CN101227163B - Control system and control method of brushless DC motor - Google Patents
Control system and control method of brushless DC motor Download PDFInfo
- Publication number
- CN101227163B CN101227163B CN2007100729702A CN200710072970A CN101227163B CN 101227163 B CN101227163 B CN 101227163B CN 2007100729702 A CN2007100729702 A CN 2007100729702A CN 200710072970 A CN200710072970 A CN 200710072970A CN 101227163 B CN101227163 B CN 101227163B
- Authority
- CN
- China
- Prior art keywords
- switching tube
- brachium pontis
- motor
- output
- current
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000005070 sampling Methods 0.000 claims abstract description 90
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 27
- 230000002459 sustained effect Effects 0.000 claims description 23
- 230000008859 change Effects 0.000 claims description 18
- 230000004907 flux Effects 0.000 claims description 8
- 238000004088 simulation Methods 0.000 claims description 4
- 230000009466 transformation Effects 0.000 claims description 4
- 230000003068 static effect Effects 0.000 abstract description 3
- 230000001276 controlling effect Effects 0.000 abstract 3
- 230000001105 regulatory effect Effects 0.000 abstract 1
- 238000004804 winding Methods 0.000 description 15
- 238000010586 diagram Methods 0.000 description 13
- 230000000694 effects Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 230000002093 peripheral effect Effects 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 241000196324 Embryophyta Species 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000002463 transducing effect Effects 0.000 description 2
- 240000000233 Melia azedarach Species 0.000 description 1
- 101100293261 Mus musculus Naa15 gene Proteins 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Images
Landscapes
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention relates to the controlling technique of a three-phase direct current motor, which aims at solving the problem that the existing technique can not realize good electric current closed-loop control of a three-phase square-wave brushless direct current motor. The invention provides a novel proposal for realizing electric current closed-loop control of the square-wave brushless permanent magnet direct current motor, particularly comprises a brushless direct current motor controlling system, a controlling method and a corresponding inversing module. The cathodes of freewheeling diodes D1, D3, D5 are independent from each input end of self switch pipe and mutually connected in parallel to a sampling coil L2, and/or the anodes of freewheeling diodes D4, D6, D2 are independent from each output end of a self switch pipe and mutually connected in parallel to a sampling coil L3. The invention can adopt a single resultant current sensing device to completely continuously take sample of three-phase electric current when the motor is conducted and freewheeled, and continuous closed-loop control can be carried out to three-phase electric current by a single electric current closed-loop regulating device, therefore, dynamic and static indexes of the motor are greatly increased.
Description
Technical field
The present invention relates to the control technology of three-phase dc motor, more particularly, relate to the inversion module that is used to control brushless DC motor, the X in brushless DC motor control system that uses this inversion module and at the control method of this system; The solution of the present invention is specially adapted to the SERVO CONTROL to the three-phase square wave brushless permanent-magnet DC.
Background technology
The square wave brushless permanent-magnet DC is a kind of special brshless DC motor, and its phase current and air-gap field are approximately square wave or trapezoidal wave.For the brushless direct-current permanent magnet motor of three-phase six state-driven, the forward conduction angle of its each phase winding is 120 °, stops 60 °, and then 120 ° of reverse-conductings, stops 60 ° again, so circulation.Wherein, the electric current of each phase winding is discontinuous, and the discontinuous characteristic of this electric current makes current closed-loop control become very difficult, therefore, in traditional square wave brushless direct-current permanent magnet motor control system, seldom adopts current closed-loop control.
In the prior art,, adopt the phase current instantaneous value to realize current closed-loop control usually for the three-phase square wave brushless DC motor.This scheme needs three independently current sensor and three current regulators independently, causes its control circuit burden, complexity, and adjusts difficulty, poor reliability, so in the industry cycle seldom be used.The scheme that adopts the brachium pontis current instantaneous value to realize current closed-loop control is also arranged in the prior art, but this current sample scheme has been ignored the afterflow effect of motor winding inductance, it is a kind of approximate current sampling, because circulation in freewheel current forms in inverter circuit and motor winding, so can't on brachium pontis (bus), obtain sampling, also just accurately feedback flow and then can't realize the accurate control of torque through the motor winding and produce the real current of torque; As seen, this scheme can produce flagrant big value deviation, uses so only be used for the monitoring of current limit value at present.
On the other hand, in the high-performance servo-control system, current closed-loop, speed closed loop and position closed loop control all are absolutely necessary usually.And fail in the prior art to realize good current closed-loop control at the three-phase square wave brushless DC motor, so in existing high-performance servo-control system, usually do not adopt the square wave brushless permanent-magnet DC, but adopt AC servomotor or sinusoidal wave brushless permanent-magnet DC, consequently the control system complexity significantly increases, and whole cost is high.
Summary of the invention
At the above-mentioned defective of prior art, the present invention will solve and fail in the prior art to realize the problem that good current closed-loop is controlled at the three-phase square wave brushless DC motor, makes the square wave brushless permanent-magnet DC can obtain better application.
In order to solve the problems of the technologies described above, the present invention at first provides a kind of inversion module that is used to control brushless DC motor, comprise switching tube Q1, the Q3, the Q5 that are connected with last brachium pontis, switching tube Q4, the Q6, the Q2 that are connected with following brachium pontis, the sustained diode 1, D2, D3, D4, D5 and the D6 that cooperate with described each switching tube; Wherein, the negative electrode of the sustained diode 1 of described switching tube Q1, Q3, Q5, D3, D5 is independent of the input of switching tube separately and parallel with one another; The sustained diode 4 of described switching tube Q4, Q6, Q2, the anode of D6, D2 are independent of output end of switching tube and parallel with one another separately.
