be the best motor of present energy-saving effect.
The brush DC motor is different with having, and brushless DC motor does not have brush, and it is to rely on the detection rotor positional information to select correct commutation sequence, makes the stator of motor drive the rotor rotation all the time.
Generally speaking, adopt the detection of transducer realizations such as Hall element is installed to rotor-position on motor, still, for the brushless DC motor of this class sealing of compressor, position transducer is difficult to install.In this case, the no transducer control of brushless DC motor is widely adopted.
In the no transducer DC frequency-changing speed adjusting technique that uses, adopt the zero passage detection method to judge the position of rotor at present.This kind method is selected best change of current order by the zero crossing information and the commutation logic that detect not conducting opposite potential.Because the zero passage detection method can only detect some specific points, and along with motor speed changes on a large scale, the frequency conversion rate of back-emf also can change, the filtering device in the testing circuit can bring certain phase shift, and influence detects the accuracy of zero crossing; The reverse current effect of fly-wheel diode on the power device simultaneously also can bring certain influence to the detection of zero crossing under big current conditions; The more important thing is that this detection mode needs the not conducting of detected phase, therefore can only be used for 120 degree variable mode, and can't be used for the sinusoidal wave variable mode of 180 degree.Because the torque factor of compressor is according to sinusoidal variations, according to sinuso sine protractor it is carried out reinforcing and can make added power be used for Driven Compressor fully, realize the optimum efficiency of power conversion.Realize this requirement, must use the sinusoidal wave variable mode of 180 degree.So the method for the position of above-mentioned employing zero passage detection judgement rotor is spent variable mode owing to can only be used for 120, and makes its range of application be subjected to very big obstruction.
Summary of the invention
At above-mentioned defective, the technical problem that the present invention solves is, a kind of variable frequency control device of brushless DC motor is provided, and this device does not need motor to have not conducting phase to the detection of rotor-position, thereby can satisfy the needs of the sinusoidal wave frequency conversion of brushless DC motor 180 degree.
The frequency-converting control device of brushless DC motor provided by the invention comprises:
Detect resistance, this resistance string is associated on the dc bus, is used to obtain bus current detection signal and output;
Intelligent transducer module, this intelligent transducer module comprises the inverter of being made up of the high-power electronic switch device, the control of the switch control utmost point receiving key signal of described high-power electronic switch device, and under the control of described switching signal, changing the switching logic state, is the rotation of three-phase drive current drives brushless DC motor with the DC bus-bar voltage inversion;
Control unit, be used to receive the bus current detection signal of described detection resistance output, switching logic state according to high-power electronic switch device in this bus current detection signal and the described intelligent transducer module, calculate the three-phase input current that obtains brushless DC motor, calculate its rotor-position of acquisition according to the three-phase input current of this brushless DC motor, and produce the switching signal and the output of the high-power electronic switch device of control intelligent transducer module according to the motor speed of this rotor-position and expectation;
Described control unit comprises:
The current detecting analytic unit, be used to receive the bus current detection signal of described detection resistance output, according to the switching logic state of high-power electronic switch device in this bus current detection signal and the described intelligent transducer module, calculate the three-phase input current and the output that obtain brushless DC motor;
Calculation control unit, be used to receive the three-phase input current of the brushless DC motor of described current detecting analytic unit output, and to the expectation rotating speed of brushless DC motor, position according to the calculation of parameter motor rotor of described current value and brushless DC motor, and, produce the switching signal and the output of the high-power electronic switch device of control intelligent transducer module in conjunction with described expectation rotating speed.
Preferably, the bus current detection signal of described detection resistance output is the voltage drop at these resistance two ends, calculates according to the resistance of this voltage drop and detection resistance and obtains bus current.
Preferably, the bus current detection signal that described detection resistance obtains offers described intelligent transducer module, is used to realize overcurrent protection.
Preferably, the inverter of described intelligent transducer module comprises six high-power electronic switch devices, is respectively UP, UN, VP, VN, WP, WN; Wherein the anode of UP, VP, WP connects the positive pole of described dc bus, and negative electrode connects brushless DC motor power line U, V, W respectively; UN), the negative electrode of VN, WN connects the negative pole of dc bus, anode connects brushless DC motor power line U, V, W respectively.
Preferably, reverse parallel connection diode between the anode of described high-power electronic switch device and the negative electrode.
Preferably, the described bus current detection signal that described current detecting analytic unit receives is the voltage drop at described detection resistance two ends, and the resistance according to this voltage drop and detection resistance calculates bus current; The switching logic state of each bridge of inverter calculates the three-phase input current that obtains DC motor according to bus current and when detecting this bus current.
Preferably, described calculation control unit comprises:
3/2 modular converter, be used to receive described brushless DC motor three-phase input current Iu, Iv, Iw, and rotor angle, according to above-mentioned numerical value, by the conversion of three-phase, realize the electric current under u, v, w three phase coordinate systems is converted into the current value I of γ, δ two-phase rest frame to two-phase
γ, I
δ, and output;
The velocity location computing module is used for from the angular error value Δ θ of angular error computing module acquisition rotor, and calculates rotor angle and rotor feedback angular velocity omega and output according to this angular error value Δ θ;
The angular error computing module is used to receive the magnetic flux error delta λ of no transducer velocity error computing module output and γ, the δ coordinate system electric current I of described 3/2 modular converter output
γ, I
δWith the rotor feedback angular velocity omega of described velocity location computing module output, calculate and obtain angular error value Δ θ;
No transducer velocity error computing module, d, q coordinate system voltage Vd, the Vq of received current computing module output, and the γ of described 3/2 modular converter output, the electric current I of δ coordinate system
γ, I
δRotor feedback angular velocity omega with described velocity location computing module output obtains magnetic flux error delta λ output as calculated;
Rate control module is used to receive the feedback angular velocity omega of described velocity location computing module output, and to the expectation revolution speed calculating angular velocity omega of motor
*, obtain factored moment T as calculated
*Output;
The moment limiting module is used to receive the factored moment T that described rate control module is exported
*, and the feedback angular velocity omega of described velocity location computing module output, obtain d, q coordinate system electric current I d, Iq output as calculated;
The electric current computing module is used to receive d, q coordinate system electric current I d, the Iq that described moment limiting module is exported, and the γ of described 3/2 modular converter output, δ coordinate system electric current I
γ, I
δAnd the rotor feedback angular velocity omega of described velocity location computing module output, output d, q coordinate system voltage Vd, Vq;
2/3 modular converter, be used to receive d, the q coordinate system voltage of described electric current computing module output, and the rotor angle of described velocity location computing module output, be created in the switch controlling signal under u, v, w three phase coordinate systems, this switch controlling signal is exactly the switching signal of the high-power electronic switch device of described control intelligent transducer module.
Preferably, described high-power electronic switch device is an insulated gate bipolar transistor IGBT.
Frequency conversion control device of DC motor provided by the invention, utilize the inductance characteristic of DC motor, use one to detect resistance detection DC side busbar voltage, according to the on off state of each bridge of inverter in this voltage and the synchronization intelligent frequency-conversion unit, calculate the three-phase input current of brushless DC motor.According to this three-phase current, can be by calculating the rotor-position that obtains DC motor, the switching logic state of the inverter of intelligent transducer module is changed in due course, change the on off state of each bridge of inverter, obtain suitable rotating magnetic field, drive the rotation of DC motor.
Compared with prior art, control method provided by the invention does not need to detect not conducting to obtain rotor position information.Therefore, adopt this control method can realize 180 degree variable mode, this converter plant can make motor obtain more good speed adjusting performance and Torque Control characteristic.
Description of drawings
Fig. 1 is the circuit theory diagrams of first embodiment of the invention;
Fig. 2 is the sequential schematic diagram of the current detecting of first embodiment of the invention;
Fig. 3 is the composition frame chart of first embodiment of the invention calculation control unit 22.
Embodiment
Please, be the circuit theory diagrams of first embodiment of the invention referring to Fig. 1.
This circuit comprises intelligent frequency-conversion unit (IPM) 1; Control unit 2; Brushless DC motor 3; Detect resistance 4.