Among the present invention, the above-mentioned inversion module that is used to control brushless DC motor can be made integrated circuit (IC) chip.During concrete enforcement, also can be only the negative electrode of going up sustained diode 1, D3, the D5 of brachium pontis be independent of the input of switching tube separately and parallel with one another, forms second kind of inversion module that is used to control brushless DC motor; Perhaps only will descend the sustained diode 4 of brachium pontis, the anode of D6, D2 to be independent of output end of switching tube and parallel with one another separately, form the inversion module that the third is used to control brushless DC motor.
On the other hand, corresponding to above-mentioned first kind of inversion module that is used to control brushless DC motor, the invention provides a kind of X in brushless DC motor control system, comprise the inverter circuit that is used for to described threephase motor output power supply, and the current sensor that is used to detect described threephase motor operating current; Comprise switching tube Q1, the Q3, the Q5 that are connected with last brachium pontis in the described inverter circuit, switching tube Q4, the Q6, the Q2 that are connected with following brachium pontis, the sustained diode 1, D2, D3, D4, D5 and the D6 that cooperate with described each switching tube; Wherein, comprise three sampling coil L1, L2, L3 that the number of turn is identical in the described current sensor, the three is wound on the same iron core, also is equipped with one according to the flux change of this iron core and output current sensing result's sensing element on described iron core; The sustained diode 1 of described switching tube Q1, Q3, Q5, the negative electrode of D3, D5 are independent of the input and the end of the same name to described sampling coil L2 parallel with one another of switching tube separately, and the different name end of described sampling coil L2 is connected with the described brachium pontis of going up; The sustained diode 4 of described switching tube Q4, Q6, Q2, the anode of D6, D2 are independent of output end of switching tube and the different name end to described sampling coil L3 parallel with one another separately, and the end of the same name of described sampling coil L3 is connected with described brachium pontis down; Described sampling coil L1 is serially connected with and describedly goes up in the brachium pontis and its end of the same name is connected with dc power anode, or is serially connected with in described time brachium pontis and its different name end is connected with dc power cathode.
Among the present invention,, two sampling coil L1, L2 can only be set, omit sampling coil L3, obtain second kind of control system scheme corresponding to above-mentioned second kind of inversion module that is used to control brushless DC motor; Corresponding to above-mentioned second kind of inversion module that is used to control brushless DC motor, two sampling coil L1, L3 can only be set, omit sampling coil L2, obtain the third control system scheme.
In the X in brushless DC motor control of the present invention system, the described sensing element that is used for output current sensing result is a linear hall element.
In the X in brushless DC motor control of the present invention system, the output voltage amplitude of described linear hall element is delivered to current regulator as current feedback signal, pulse-width modulation circuit is delivered in the output of described current regulator, the phase change logic circuit is delivered in the output of described pulse-width modulation circuit, predrive circuit is delivered in the output of described phase change logic circuit again, and described predrive circuit is each control end of switching tube output corresponding driving pulse signal in described inverter circuit again; Described inverter circuit under the control of described drive pulse signal to the threephase motor output power supply.
In the X in brushless DC motor control of the present invention system, also comprise the position transducer in the rotating shaft that is loaded on described DC motor, its output signal is delivered to the location/velocity interface circuit, described location/velocity interface circuit is to speed regulator output speed feedback voltage, to position control outgoing position feedback voltage, and to described phase change logic circuit output commutation position signal and motor drive direction signal; Described position control is according to given voltage in position and described position feedback voltage, to the given signal of described speed regulator output speed; Described speed regulator is according to described velocity setting signal and speed feedback voltage, to the given signal of described current regulator output current; Described current regulator is according to the given signal of described electric current with from the current feedback signal of described linear hall element, to described pulse-width modulation circuit output control signal corresponding; Described phase change logic circuit is exported the control corresponding pulse according to from the pulse signal of described pulse-width modulation circuit and the commutation position signal and the motor drive direction signal of described location/velocity interface circuit to described predrive circuit.
In the X in brushless DC motor control of the present invention system, described three-phase square wave brushless permanent-magnet DC also can be that stator does not have iron core straight line three-phase square wave brushless permanent-magnet DC, or stator does not have the rotary three-phase square wave brushless permanent-magnet DC of iron core.
On the other hand, at above-mentioned first kind of control system scheme, the present invention also provides the control method of a kind of X in brushless DC motor control system, it is characterized in that, in each inverse transformation in logic simulation cycle, the maximum conduction angle of each switching tube is 120 °, in the turn-on cycle of arbitrary group of switching tube:
Separately the switching tube that is connected with last brachium pontis is carried out pulse-width modulation,
Perhaps, separately the switching tube that is connected with following brachium pontis is carried out pulse-width modulation,
Perhaps, the switching tube that is connected with last brachium pontis is carried out pulse-width modulation respectively with the switching tube that is connected with following brachium pontis.
At above-mentioned second kind of control system scheme,, there is not sampling coil L3, so only can carry out pulse-width modulation to the switching tube that is connected with following brachium pontis separately owing to have only sampling coil L1, L2.
At above-mentioned the third control system scheme,, there is not sampling coil L2, so only can carry out pulse-width modulation to the switching tube that is connected with last brachium pontis separately owing to have only sampling coil L1, L3.
From technique scheme as can be seen, the invention solves the problem that realizes good current closed-loop control at the three-phase square wave brushless DC motor, wherein traditional inverter circuit has been done suitable improvement, and the three-phase current when adopting a resultant current transducer to described motor conducting and afterflow carries out complete, continuous sampling, thereby can carry out continuous closed-loop control to the three-phase current of described motor by the single current closed-loop regulator.The solution of the present invention can significantly improve the dynamic and static index of described motor, three-phase square wave brushless permanent-magnet DC servo-control system of the present invention can be used for multiple digital control system, for example Digit Control Machine Tool, automatic production line, robot contour performance SERVO CONTROL occasion have that cost is low, the energy index advantages of higher.