Described intelligent transducer module 1 mainly comprises the inverter that six high-power electronic switch devices are formed, and described six high-power electronic switch devices comprise UP, UN, VP, VN, WP, WN.Wherein, the anode that UP, VP, WP are a group connects the positive pole of dc bus, and negative electrode connects brushless DC motor three phase mains incoming line U, V, W; UN, VN, one group of negative electrode of WN connect the negative pole of dc bus, and anode connects motor power line U, V, W respectively.Between the anode of above-mentioned high-power electronic switch device and the negative electrode respectively reverse parallel connection diode is arranged, the effect of diode is to reverse current provides bypass, avoids described high-power electronic switch device breakdown.The control utmost point receiving key signal of described high-power electronic switch device is controlled the high and low on off state that can change described high-power electronic switch device of level of described switching signal.The effect of this intelligent transducer module 1 is dc bus current is converted into drive current, offers DC motor.This intelligent transducer module 1 also comprises current protection subelement 11, is used for the result according to current detecting, realizes overcurrent protection.The voltage of described dc bus can be by obtaining AC rectification.Described high-power electronic device can be an insulated gate bipolar transistor IGBT.
The key of control DC motor is, the necessary in good time commutation of carrying out drive current makes motor all obtain suitable drive current constantly at each, realizes normally rotation.This suitable drive current by control the utmost point increase, low level control signal, the on off state of described high-power electronic switch device is controlled acquisition.
In the motor rotary course, need clocklike switch the above-mentioned on off state of respectively organizing high-power electronic device, the state of each constantly individual high-power electronic switch device is called as a switching logic state.In fact control to brushless DC motor be exactly the switching logic state that obtains a series of in good time switchings.
The effect of described control unit 2 is to control the on off state of the high-power electronic switch device in the intelligent transducer module.Comprising current detecting analytic unit 21, and calculation control unit 22.These control unit 2 output switching signals are used for controlling the on off state of intelligent transducer module 1 high-power electronic device to described intelligent transducer module 1.
Wherein, the function of described current detecting analytic unit 21 is to receive the detection signal of described detection resistance 4 outputs, and calculates input current Iu, Iv, Iw and the output of this DC Brushless Motor U, V, W three-phase according to this detection signal.The principle of use detection signal calculating three-phase input current and method are seen below and are chatted.
Described calculation control unit 22 receives three-phase input current Iu, Iv, the Iw calculated value of described current detecting analytic unit 21 outputs, and calculates angular velocity omega
*Wherein, calculate angular velocity omega
*It is desired value to DC motor rotation speed.According to the position of the data computation motor rotors such as parameter of described three-phase input current calculated value and motor, and in conjunction with calculating angular velocity omega
*Produce switching signal, output to described intelligent transducer module 1.
Described detection resistance 4 is connected in the dc bus, is used to detect the bus current situation, and sends detection signal to described current protection subelement 11, and the current detecting analytic unit 21 in the control unit 2.Described detection signal is the voltage drop that detects the resistance two ends, just can obtain the electric current of dc bus according to the resistance of this voltage drop and detection resistance 4.This detection resistance 4 can be integrated in the described intelligent transducer module 1.
Realization is the key of DC Brushless Motor Control, obtains the rotor position information of DC Brushless Motor, and according to the control that commutates of this rotor position information.Obtaining described rotor position information in the present embodiment comprises the following steps:
As shown in Figure 1, described detection resistance 4 is series in the dc bus, and the electric current by this detection resistance 4 is dc bus current Idc.This bus current Idc produces voltage drop Udc by described detection resistance 4, and described detection information just is meant this voltage drop Udc.
After the described detection information of described current detecting analytic unit 21 receptions promptly detects the voltage drop Udc at resistance 4 two ends, with this voltage U dc digitlization, and according to the resistance calculating acquisition dc bus current Idc that detects resistance 4.
Please referring to Fig. 2.Fig. 2 represents the sequential principle of current detecting of the present invention.
Among Fig. 2, top is and the on off state of U, V, high-power electronic switch device that the W three-phase is relevant, and the middle part is dc bus current value (Idc), and the bottom is three-phase input current Iu, Iv, the Iw of DC Brushless Motor.
Because the carrier frequency of pulse width modulation (PWM) very high (8K Hz) in this invention scheme, and the load DC Brushless Motor is inductance characteristic, the current waveform of inverter AC side is substantially sine wave, and changes hardly in a carrier cycle.The waveform of Idc is that the inverter that the electric current of AC side is formed by the high-power electronic switch device of described intelligent transducer module 1 switches, in each switching logic state that the on off state of each high-power electronic switch device of inverter forms, can obtain the input current of brushless each phase of charge stream motor according to basic circuit gradation visit method.To be example 1., 2. constantly among Fig. 2, computational methods are described.
1. interval (UP, VP, WN: conducting), therefore: Idc 1.=-Iw
2. interval (UP, VN, WN: conducting), therefore: Idc 2.=Iu
Because motor is inductance characteristic, so electric current can not suddenly change, and is interval 1. very short with the interval time interval 2., can be considered as the current value of same time.Because the vector of Iu, Iv, Iw and be zero, that is: Iu+Iv+Iw=0
So Iu, Iv, Iw, can obtain simply according to following relation of plane:
Iu＝Idc②，Iv＝Idc①-Idc②，Iw＝-Idc①
Should emphasize, above-mentioned interval 1 and interval 2 current value is the supposition of the current value of same time, be to use to detect the key that resistance can calculate the three-phase input current value that obtains brushless DC motor among the present invention, this supposition can cause certain error, but in most of the cases can reach the control requirement.Above-mentioned supposition is applicable to the switching logic state that all are adjacent.
According to the three-phase input current of the brushless DC motor of above-mentioned acquisition, just can obtain the rotor position information of this motor, its principle is to utilize following formula:
ω＝-K
pΔθ-K
IΔθdt θ＝∫ωdt
In the above-mentioned formula, θ is a rotor angle, is rotor position information.The implication of each symbol and application in the above-mentioned formula specify in following steps 3.
Please referring to Fig. 3, this illustrates the composition frame chart of described calculation control unit 22.
Fig. 3 illustrates, and described calculation control unit 22 receives described three-phase input current Iu, Iv, the Iw that obtains by detection computations, switching signal Vup, Vvp, Vwp, Vun, Vvn, the Vwn of the high-power electronic switch device of the described intelligent control module of output control.
Described calculation control unit 22 is according to the current detecting situation to brushless DC motor, form with real-time feedback provides switching signal Vup, Vvp, Vwp, Vun, Vvn, Vwn to intelligent transducer module, this switching signal Vup, Vvp, Vwp, Vun, Vvn, Vwn are according to the change in location of motor rotor, change the energising situation and the current direction of each phase of motor stator, for rotor provides a magnetic field that drives it to the prescribed direction motion all the time, motor is constantly rotated.
As shown in Figure 3, this calculation control unit 22 comprises 3/2 modular converter 221, rate control module 222, moment limiting module 223, electric current computing module 224,2/3 converting unit 225, no transducer velocity error computing module 226, angular error computing module 227, velocity location computing module 228.
This calculation control unit 22 is utilized described three-phase input current Iu, Iv, Iw, realizes described control through three coordinate transforms.
Described three coordinate transforms comprise that three phase coordinate systems (u, v, w) are converted to two-phase rest frame (γ, δ), are converted into two-phase rotating coordinate system (d, q), are converted into three phase coordinate systems (u, v, w) from two-phase rotating coordinate system (d, q) from two-phase rest frame (γ, δ), through after the above-mentioned coordinate transform, be created in switch controlling signal Vup, Vvp, Vwp, Vun, Vvn, Vwn under three phase coordinate systems (u, v, w), offer described intelligent frequency-conversion unit 1.
Described 3/2 modular converter 221 is used to receive described brushless DC motor three-phase input current Iu, Iv, Iw, and rotor angle, according to above-mentioned numerical value, by the conversion of three-phase, realize the electric current under three phase coordinate systems (u, v, w) is converted into the current value I of two-phase rest frame (γ, δ) to two-phase
γ, I
δ, and output.Described rotor angle has certain value when starting, make 3/2 modular converter 221 can carry out Coordinate Conversion and calculate.After motor began rotation, this value was calculated according to the rotation situation of DC Brushless Motor and is obtained, and specifically was to obtain from described velocity location computing module 228, and its computational methods are seen below the explanation of chatting velocity location computing module 228.