Description of drawings
The invention will be further described below in conjunction with drawings and Examples, in the accompanying drawing:
Fig. 1 is the theory diagram of the servo-control system of the three-phase square wave brushless permanent-magnet DC in a preferred embodiment of the invention;
Fig. 2 is the structural representation of the current sensor in a preferred embodiment of the invention;
Fig. 3 is the schematic diagram of first kind of inverter circuit embodiment of the present invention;
Fig. 4 is the schematic diagram of second kind of inverter circuit embodiment of the present invention;
Fig. 5 is the schematic diagram of the third inverter circuit embodiment of the present invention;
Working state schematic representation when Fig. 6 is switching tube Q1, Q6 conducting among Fig. 3;
Fig. 7 A is the timing chart when the last brachium pontis switching tube Q1 among Fig. 6 is carried out the PWM modulation;
Fig. 7 B is the instantaneous shutoff of switching tube Q1, the working state schematic representation when Q6 keeps conducting among Fig. 6;
Fig. 7 C is the timing chart when the following brachium pontis switching tube Q6 among Fig. 6 is carried out the PWM modulation;
Fig. 7 D is the instantaneous shutoff of switching tube Q6, the working state schematic representation when Q1 keeps conducting among Fig. 6;
Fig. 7 E is the timing chart when switching tube Q1, Q6 among Fig. 6 are carried out the PWM modulation;
Fig. 7 F is that switching tube Q1, the Q6 among Fig. 6 closes the working state schematic representation of having no progeny simultaneously;
Fig. 8 is the waveform schematic diagram when going up brachium pontis in the inverter circuit scheme shown in Figure 3 and carry out the PWM modulation only;
Fig. 9 is the waveform schematic diagram when only in the inverter circuit scheme shown in Figure 3 time brachium pontis being carried out the PWM modulation;
Figure 10 is the waveform schematic diagram when simultaneously upper and lower brachium pontis in the inverter circuit scheme shown in Figure 3 being carried out the PWM modulation;
Figure 11 is the theory diagram of the Positioning Servo System of the three-phase square wave brushless permanent-magnet DC in a preferred embodiment of the invention;
Figure 12 is the step response waveform of servo-control system shown in Figure 11;
Figure 13 is the theory diagram of the three-phase square wave brushless permanent-magnet DC Torque Servo Control System in a preferred embodiment of the invention;
Figure 14 is the moment schematic diagram of system shown in Figure 13;
Figure 15, Figure 16, Figure 17 are respectively the circuit diagrams of the inversion module that draws from Fig. 3, Fig. 4, Fig. 5.
Embodiment
In a preferred embodiment of the present invention, provide a kind of servo-control system of three-phase square wave brushless permanent-magnet DC, its principle as shown in Figure 1.As can be seen from the figure, comprise three-phase bridge inverter circuit 101 in this control system, the current sensor 102 that is connected with inverter bridge, the current converter 112 that the transducing signal of current sensor is changed, the current regulator 108 of Lian Jieing, PWM modulation circuit 103 and predrive circuit 107 successively.Wherein, three-phase bridge inverter circuit 101 is to three-phase square wave brushless permanent-magnet DC 105 output power supplies.Current converter is by linear hall element 106 output transducing signals.
As shown in Figure 2, in a preferred embodiment of the present invention, described current sensor comprises three sampling coil L1, L2, L3 that the number of turn is identical, the three is wound on the same iron core 201, also be equipped with one according to the flux change of this iron core and output current sensing result's sensing element on this iron core, it is a linear hall element 202.Among the figure with asterisk (*) for each the sampling coil end of the same name, as seen, three the sampling coil by equidirectional on this iron core, therefore, the linear hall element in this current sensor is detected be three the sampling coils in electric current vector with.
Wherein, the operating temperature range of linear hall element is-45 °～+ 125 °.The output meeting of linear hall element with the vector of electric current in three sampling coils and variation center on central value and make linear change.When the vector of electric current in three sampling coils with when being zero, linear hall element 202 is output as 1/2 of its applied voltage; When the vector of electric current with greater than zero the time, the output of linear hall element is linear to be increased; When the vector of electric current with less than zero the time, the output linearity of linear hall element reduces.By the description of back as can be known, this reacting condition the size and Orientation of real current of brushless motor, so the present invention is effective for the current detecting in the four quadrant running of brushless motor.
As shown in Figure 3, in a preferred embodiment of the present invention, comprise switching tube Q1, the Q3, the Q5 that are connected with last brachium pontis in the described inverter circuit, switching tube Q4, the Q6, the Q2 that are connected with following brachium pontis, the sustained diode 1, D2, D3, D4, D5 and the D6 that cooperate with each switching tube.
As can be seen from Figure 3, the sustained diode 1 of switching tube Q1, Q3, Q5, the negative electrode of D3, D5 are independent of the input of switching tube separately and parallel with one another, are connected with last brachium pontis through the end of the same name of sampling coil L2, different name end again; The sustained diode 4 of switching tube Q4, Q6, Q2, the anode of D6, D2 then are independent of output end of switching tube and parallel with one another separately, are connected with following brachium pontis through the different name end of sampling coil L3, end of the same name again; Sampling coil L1 then is serially connected with on the brachium pontis its termination power positive pole of the same name.As seen, each sampling coil is wound on the iron core on the one hand, inserts in the inverter circuit again on the other hand.Wherein, the inductance value of sampling coil L1, L2, L3 is very little with respect to the motor winding, and the afterflow effect of its coil inductance can be ignored.