Described velocity location computing module 228 obtains the angular error value Δ θ of rotors from described angular error computing module 227, and calculates rotor angle and rotor feedback angular velocity omega according to this angular error value Δ θ.Its computing formula is as follows:
ω＝-K
pΔθ-K
IΔθdt θ＝∫ωdt
In this formula: K
p, K
IBe constant.
The rotor angle that aforementioned calculation obtains has promptly obtained rotor position information, just can determine when to carry out the commutation of the inverter in the described intelligent frequency-conversion mould module 1, thereby obtain suitable rotating magnetic field, and motor rotor is rotated with stable rotating speed.
Described angular error computing module 227 receives the electric current I of magnetic flux error delta λ and (γ, δ) coordinate system that described 3/2 modular converter is exported of described no transducer velocity error computing module 226 outputs
γ, I
δWith the rotor feedback angular velocity omega of described velocity location computing module 228 outputs, output variable is angular error value Δ θ.This angular error value Δ θ is set at zero when motor start-up.Then press detected value behind the motor start-up and calculate acquisition, computing formula is as follows:
The implication of each symbol: φ in this formula
m: the rotor flux; i
γ: the γ shaft current; L
q: Q axle inductance; L
d: D axle inductance; P: differential operator; α: constant.
Described no transducer velocity error computing module (ACFO Observer) 226 receives (d, q) coordinate system voltage Vd, Vq that described electric current computing module 224 is exported, and the electric current I of (γ, δ) coordinate system of 3/2 modular converter, 221 outputs
γ, I
δRotor feedback angular velocity omega with 228 outputs of velocity location computing module obtains magnetic flux error delta λ output as calculated.
Described rate control module 222 receives the feedback angular velocity omega that described velocity location computing module 228 is exported, and the calculating angular velocity omega of input
*, obtain factored moment T as calculated
*Output.Described calculating angular speed is the rotating speed of wishing the motor rotation, and this rotating speed provides to this calculation control unit 22 as required, in concrete the application, can have other unit to provide this calculating angular velocity omega to described calculation control unit 22 as required
*, also can artificially set.This calculates angular velocity omega
*It is the expectation rotary speed of motor.
Described moment limiting module 223 receives the factored moment T that described rate control module 222 is exported
*, and the feedback angular velocity omega of described velocity location computing module 228 outputs, obtain (d, q) coordinate system electric current I d, Iq output as calculated.
Described electric current computing module 224 receives (d, q) coordinate system electric current I d, Iq that described moment limiting module 223 is exported, and (γ, δ) the coordinate system electric current I of 221 outputs of described 3/2 modular converter
γ, I
δAnd the rotor feedback angular velocity omega of described velocity location computing module 228 outputs, output variable is (d, q) coordinate system voltage (Vd, Vq).
Described 2/3 modular converter 225, receive (the d of described electric current computing module 224 outputs, q) coordinate system voltage, and the rotor angle of described velocity location computing module 228 outputs, be created in switch controlling signal Vup, Vvp, Vwp, Vun, Vvn, Vwn under three phase coordinate systems (u, v, w).Above-mentioned switch controlling signal is added on the switch control terminal of the high-power electronic device in the described intelligent transducer module 1, the break-make of control high-power electronic device.The variation of the on off state of described high-power electronic device forms the migration of the switching logic state of inverter.Bus current is added on the described DC motor three-phase power line by above-mentioned inverter, produces the rotating magnetic field that is suitable for motor speed on stator, drives the rotor rotation.
Each module of aforementioned calculation control unit 22 forms a closed loop feedback.According to the DC motor three-phase input current Iu that is received, the calculated value of Iv, Iw, and the rotating speed that obtains in conjunction with the expectation to DC motor promptly calculates angular velocity omega
*,, finally control motor and obtain required rotating speed through calculating switching signal Vup, Vvp, Vwp, Vun, Vvn, the Vwn that obtains the high-power electronic switch device of intelligent frequency-conversion unit 1 inverter.The computing formula that above-mentioned each module relates to all can obtain under existing known technology.
The above only is a preferred implementation of the present invention; should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the principle of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (8)
1, a kind of frequency-converting control device of brushless DC motor is characterized in that, comprising:
Detect resistance, this resistance string is associated on the dc bus, is used to obtain bus current detection signal and output;
Intelligent transducer module, this intelligent transducer module comprises the inverter of being made up of the high-power electronic switch device, the control of the switch control utmost point receiving key signal of described high-power electronic switch device, and under the control of described switching signal, changing the switching logic state, is the rotation of three-phase drive current drives brushless DC motor with the DC bus-bar voltage inversion;
Control unit, be used to receive the bus current detection signal of described detection resistance output, switching logic state according to high-power electronic switch device in this bus current detection signal and the described intelligent transducer module, calculate the three-phase input current that obtains brushless DC motor, calculate its rotor-position of acquisition according to the three-phase input current of this brushless DC motor, and produce the switching signal and the output of the high-power electronic switch device of control intelligent transducer module according to the motor speed of this rotor-position and expectation;
Described control unit comprises:
The current detecting analytic unit, be used to receive the bus current detection signal of described detection resistance output, according to the switching logic state of high-power electronic switch device in this bus current detection signal and the described intelligent transducer module, calculate the three-phase input current and the output that obtain brushless DC motor;
Calculation control unit, be used to receive the three-phase input current of the brushless DC motor of described current detecting analytic unit output, and to the expectation rotating speed of brushless DC motor, position according to the calculation of parameter motor rotor of described current value and brushless DC motor, and, produce the switching signal and the output of the high-power electronic switch device of control intelligent transducer module in conjunction with described expectation rotating speed.
2, frequency-converting control device according to claim 1 is characterized in that, the bus current detection signal of described detection resistance output is the voltage drop at these resistance two ends, calculates according to the resistance of this voltage drop and detection resistance and obtains bus current.
3, frequency-converting control device according to claim 1 is characterized in that, the bus current detection signal that described detection resistance obtains offers described intelligent transducer module, is used to realize overcurrent protection.
4, frequency-converting control device according to claim 1 is characterized in that, the inverter of described intelligent transducer module comprises six high-power electronic switch devices, is respectively UP, UN, VP, VN, WP, WN; Wherein the anode of UP, VP, WP connects the positive pole of described dc bus, and negative electrode connects brushless DC motor power line U, V, W respectively; The negative electrode of UN, VN, WN connects the negative pole of dc bus, and anode connects brushless DC motor power line U, V, W respectively.
5, frequency-converting control device according to claim 4 is characterized in that, reverse parallel connection diode between the anode of described high-power electronic switch device and the negative electrode.
6, frequency-converting control device according to claim 1, it is characterized in that, the described bus current detection signal that described current detecting analytic unit receives is the voltage drop at described detection resistance two ends, and the resistance according to this voltage drop and detection resistance calculates bus current; The switching logic state of each bridge of inverter calculates the three-phase input current that obtains DC motor according to bus current and when detecting this bus current.