As can be seen, at sampling coil L1, L2, L3, during operate as normal, arbitrary moment electric current only flows through one of them sampling coil, and all is to advance from end of the same name in the description from behind, and different name brings out.In conjunction with connected mode shown in Figure 2, can guarantee iron core, to produce the magnetic flux of equidirectional again from the electric current that the end of the same name of each sampling coil L1, L2, L3 flows into.During concrete enforcement, sampling coil L1, L2, the L3 revert all of Fig. 3 can be connected end promptly of the same name and the transposing of different name end; Or the coil L1 that will sample is serially connected with down brachium pontis after oppositely, and sample coil L2, L3 then remain unchanged; These two kinds of mapping modes all can guarantee to produce iron core from the electric current that the end of the same name of each sampling coil L1, L2, L3 flows into the magnetic flux of equidirectional, finally guarantee linear hall element in the current sensor detected be electric current in three sampling coils vector with.
(1) electric current only flows through the situation of sampling coil L1
In Fig. 3, in last brachium pontis switching tube Q1, Q3, Q5 and following brachium pontis switching tube Q4, Q6, Q2, during any one group of switching tube conducting, electric current is only by sampling coil L1, other sampling coils of can not flowing through; Normal condition, this electric current is proportional to the moment of motor; Under the improper situation, when for example Q1 and Q4 were straight-through, this through current also can be sampled coil L1 and detect, and then can realize restriction or protection.
During operate as normal, the brachium pontis switching tube adds that one is not had direct-connected brachium pontis switching tube down with it, constitutes a conducting group on any.For inverter circuit shown in Figure 3, when switching tube Q1, Q6 conducting, its sense of current is shown in the real thick line among Fig. 6, at this moment, current i 1 enters from the end of the same name of sampling coil L1, flows through switching tube Q1, motor a phase winding, motor b phase winding, switching tube Q6 more successively.As seen, Ci Shi electric current only flows through sampling coil L1.Equally, when Q1 and Q2 conducting, Q3 and Q4 conducting, Q3 and Q6 conducting, Q5 and Q4 conducting, Q5 and Q6 conducting, electric current only flows through sampling coil L1, and the circuit voltage equations that can not flow through in addition two sampling coil L2, L3 this moment are:
(2) electric current only flows through the situation of sampling coil L3
At the switching tube Q1 shown in Figure 6 and the state of Q6 conducting, when switching tube Q1 being carried out the PWM modulation, the control impuls of two switching tubes is shown in Fig. 7 A, be turned off back (being the t2 period among Fig. 7 A) at switching tube Q1, because the effect of motor winding inductance, electric current can directly not jumped vanishing, but carries out afterflow by circuit shown in the heavy line among Fig. 7 B.As can be seen from the figure, freewheel current i2 flows through sustained diode 4, motor a phase winding, motor b phase winding, the formation loop more successively by the end of the same name that Q6 flows into sampling coil L3.At this moment, electric current flows through sampling coil L3, can not flow through two sampling coil L1, L2 in addition.Equally, in the turn-on cycle of arbitrary group of switching tube, if last brachium pontis switching tube is wherein carried out the PWN modulation, in the moment that last brachium pontis switching tube is turned off, freewheel current only flows through sampling coil L3, can not flow through two sampling coil L1, L2 in addition.This moment, circuit equation was:
(3) electric current only flows through the situation of sampling coil L2
At the switching tube Q1 shown in Figure 6 and the state of Q6 conducting, when switching tube Q6 being carried out the PWM modulation, the control impuls of two switching tubes is shown in Fig. 7 C, be turned off back (being to be the t2 period among Fig. 7 C) at switching tube Q6, because the effect of motor winding inductance, electric current can directly not jumped vanishing, the Q1 that can flow through successively this moment, motor a phase winding, motor b phase winding, sustained diode 3, gets back to Q1 through the end of the same name of sampling coil L2 again, form the loop, shown in Fig. 7 D.At this moment, electric current flows through sampling coil L2, can not flow through two sampling coil L1, L3 in addition.Equally, in the turn-on cycle of arbitrary group of switching tube, if following brachium pontis switching tube is wherein carried out the PWN modulation, in the moment that following brachium pontis switching tube is turned off, freewheel current only flows through sampling coil L2, can not flow through two sampling coil L1, L3 in addition.
From above-mentioned (1), (2), (3) these three kinds of situations as can be seen, the electric current when this current sensor can detect normally also can detect the freewheel current between the PWM modulation period.What arbitrary moment was detected all is the real current of three-phase brushless permanent magnet direct current motor, and is applicable to any pulse duration modulation method, has versatility.
(4) only following brachium pontis switching tube is carried out the PWM modulation
From above-mentioned (3) kind situation as can be seen, when only following brachium pontis switching tube being carried out pulse-width modulation, freewheel current only flows through sampling coil L2, can not flow through two sampling coil L1, L3 in addition.If use this control mode all the time, then electric current flows through sampling coil L1 during normally, electric current flows through sampling coil L2 during only to following brachium pontis switching tube modulation work, therefore can omit the sampling coil L3 among Fig. 2, correspondingly, obtain inverter circuit shown in Figure 4, contrast as can be seen with Fig. 3, sustained diode 4 among Fig. 4, D6, D2 keep conventional connected mode, and just the anode with each fly-wheel diode is connected to each output end of switching tube.
As seen, for Fig. 3 and circuit shown in Figure 4, all can adopt the mode of only following brachium pontis switching tube being carried out pulse-width modulation, the waveform correlation of this moment as shown in Figure 8, wherein Ea, Eb, Ec are the back-emf of three windings of motor, H is the driving pulse of last brachium pontis switching tube, and L is the driving pulse of following brachium pontis switching tube.In the embodiment shown in fig. 8, for each following 120 ° of angle of flow of brachium pontis switching tube, only to wherein back 60 ° carry out the PWM modulation.During concrete enforcement, also the time of PWM modulation can be increased or reduces.
(5) only last brachium pontis switching tube is carried out the PWM modulation
From above-mentioned (2) kind situation as can be seen, when only last brachium pontis switching tube being carried out pulse-width modulation, freewheel current only flows through sampling coil L3, can not flow through two sampling coil L1, L2 in addition.If use this control mode all the time, then electric current flows through sampling coil L1 during normally, electric current flows through sampling coil L3 during only to last brachium pontis switching tube modulation work, therefore can omit the sampling coil L2 among Fig. 2, correspondingly, obtain inverter circuit shown in Figure 5, contrast as can be seen with Fig. 3, the sustained diode 1 among Fig. 5, D3, D5 keep conventional connected mode.
As seen, for Fig. 3 and circuit shown in Figure 5, all can adopt the mode of only last brachium pontis switching tube being carried out pulse-width modulation, the waveform correlation of this moment as shown in Figure 9.In the embodiment shown in fig. 9, for 120 ° of angles of flow of brachium pontis switching tube on each, only to wherein preceding 60 ° carry out PWM modulation.During concrete enforcement, also the time of PWM modulation can be increased or reduces.
(6) simultaneously last brachium pontis switching tube is carried out the PWM modulation
For circuit shown in Figure 3, because three sampling coil L1, L2, L3 are wherein arranged, in the turn-on cycle of arbitrary group of switching tube, can carry out pulse-width modulation to last brachium pontis switching tube earlier, more following brachium pontis switching tube is carried out pulse-width modulation, otherwise perhaps.
In modulated process, can guarantee preferably that when a switching tube is carried out pulse-width modulation it is permanent logical that another switching tube should keep.If modulating pulse is shown in Fig. 7 E, two switching tubes can turn-off simultaneously, and can produce the situation shown in Fig. 7 F this moment, carry out afterflow by diode D3, D4 conducting, electric current flows into from the end of the same name of sampling coil L2, enters the non-same polarity of sampling coil L1 then, and power supply U again flows through
DcBack (this moment can be to battery DC power supply charging, or the electric capacity in parallel with power supply is charged) enters the end of the same name of sampling coil L3, and as seen, this moment, freewheel current was through coil L1, L2, the L3 of sampling.Because in the current circuit of this moment, sampling coil L1 and L2 are reverse, both electric currents are identical, and direction is opposite, and the magnetic flux that is produced in iron core is just in time offset; Actual effect still is equivalent to electric current and has only flow through sampling coil L3.
If guarantee when a switching tube is carried out pulse-width modulation, it is permanent logical that another switching tube should keep, and then in the turn-on cycle of arbitrary group of switching tube, when both conductings simultaneously, electric current is only through sampling coil L1; When following brachium pontis switching tube was carried out pulse-width modulation, electric current was only through sampling coil L2; When the upper and lower bridge arm switching tube was carried out pulse-width modulation, electric current was only through sampling coil L3.As seen, for circuit shown in Figure 3, above-mentioned (1), (2), (3) these three kinds of situations can appear respectively.The waveform correlation of this moment as shown in figure 10.In the embodiment shown in fig. 10, for 120 ° of angles of flow of each switching tube, only to wherein preceding 30 ° and back 30 ° of angles of flow carry out the PWM modulation.
The embodiment of Fig. 3, Fig. 4 and three kinds of inverter circuits of Fig. 5 has been described in the front, at Fig. 3, can implement (4), (5), (6) these three kinds of control modes simultaneously; At Fig. 4, then implement (4) only and plant control mode, promptly only following brachium pontis switching tube is carried out the PWM modulation; At Fig. 5, then implement (5) only and plant control mode, promptly only last brachium pontis switching tube is carried out the PWM modulation.
On the other hand, at circuit shown in Figure 3, can remove peripheral cell after, obtain circuit shown in Figure 15, be made into integrated circuit (chip), can obtain an inversion module that is used to control brushless DC motor.Wherein, last brachium pontis and following brachium pontis are connected to first, second pin P1, P2 respectively; The negative electrode of sustained diode 1, D3, D5 is independent of the input of switching tube separately and parallel with one another to three-prong P3; The anode of fly-wheel diode Q4, Q6, Q2 is independent of output end of switching tube and parallel with one another to the 4th pin P4 separately; Three outputs of inverter circuit are connected to the 5th, the 6th, the 7th pin P5, P6, P7 respectively; The control end of switching tube Q1 to Q6 is connected to the 8th to the tenth three-prong P8-P13 respectively.
Equally, at circuit shown in Figure 4, can remove peripheral cell after, obtain circuit shown in Figure 16, be made into integrated circuit, can obtain the inversion module that another kind is used to control brushless DC motor.At circuit shown in Figure 5, after removing peripheral cell, can obtain circuit shown in Figure 17, be made into integrated circuit, can obtain the inversion module that another kind is used to control brushless DC motor.
Figure 11 is the theory diagram of the Positioning Servo System of the three-phase square wave brushless permanent-magnet DC in a preferred embodiment of the invention, wherein, the output voltage amplitude of the linear hall element of current sensor (not drawing in the drawings) is delivered to current regulator 108 as current feedback signal, pulse-width modulation circuit 103 is delivered in the output of current regulator, phase change logic circuit 104 is delivered in the output of pulse-width modulation circuit, predrive circuit 107 is delivered in the output of phase change logic circuit again, and predrive circuit is each control end of switching tube output corresponding driving pulse signal in inverter circuit 101 again; Inverter circuit under the control of drive pulse signal to threephase motor 105 output power supplies.