7, frequency-converting control device according to claim 1 is characterized in that, described calculation control unit comprises:
3/2 modular converter, be used to receive described brushless DC motor three-phase input current Iu, Iv, Iw, and rotor angle, according to above-mentioned numerical value, by the conversion of three-phase, realize the electric current under u, v, w three phase coordinate systems is converted into the current value I of γ, δ two-phase rest frame to two-phase
γ, I
δ, and output;
The velocity location computing module is used for from the angular error value Δ θ of angular error computing module acquisition rotor, and calculates rotor angle and rotor feedback angular velocity omega and output according to this angular error value Δ θ;
The angular error computing module is used to receive the magnetic flux error delta λ of no transducer velocity error computing module output and γ, the δ coordinate system electric current I of described 3/2 modular converter output
γ, I
δWith the rotor feedback angular velocity omega of described velocity location computing module output, calculate and obtain angular error value Δ θ;
No transducer velocity error computing module, d, q coordinate system voltage Vd, the Vq of received current computing module output, and the γ of described 3/2 modular converter output, the electric current I of δ coordinate system
γ, I
δRotor feedback angular velocity omega with described velocity location computing module output obtains magnetic flux error delta λ output as calculated;
Rate control module is used to receive the feedback angular velocity omega of described velocity location computing module output, and to the expectation revolution speed calculating angular velocity omega of motor
*, obtain factored moment T as calculated
*Output;
The moment limiting module is used to receive the factored moment T that described rate control module is exported
*, and the feedback angular velocity omega of described velocity location computing module output, obtain d, q coordinate system electric current I d, Iq output as calculated;
The electric current computing module is used to receive d, q coordinate system electric current I d, the Iq that described moment limiting module is exported, and the γ of described 3/2 modular converter output, δ coordinate system electric current I
γ, I
δAnd the rotor feedback angular velocity omega of described velocity location computing module output, output d, q coordinate system voltage Vd, Vq;
2/3 modular converter, be used to receive d, the q coordinate system voltage of described electric current computing module output, and the rotor angle of described velocity location computing module output, be created in the switch controlling signal under u, v, w three phase coordinate systems, this switch controlling signal is exactly the switching signal of the high-power electronic switch device of described control intelligent transducer module.
According to each described frequency-converting control device of claim 1 to 7, it is characterized in that 8, described high-power electronic switch device is an insulated gate bipolar transistor IGBT.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100008545A CN100428621C (en) | 2006-01-13 | 2006-01-13 | Variable frequency control device of brushless DC motor |
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| CNB2006100008545A CN100428621C (en) | 2006-01-13 | 2006-01-13 | Variable frequency control device of brushless DC motor |
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| CN100428621C true CN100428621C (en) | 2008-10-22 |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP4301341B2 (en) * | 2007-11-16 | 2009-07-22 | ダイキン工業株式会社 | Motor current calculation device and air conditioner |
| JP4412392B2 (en) * | 2007-11-16 | 2010-02-10 | ダイキン工業株式会社 | Motor current detector and air conditioner |
| CN101917157B (en) * | 2010-07-29 | 2012-05-23 | 东元总合科技（杭州）有限公司 | Method for reconstructing phase current of electromotor |
| CN102142802B (en) * | 2011-03-22 | 2013-03-20 | 北京航天控制仪器研究所 | Servo driving system of linear direct-current brushless motor |
| FR3025890B1 (en) * | 2014-09-17 | 2018-02-16 | Valeo Equipements Electriques Moteur | METHOD AND DEVICE FOR DIAGNOSING STATIC CURRENT SENSOR FAULTS OF A DRIVING SYSTEM OF A SYNCHRONOUS MOTOR VEHICLE ROTARY ELECTRIC MACHINE |
| CN104393801B (en) * | 2014-11-24 | 2017-07-14 | 苏州科爱佳自动化科技有限公司 | A kind of brshless DC motor arrangements for speed regulation and speed regulating method |
| CN108134551A (en) * | 2017-12-21 | 2018-06-08 | 青岛海信日立空调系统有限公司 | A kind of fan drive circuit, air conditioner indoor unit and air-conditioning |
| CN113422557B (en) * | 2021-06-29 | 2023-09-29 | 四川航天烽火伺服控制技术有限公司 | Motor control circuit and electric steering engine system |
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| JP2000227074A (en) * | 1999-02-04 | 2000-08-15 | Matsushita Electric Ind Co Ltd | Drive control method and device for compressor |
| US20020037163A1 (en) * | 2000-09-26 | 2002-03-28 | Clark Bret S. | BLDC motor noise reduction using constant bus current control communication |
| CN1492574A (en) * | 2002-10-01 | 2004-04-28 | 松下电器产业株式会社 | Motor driver and its driving control system |
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| JP2000227074A (en) * | 1999-02-04 | 2000-08-15 | Matsushita Electric Ind Co Ltd | Drive control method and device for compressor |
| US20020037163A1 (en) * | 2000-09-26 | 2002-03-28 | Clark Bret S. | BLDC motor noise reduction using constant bus current control communication |
| CN1492574A (en) * | 2002-10-01 | 2004-04-28 | 松下电器产业株式会社 | Motor driver and its driving control system |
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