In order to realize the location/velocity closed-loop control, position transducer 115 is housed in the rotating shaft of described DC motor, its output signal is delivered to location/velocity interface circuit 111, the location/velocity interface circuit is to speed regulator 109 output speed feedback voltages, to position control 110 outgoing position feedback voltages, and to phase change logic circuit 114 output commutation position signal and motor drive direction signals.
Wherein, position control 110 is according to given voltage in position (lower right corner input from figure) and described position feedback voltage, to the given signal of speed regulator 109 output speeds; Speed regulator is according to velocity setting signal and speed feedback voltage, to the given signal of current regulator 108 output currents; Current regulator is according to the given signal of electric current with from the current feedback signal of linear hall element, to pulse-width modulation circuit 103 output control signal corresponding; 114 bases of phase change logic circuit are from the pulse signal of described pulse-width modulation circuit and from the commutation position signal and the motor drive direction signal of described location/velocity interface circuit 111, to the pulse of predrive circuit output control corresponding.
In the present embodiment, by current regulator 108, speed regulator 109 and position control 110 are realized three-phase square wave brushless permanent-magnet DC position servo control; The power of brushless permanent-magnet DC is 150W, speed reducing ratio 100: 1, output torque 15N.m, Figure 12 are the step response waveform of this system, among the figure square wave that be the position given curve, another is the tracking results curve, when the given generation step in position changes, only need the 30-60 millisecond can realize following the tracks of accurately, when the given generation step in position changes each time, article two, curve can overlap rapidly, but its position tracking characteristics is very good.
During concrete the application, motor wherein also can adopt stator not have iron core straight line three-phase square wave brushless permanent-magnet DC, because this motor has more smooth phase current and the approximate square-wave waveform of air-gap field from principle, simultaneously also just have more smooth moment waveform, thereby help realizing the precision positions SERVO CONTROL.
In addition, motor wherein also can adopt stator not have the rotary three-phase square wave brushless permanent-magnet DC of iron core.
Three-phase square wave brushless permanent-magnet DC Positioning Servo System in the embodiment of the invention is compared with the Positioning Servo System that constitutes with AC servomotor in the prior art, has great advantage, and is mainly reflected in:
(a) because the mean value of square wave is bigger than sinusoidal wave, so the energy index of electric system of the present invention improves about 33%.This means that the volume of motor, weight and price can corresponding declines 33% when realizing said function.
(b) the square wave drive control circuit is simple relatively, and cost has only 50% of AC servo usually.
(c) the torque fluctuations index is suitable, and when adopting stator not have iron core three-phase square wave brushless permanent-magnet DC, its torque fluctuations index even meeting are better especially.
(d) manufacturing cost of square wave brushless permanent-magnet DC is usually than AC servomotor low about 30%.
(e) Positioning Servo System of square wave brushless permanent-magnet DC formation has better servo stiffness and dynamic response characteristic
Figure 13 is the theory diagram of the Torque Servo Control System of the three-phase square wave brushless permanent-magnet DC in a preferred embodiment of the invention, the difference of it and Figure 11 is, there are not wherein speed regulator and position control, but directly import one by the given signal of moment, and then realize required Torque Control to current regulator.In the present embodiment, adopt stator not have brushless permanent-magnet DC unshakable in one's determination.Because this motor has more smooth phase current and air-gap field from principle, approximate square-wave waveform, also just has simultaneously more smooth moment waveform, the rated output torque of this motor is 0.1Nm, and rated speed 6000rpm, Figure 14 are that the moment of this Torque Control system is followed the tracks of waveform, wherein moment is given as sine curve, tracking results also is level and smooth sine curve, and both overlap substantially fully, and as seen its tracking characteristics is very good.
As can be seen from the above-described embodiment, the present invention proposes new departure, and can further constitute the high-performance servo-control system the realization current closed-loop control of square wave brushless permanent-magnet DC.Three-phase current when the present invention adopts single resultant current transducer to motor conducting and afterflow carries out the continuous sampling of complete sum, and three-phase current is carried out continuous closed-loop control, thereby significantly improved the dynamic and static index of motor by the single current closed-loop regulator.The high-performance servo-control system that this square wave brushless permanent-magnet DC constitutes can be used in multiple digital control system, compares with the main flow system of commercial Application now, and cost reduces by 50%, energy index improves 33%.
Claims (10)
1. an X in brushless DC motor control system comprises the inverter circuit that is used for to the threephase motor output power supply, and the current sensor that is used to detect described threephase motor operating current; Comprise switching tube Q1, the Q3, the Q5 that are connected with last brachium pontis in the described inverter circuit, switching tube Q4, the Q6, the Q2 that are connected with following brachium pontis, the sustained diode 1, D2, D3, D4, D5 and the D6 that cooperate with described each switching tube; It is characterized in that,
Comprise three sampling coil L1, L2, L3 that the number of turn is identical in the described current sensor, the three is wound on the same iron core, also is equipped with one according to the flux change of this iron core and output current sensing result's sensing element on described iron core;
The sustained diode 1 of described switching tube Q1, Q3, Q5, the negative electrode of D3, D5 are independent of the input and the end of the same name to described sampling coil L2 parallel with one another of switching tube separately, and the different name end of described sampling coil L2 is connected with the described brachium pontis of going up;
The sustained diode 4 of described switching tube Q4, Q6, Q2, the anode of D6, D2 are independent of output end of switching tube and the different name end to described sampling coil L3 parallel with one another separately, and the end of the same name of described sampling coil L3 is connected with described brachium pontis down;
Described sampling coil L1 is serially connected with and describedly goes up in the brachium pontis and its end of the same name is connected with dc power anode, or is serially connected with in described time brachium pontis and its different name end is connected with dc power cathode.
2. at the control method of the described X in brushless DC motor control of claim 1 system, it is characterized in that in logic simulation cycle, the maximum conduction angle of each switching tube is 120 ° in each inverse transformation, in the turn-on cycle of arbitrary group of switching tube:
Separately the switching tube that is connected with last brachium pontis is carried out pulse-width modulation,
Perhaps, separately the switching tube that is connected with following brachium pontis is carried out pulse-width modulation,
Perhaps, the switching tube that is connected with last brachium pontis is carried out pulse-width modulation respectively with the switching tube that is connected with following brachium pontis.
3. an X in brushless DC motor control system comprises the inverter circuit that is used for to the threephase motor output power supply, and the current sensor that is used to detect described threephase motor operating current; Comprise switching tube Q1, the Q3, the Q5 that are connected with last brachium pontis in the described inverter circuit, switching tube Q4, the Q6, the Q2 that are connected with following brachium pontis, the sustained diode 1, D2, D3, D4, D5 and the D6 that cooperate with described each switching tube; It is characterized in that,
Comprise two sampling coil L1, L2 that the number of turn is identical in the described current sensor, both are wound on the same iron core, also are equipped with one according to the flux change of this iron core and output current sensing result's sensing element on described iron core;
The sustained diode 1 of described switching tube Q1, Q3, Q5, the negative electrode of D3, D5 are independent of the input and the end of the same name to described sampling coil L2 parallel with one another of switching tube separately, and the different name end of described sampling coil L2 is connected with the described brachium pontis of going up;
Described sampling coil L1 is serially connected with and describedly goes up in the brachium pontis and its end of the same name is connected with dc power anode, or is serially connected with in described time brachium pontis and its different name end is connected with dc power cathode.
4. at the control method of the described X in brushless DC motor control of claim 3 system, it is characterized in that, in each inverse transformation in logic simulation cycle, the maximum conduction angle of each switching tube is 120 °, in the turn-on cycle of arbitrary group of switching tube, separately the switching tube that is connected with following brachium pontis is carried out pulse-width modulation.
5. an X in brushless DC motor control system comprises the inverter circuit that is used for to the threephase motor output power supply, and the current sensor that is used to detect described threephase motor operating current; Comprise switching tube Q1, the Q3, the Q5 that are connected with last brachium pontis in the described inverter circuit, switching tube Q4, the Q6, the Q2 that are connected with following brachium pontis, the sustained diode 1, D2, D3, D4, D5 and the D6 that cooperate with described each switching tube; It is characterized in that,
Comprise two sampling coil L1, L3 that the number of turn is identical in the described current sensor, both are wound on the same iron core, also are equipped with one according to the flux change of this iron core and output current sensing result's sensing element on described iron core;
The sustained diode 4 of described switching tube Q4, Q6, Q2, the anode of D6, D2 are independent of output end of switching tube and the different name end to described sampling coil L3 parallel with one another separately, and the end of the same name of described sampling coil L3 is connected with described brachium pontis down;
Described sampling coil L1 is serially connected with and describedly goes up in the brachium pontis and its end of the same name is connected with dc power anode, or is serially connected with in described time brachium pontis and its different name end is connected with dc power cathode.
6. at the control method of the described X in brushless DC motor control of claim 5 system, it is characterized in that, in each inverse transformation in logic simulation cycle, the maximum conduction angle of each switching tube is 120 °, in the turn-on cycle of arbitrary group of switching tube, separately the switching tube that is connected with last brachium pontis is carried out pulse-width modulation.
7. according to each described X in brushless DC motor control system in the claim 1,3,5, it is characterized in that the described sensing element that is used for output current sensing result is a linear hall element.
8. X in brushless DC motor control according to claim 7 system is characterized in that,
The output voltage amplitude of described linear hall element is delivered to current regulator as current feedback signal,
Pulse-width modulation circuit is delivered in the output of described current regulator,
The phase change logic circuit is delivered in the output of described pulse-width modulation circuit,
Predrive circuit is delivered in the output of described phase change logic circuit again,
Described predrive circuit is each control end of switching tube output corresponding driving pulse signal in described inverter circuit again;
Described inverter circuit under the control of described drive pulse signal to the threephase motor output power supply.
9. X in brushless DC motor control according to claim 8 system, it is characterized in that, also comprise the position transducer in the rotating shaft that is loaded on described DC motor, its output signal is delivered to the location/velocity interface circuit, described location/velocity interface circuit is to speed regulator output speed feedback voltage, to position control outgoing position feedback voltage, and to described phase change logic circuit output commutation position signal and motor drive direction signal;
Described position control is according to given voltage in position and described position feedback voltage, to the given signal of described speed regulator output speed; Described speed regulator is according to described velocity setting signal and speed feedback voltage, to the given signal of described current regulator output current; Described current regulator is according to the given signal of described electric current with from the current feedback signal of described linear hall element, to described pulse-width modulation circuit output control signal corresponding;
Described phase change logic circuit is exported the control corresponding pulse according to from the pulse signal of described pulse-width modulation circuit and the commutation position signal and the motor drive direction signal of described location/velocity interface circuit to described predrive circuit.
10. X in brushless DC motor control according to claim 9 system, it is characterized in that, described brushless DC motor is that stator does not have iron core straight line three-phase square wave brushless permanent-magnet DC, or stator does not have the rotary three-phase square wave brushless permanent-magnet DC of iron core.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2007100729702A CN101227163B (en) | 2007-01-15 | 2007-01-15 | Control system and control method of brushless DC motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2007100729702A CN101227163B (en) | 2007-01-15 | 2007-01-15 | Control system and control method of brushless DC motor |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010105808651A Division CN102013827B (en) | 2007-01-15 | 2007-01-15 | Inverter module for controlling brushless direct current (DC) motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101227163A CN101227163A (en) | 2008-07-23 |
| CN101227163B true CN101227163B (en) | 2011-05-04 |
Family
ID=39858972
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2007100729702A Expired - Fee Related CN101227163B (en) | 2007-01-15 | 2007-01-15 | Control system and control method of brushless DC motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101227163B (en) |
Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101797752A (en) * | 2010-04-16 | 2010-08-11 | 哈尔滨工业大学 | Integral joint driver of humanoid robot |
| JP5834768B2 (en) * | 2011-10-25 | 2015-12-24 | 株式会社デンソー | Generator motor control device |
| CN103253150B (en) * | 2012-12-25 | 2015-11-18 | 联合汽车电子有限公司 | Car permanent magnet synchronous motor control system inefficacy response control mehtod |
| CN103236813B (en) * | 2013-04-23 | 2015-11-11 | 浙江大学 | A kind of control system of permanent-magnet brushless DC electric machine |
| CN104753378A (en) * | 2015-04-03 | 2015-07-01 | 成都麦隆电气有限公司 | Three-level inverter midpoint potential balance control method |
| CN105262387B (en) * | 2015-11-30 | 2018-11-02 | 中国电子科技集团公司第四十三研究所 | A kind of switching circuit for electric current loop/speed ring in pulse-width modulation circuit |
| CN105790647B (en) * | 2016-04-14 | 2018-07-03 | 福建宏讯电子有限公司 | A kind of drive control system of permanent-magnetic brushless DC motor |
| CN106411192A (en) * | 2016-08-31 | 2017-02-15 | 刘世超 | Method for realizing motor accurate control by using linear Hall sensors |
| CN107017813B (en) * | 2017-05-17 | 2024-04-09 | 合肥环信科技发展有限公司 | Control device and system for driving motor for vehicle |
| CN110799846A (en) * | 2017-07-28 | 2020-02-14 | 深圳配天智能技术研究院有限公司 | Hall current sensor and driver of motor |
| CN108662587A (en) * | 2018-06-07 | 2018-10-16 | 广西凯泉环保工程有限公司 | A kind of biological deodorizing and pyrolysis rubbish processing to be harmless system |
| CN114337388A (en) * | 2021-12-24 | 2022-04-12 | 广东麦珂威尔健康科技有限公司 | Dual-motor fitness equipment driving device based on linear Hall and control method thereof |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1238593A (en) * | 1998-06-08 | 1999-12-15 | 松下电器产业株式会社 | Device and method for starting brushless motor |
| CN201001095Y (en) * | 2007-01-15 | 2008-01-02 | 深圳国际技术创新研究院 | Brushless DC motor control system and inversion module thereof |
-
2007
- 2007-01-15 CN CN2007100729702A patent/CN101227163B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1238593A (en) * | 1998-06-08 | 1999-12-15 | 松下电器产业株式会社 | Device and method for starting brushless motor |
| CN201001095Y (en) * | 2007-01-15 | 2008-01-02 | 深圳国际技术创新研究院 | Brushless DC motor control system and inversion module thereof |
Non-Patent Citations (1)
| Title |
|---|
| JP特开2005-318773A 2005.11.10 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101227163A (en) | 2008-07-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101227163B (en) | Control system and control method of brushless DC motor | |
| CN201438687U (en) | Control system for brushless DC motor | |
| US8281886B2 (en) | Electric motor control device, drive device and hybrid drive device | |
| CN101286727B (en) | Motor control device | |
| CN101953065B (en) | Motor drive control device | |
| CN101976999B (en) | Three-leg nine-switch inverter for driving double-alternating current motor | |
| CN101771380B (en) | Space vector modulation method for inverter directly controlled by torque | |
| CN101951182B (en) | Voltage compensation method of pulse width modulation output based on voltage equivalent | |
| EP2190112A1 (en) | Ac motor control device and ac motor control method | |
| JP2009055748A (en) | Current detector unit and motor control device | |
| CN102237838B (en) | Braking current control method and device for electric bicycle controller | |
| CN201001095Y (en) | Brushless DC motor control system and inversion module thereof | |
| CN103078570A (en) | Torque pulsation restraining system and method of permanent magnet brushless direct current motor | |
| CN103684166B (en) | Comprise controller for motor vehicle and for the control method of vehicle | |
| CN103229414A (en) | Motor drive system and control method thereof | |
| CN110829906A (en) | Three-phase switched reluctance motor rapid braking control system and control method | |
| Xu et al. | Brushless DC motor speed control system Simulink simulation | |
| CN102013827B (en) | Inverter module for controlling brushless direct current (DC) motor | |
| CN110824252B (en) | Permanent magnet synchronous motor stator resistance measurement method based on dead time compensation | |
| CN111934588A (en) | Rotor position detection system and method under static state of brushless direct current motor without position sensor | |
| CN116979857A (en) | PWM-DITC control method for switched reluctance motor based on novel multi-level power converter | |
| CN210927489U (en) | Three-phase switch reluctance motor fast braking control system | |
| CN206379906U (en) | It is a kind of to be used for the wide fast electric current measuring and controlling device of motor | |
| JP2021168568A (en) | Motor drive system | |
| CN108183638B (en) | Three-phase nine-switch double-synchronous-motor time-sharing control inverter and control method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110504 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |