CN101789737A - Brshless DC motor inhibiting electromagnetic torque pulsation method and device - Google Patents

Brshless DC motor inhibiting electromagnetic torque pulsation method and device Download PDF

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Publication number
CN101789737A
CN101789737A CN201010118230A CN201010118230A CN101789737A CN 101789737 A CN101789737 A CN 101789737A CN 201010118230 A CN201010118230 A CN 201010118230A CN 201010118230 A CN201010118230 A CN 201010118230A CN 101789737 A CN101789737 A CN 101789737A
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brshless
motor
bridge inverter
switching
electromagnetic torque
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CN201010118230A
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CN101789737B (en
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薛晓明
时倩
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薛晓明
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Abstract

The present invention relates to a kind of brshless DC motor inhibiting electromagnetic torque pulsation method and device, it is characterized in that: realize inhibiting electromagnetic torque pulsation by the given electric current of conducting phase line current tracking of control brshless DC motor to brshless DC motor, and stack acquisition behind the electric current that the conducting phase line current of brshless DC motor is utilized three switching devices of brachium pontis under the inverter and the respective switch device drive signal multiplication.The brshless DC motor electromagnetic torque pulsation suppression device that the brshless DC motor inhibiting electromagnetic torque pulsation method of application invention constitutes comprises DC power supply, three-phase full-bridge inverter, permanent-magnet brushless DC electric machine, single chip microcontroller, three-phase inverter switching device drive circuit and conducting phase line current detection circuit; DC power supply is connected with permanent-magnet brushless DC electric machine with conducting phase line current detection circuit through three-phase full-bridge inverter, the rotor-position signal of Hall element output is connected to single chip microcontroller Hall input pin in the permanent-magnet brushless DC electric machine, the output signal of single chip microcontroller connects three-phase full-bridge inverter and conducting phase line current detection circuit through three-phase inverter switching device drive circuit, and the output signal of conducting phase line current detection circuit is connected to the analog-to-digital conversion pin of single chip microcontroller.The present invention has realized the low-cost purpose that suppresses the brshless DC motor electromagnetic torque pulsation in full speed range.

Description

Brshless DC motor inhibiting electromagnetic torque pulsation method and device
Technical field
The present invention relates to a kind of brshless DC motor inhibiting electromagnetic torque pulsation method and apparatus, particularly relate to a kind of low cost suppresses the brshless DC motor electromagnetic torque pulsation in full speed range method and apparatus.
Background technology
Brshless DC motor has high efficiency, high electromagnetic torque, series of advantages such as high power density and good speed adjustment features, in industry, traffic, military project and field of household appliances are used widely, but because the existence of brshless DC motor inductance, the speed that makes the electric current of brshless DC motor motor windings when commutation rise and descend is unequal, thereby causing bigger electromagnetic torque pulsation, this has greatly limited it at electric automobile, SERVO CONTROL, Digit Control Machine Tool, robot, space flight and aviation, precision electronic devices etc. are to motor performance, the occasion that control precision is had relatively high expectations and the application in field.Recent two decades comes, and the problem that suppresses the brshless DC motor electromagnetic torque pulsation is the problem of studying both at home and abroad always, mainly contains: overlapping commutation method, hysteresis current method, PWM copped wave method, current forecasting control method and Based Intelligent Control method.These methods all are to attempt the speed that the electric current by control brshless DC motor motor windings when the commutation rises and descend to equate to reduce electromagnetic torque pulsation, but total defective is: detection method and control algolithm complexity, cost are higher, can not in full speed range, suppress the electromagnetic torque pulsation of motor, thereby be difficult in actual applications promote.
Summary of the invention
The object of the invention is at the deficiencies in the prior art, propose a kind of in full speed range the inhibition brshless DC motor electromagnetic torque pulsation method and apparatus of low-cost practicability.For achieving the above object, design of the present invention is: the given electric current of conducting phase line current tracking by the control brshless DC motor suppresses the electromagnetic torque pulsation of motor, and the conducting phase line current of brshless DC motor be the electric current that utilizes three switching devices of brachium pontis under the inverter with respective switch device drive signal multiplication after the stack acquisition.
The following describes the principle of brshless DC motor inhibiting electromagnetic torque pulsation involved in the present invention.
The structure of brshless DC motor governing system is made up of DC power supply, three-phase bridge type converter, permanent magnetic brushless, commutation signal decoder and pwm generator as shown in Figure 1.Three phase windings of permanent magnetic brushless adopt Y-connection among Fig. 1, and six switching element T 1 of three-phase full-bridge inverter, T2, T3, T4, T5, T6 adopt the most frequently used modulation strategy of going up pipe pulse-width modulation, following Guan Hengtong.Brshless DC motor three phase winding back electromotive force e An(t), e Bn(t), e Cn(t), three-phase phase current i a(t), i b(t), i c(t), 120 ° of conducting commutation signals of three-phase six-beat S 1(t), S 2(t), S 3(t), S 4(t), S 5(t), S 6(t), six switching device drive signals of inverter S 1G(t), S 2G(t), S 3G(t), S 4G(t), S 5G(t), S 6GAnd conducting phase line back electromotive force e (t), Cl(t) and conducting phase line current i Cl(t) waveform as shown in Figure 2.
Brshless DC motor has only two to be conducted at any time, according to Fig. 2, and the conducting phase line back electromotive force e of brshless DC motor El(t) and conducting phase line current i Cl(t) be respectively:
e cl(t)=[S 1(t)-S 2(t)]e an(t)+[S 3(t)-S 4(t)]e bn(t)+[S 5(t)-S 6(t)]e cn(t) (1)
i cl ( t ) = 1 2 { [ S 1 ( t ) - S 2 ( t ) ] i a ( t ) + [ S 3 ( t ) - S 4 ( t ) ] i b ( t ) + [ S 5 ( t ) - S 6 ( t ) ] i c ( t ) } - - - ( 2 )
Obtain after (1) formula and (2) formula multiplied each other:
e cl(t)·i cl(t)=e an(t)i a(t)+e bn(t)i b(t)+e cn(t)i c(t)=T e·ω e (3)
T in the formula eThe electromagnetic torque of expression motor, ω eThe electric angle speed that the expression motor rotates.
Further observe Fig. 2, conducting phase line back electromotive force e Cl(t) be constantly equal to the twice of back electromotive force amplitude, and back electromotive force amplitude be brshless DC motor every utmost point rotor flux φ and electric angle speed omega eProduct, e then Cl(t)=2 φ ω e, the expression formula that substitution (3) formula obtains electromagnetic torque is:
T e=2φ·i cl(t) (4)
Because the rotor of brshless DC motor is a permanent magnet, magnetic linkage φ remains unchanged, by (4) formula as can be known, the electromagnetic torque of brshless DC motor only with conducting mutually line current be directly proportional, and irrelevant with rotating speed of motor.Therefore, as long as the given electric current of control conducting phase line current tracking just can guarantee motor no any electromagnetic torque pulsation in whole velocity interval.
Further analyse in depth by the course of work, obtain six switching device current signal i of full-bridge inverter brshless DC motor S1(t), i S2(t), i S3(t), i S4(t), i S5(t), i S6(t) waveform as shown in Figure 3, obtains the conducting phase line current i of brshless DC motor from Fig. 3 Cl(t) expression formula can be expressed as:
i cl(t)=S 2G(t)i S2(t)+S 4G(t)i S4(t)+S 6G(t)i S6(t) (5)
Can see brshless DC motor conducting phase line current i by (5) formula Cl(t) can utilize the electric current of three switching devices of brachium pontis under the inverter and respective switch device drive signal multiplication after stack obtain.
According to above-mentioned inventive concept, the present invention adopts following technical proposals:
Brshless DC motor inhibiting electromagnetic torque pulsation method of the present invention, it is characterized in that: by the given electric current of conducting phase line current tracking of control brshless DC motor realize inhibiting electromagnetic torque pulsation to brshless DC motor, described brshless DC motor conducting phase line current be the electric current that utilizes three switching devices of brachium pontis under the inverter with respective switch device drive signal multiplication after the stack acquisition.
Use the brshless DC motor electromagnetic torque pulsation suppression device that brshless DC motor inhibiting electromagnetic torque pulsation method of the present invention constitutes, comprise DC power supply, three-phase full-bridge inverter, permanent magnetic brushless, single chip microcontroller, three-phase full-bridge inverter switching device drive circuit and conducting phase line current detection circuit, it is characterized in that: DC power supply is connected with permanent-magnet brushless DC electric machine with conducting phase line current detection circuit through three-phase full-bridge inverter, the rotor-position signal of Hall element output is connected to single chip microcontroller Hall input pin in the permanent-magnet brushless DC electric machine, the output signal of single chip microcontroller connects three-phase full-bridge inverter and conducting phase line current detection circuit through three-phase inverter switching device drive circuit, and the output signal of conducting phase line current detection circuit is connected to the analog-to-digital conversion pin of single chip microcontroller.
Described three-phase full-bridge inverter comprises six switching element T 1, T2, T3, T4, T5, T6, the D utmost point tandem of three of brachium pontis switching element T 1, T3, T5 is connected with the DC power supply anode on the three-phase full-bridge inverter, and the S utmost point of three of brachium pontis switching element T 2, T4, T6 is connected ground connection through three sample resistance RS tandem with the DC power supply negative terminal under the three-phase full-bridge inverter.
The rotor-position signal of described permanent magnetic brushless Hall element output is connected with the CCPOS2 pin with CCPOS0, the CCPOS 1 of single chip microcontroller.
Described single chip microcontroller adopts XC866, and its CC60, CC61, CC62, COUT60, COUT61 and COUT62 pin are connected with HIN1, HIN2, HIN3, LIN1, LIN2 and the LIN3 pin of three-phase full-bridge inverter switching device drive circuit respectively.
Described three-phase full-bridge inverter switching device drive circuit adopts IR2130, its HO1, HO2 are connected the G utmost point of three switching element T 1 of brachium pontis, T3, T5 on the three-phase full-bridge inverter with HO3, LO1, LO2, LO3 pin are connected respectively to the G utmost point of three switching element T 2 of brachium pontis, T4, T6 under the three-phase full-bridge inverter and Q1, the Q2 of three drainage switching tubes of conducting phase line current detection circuit, the base stage of Q3.
Described conducting phase line current detection circuit comprises three drainage switching tube Q1, Q2, Q3, three sample resistance RS, divider resistance R1, R2 and filter capacitor C, three drainage switching tube Q1, Q2, the collector electrode of Q3 respectively with three-phase full-bridge inverter under three switching element T 2 of brachium pontis, T4, the S utmost point of T6 connects, three drainage switching tube Q1, Q2, the emitter tandem of Q3 is connected with the end of divider resistance R1, the other end of R1 is connected with the AN3 pin of single chip microcontroller with the end tandem of divider resistance R2, the other end ground connection of divider resistance R2, filter capacitor C and divider resistance R2 also connect.
The present invention has following advantage compared with prior art:
1, carries out the brshless DC motor controlling electromagnetic torque by the given electric current of control brshless DC motor conducting phase line current tracking, in full speed range, realized the brshless DC motor inhibiting electromagnetic torque pulsation, used control method is similar to the controlling electromagnetic torque of brush direct current machine, feasible control is very simple, corresponding controller can be used the low-cost simple controller of existing brshless DC motor, need not to use circuit complexity, expensive dsp controller, greatly reduce and control cost.
2, be by utilizing three small power switch pipes that are controlled by three switching device drive signals of brachium pontis under the inverter electric current of three switching devices of brachium pontis under the inverter to be drawn back synthetic to brshless DC motor conducting phase line current detecting, need not directly to detect the phase current of brshless DC motor, need not electrical isolation, avoided the Hall current sensor or the integrated chip current sensor of use cost costliness, further reduced and controlled cost.
Description of drawings
Fig. 1 is a brshless DC motor governing system structured flowchart.
Fig. 2 is the oscillogram of brshless DC motor three phase winding back electromotive force, three-phase phase current, 120 ° of conducting commutation signals of three-phase six-beat and six switching device drive signals of three-phase full-bridge inverter.
Fig. 3 is six switching device current waveform figures of brshless DC motor three-phase full-bridge inverter.
Fig. 4 is the system construction drawing of one embodiment of the invention.
Among Fig. 4: 1, DC power supply, 2, three-phase full-bridge inverter, 3, permanent magnetic brushless, 4, single chip microcontroller, 5, three-phase full-bridge inverter switching device drive circuit, 6, conducting phase line current detection circuit.
Embodiment
The invention will be further described below in conjunction with the drawings and specific embodiments.
Brshless DC motor inhibiting electromagnetic torque pulsation method of the present invention, realize inhibiting electromagnetic torque pulsation by the given electric current of conducting phase line current tracking of control brshless DC motor, and the back stack of multiplying each other of the electric current that brshless DC motor conducting phase line current is utilized three switching devices of brachium pontis under the inverter and corresponding switching device drive signal obtains to brshless DC motor.
Referring to Fig. 4, use the brshless DC motor electromagnetic torque pulsation suppression device that brshless DC motor inhibiting electromagnetic torque pulsation method of the present invention constitutes, comprise DC power supply 1, three-phase full-bridge inverter 2, permanent magnetic brushless 3, single chip microcontroller 4, three-phase full-bridge inverter switching device drive circuit 5 and conducting phase line current detection circuit 6.DC power supply 1 is connected with permanent-magnet brushless DC electric machine 3 with conducting phase line current detection circuit 6 through three-phase full-bridge inverter 2, the rotor-position signal of Hall element output is connected to single chip microcontroller 4 Hall input pins in the permanent-magnet brushless DC electric machine 3, the output signal of single chip microcontroller 4 connects three-phase full-bridge inverter 2 and conducting phase line current detection circuit 6 through three-phase inverter switching device drive circuit 5, and the output signal of conducting phase line current detection circuit 6 is connected to the analog-to-digital conversion pin of single chip microcontroller 4.Three-phase full-bridge inverter 2 comprises six switching element T 1, T2, T3, T4, T5, T6, the D utmost point tandem of three of brachium pontis switching element T 1, T3, T5 is connected with DC power supply 1 anode on the three-phase full-bridge inverter 2, and three switching element T 2 of 2 times brachium pontis of three-phase full-bridge inverter, the S utmost point of T4, T6 are connected ground connection through three sample resistance RS tandem with the DC power supply negative terminal; The rotor-position signal of permanent magnetic brushless 3 Hall elements output is connected with the CCPOS2 pin with CCPOS0, the CCPOS1 of single chip microcontroller 4; Single chip microcontroller 4 adopts XC866, and its CC60, CC61, CC62, COUT60, COUT61 and COUT62 pin are connected with HIN1, HIN2, HIN3, LIN1, LIN2 and the LIN3 pin of threephase switch component driving circuit 5 respectively; Three-phase full-bridge inverter switching device drive circuit 5 adopts IR2130, its HO1, HO2 are connected the G utmost point of three switching element T 1 of brachium pontis, T3, T5 on the three-phase full-bridge inverter 2 with HO3, LO1, LO2, LO3 pin are connected respectively to the G utmost point of three switching element T 2 of 2 times brachium pontis of three-phase full-bridge inverter, T4, T6 and Q1, the Q2 of 6 three drainage switching tubes of conducting phase line current detection circuit, the base stage of Q3; Conducting phase line current detection circuit 6 comprises three drainage switching tube Q1, Q2, Q3, three sample resistance RS, divider resistance R1, R2 and filter capacitor C, three drainage switching tube Q1, Q2, the collector electrode of Q3 respectively with three switching element T 2 of 2 times brachium pontis of three-phase full-bridge inverter, T4, the S utmost point of T6 connects, three drainage switching tube Q1, Q2, the emitter tandem of Q3 is connected with the end of divider resistance R1, the other end of R1 is connected with the AN3 pin of single chip microcontroller 4 with the end tandem of divider resistance R2, the other end ground connection of divider resistance R2, filter capacitor C and divider resistance R2 also connect.
The course of work of the present invention is: referring to Fig. 4, after the system start-up, chip microprocessor XC866 gathers the level signal of three 0~5V of brshless DC motor hall position sensor output, handle 120 ° of conducting commutations of back output three-phase six-beat control signal through inner commutation decoding, meanwhile, XC866 reads given current signal and the next conducting phase line current signal of conducting phase line current detection circuit feedback, obtains the deviation of two current signals and carries out PI adjusting calculating; Then PI is regulated the signal and the triangular signal that calculate and relatively calculate the generation pulse-width signal, carry out computing with 120 ° of conducting commutations of three-phase six-beat control signal respectively again, the pwm control signal of controlled three-phase inverter upper and lower bridge arm switching device 0~5V; Pwm control signal process inverter driving circuit is enlarged into the level signal of 0~15V, drive the converter bridge switching parts action, thereby starter motor begins rotation; After the motor rotation, under three-phase inverter, flow through the brshless DC motor phase current on three of brachium pontis switching devices, through producing voltage on three sampling resistors, the drive signal of three switching devices of brachium pontis removes to control three drainage switching tubes under the application controls three-phase inverter, these voltages are drawn the conducting phase line current signal that synthesizes and after dividing potential drop filtering, obtain brshless DC motor, the analog-to-digital conversion pin of sending into chip microprocessor XC866 continues to ask deviation with given electric current, repeat above process, be achieved the continuous service of the low electromagnetic torque pulsation of brshless DC motor.

Claims (8)

1. brshless DC motor inhibiting electromagnetic torque pulsation method is characterized in that: realize inhibiting electromagnetic torque pulsation to brshless DC motor by the given electric current of conducting phase line current tracking of control brshless DC motor.
2. brshless DC motor according to claim 1 electromagnetic torque pulsation side inhibition method is characterized in that: stack obtained after brshless DC motor conducting phase line current was utilized the electric current of three switching devices of brachium pontis under the three-phase full-bridge inverter and respective switch device drive signal multiplication.
3. a brshless DC motor electromagnetic torque pulsation suppression device is characterized in that: comprise DC power supply (1), three-phase full-bridge inverter (2), permanent magnetic brushless (3), single chip microcontroller (4), three-phase full-bridge inverter power switch driver circuit (5) and conducting phase line current detection circuit (6); DC power supply (1) is connected with permanent-magnet brushless DC electric machine (3) with conducting phase line current detection circuit (6) through three-phase full-bridge inverter (2); The rotor-position signal of permanent-magnet brushless DC electric machine (3) Hall element output is connected to single chip microcontroller (4) Hall input pin; The output signal of single chip microcontroller (4) connects three-phase full-bridge inverter (2) and conducting phase line current detection circuit (6) through three-phase full-bridge inverter switching device drive circuit (5); The output signal of conducting phase line current detection circuit (6) is connected to the analog-to-digital conversion pin of single chip microcontroller (4).
4. brshless DC motor electromagnetic torque pulsation suppression device according to claim 3, it is characterized in that: described three-phase full-bridge inverter (2) comprises six switching element T 1, T2, T3, T4, T5, T6, three-phase full-bridge inverter (2) is gone up three switching element T 1 of brachium pontis, the D utmost point tandem of T3, T5 is connected with DC power supply (1) anode, and three switching element T 2 of brachium pontis, the S utmost point of T4, T6 are connected ground connection through three sample resistance RS tandem with DC power supply (1) negative terminal under the three-phase full-bridge inverter (2).
5. brshless DC motor electromagnetic torque pulsation suppression device according to claim 3 is characterized in that: the rotor-position signal of described permanent magnetic brushless (3) Hall element output is connected with the CCPOS2 pin with CCPOS0, the CCPOS1 of single chip microcontroller (4).
6. brshless DC motor electromagnetic torque pulsation suppression device according to claim 3, it is characterized in that: described single chip microcontroller (4) adopts XC866, and CC60, the CC61 of single chip microcontroller (4), CC62, COUT60, COUT61 and COUT62 pin are connected with HIN1, HIN2, HIN3, LIN1, LIN2 and the LIN3 pin of three-phase full-bridge inverter switching device drive circuit (5) respectively.
7. brshless DC motor electromagnetic torque pulsation suppression device according to claim 3, it is characterized in that: described three-phase full-bridge inverter switching device drive circuit (5) adopts IR2130, its HO1, HO2 are connected the G utmost point that three-phase full-bridge inverter (2) is gone up three switching element T 1 of brachium pontis, T3, T5 with HO3, LO1, LO2, LO3 pin connect three switching element T 2 of brachium pontis, the G utmost point of T4, T6 and Q1, the Q2 of (6) three drainage switching tubes of conducting phase line current detection circuit, the base stage of Q3 under the three-phase full-bridge inverter (2) respectively.
8. brshless DC motor electromagnetic torque pulsation suppression device according to claim 3, it is characterized in that: described conducting phase line current detection circuit (6) comprises three drainage switching tube Q1, Q2, Q3, three sample resistance RS, divider resistance R1, R2 and filter capacitor C, three drainage switching tube Q1, Q2, the collector electrode of Q3 descends three switching element T 2 of brachium pontis respectively with three-phase full-bridge inverter (2), T4, the S utmost point of T6 connects, three drainage switching tube Q1, Q2, the emitter tandem of Q3 is connected with the end of divider resistance R1, the other end of R1 is connected with the AN3 pin of single chip microcontroller (4) with the end tandem of divider resistance R2, the other end ground connection of divider resistance R2, filter capacitor C and divider resistance R2 also connect.
CN201010118230XA 2010-02-03 2010-02-03 Method and device for inhibiting electromagnetic torque pulsation of brushless direct-current motor CN101789737B (en)

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CN102629844A (en) * 2012-04-21 2012-08-08 山西潞安环保能源开发股份有限公司 Control device of diving explosion suppression permanent magnet brushless direct current motor used in explosion-proof propeller
CN102655388A (en) * 2012-05-17 2012-09-05 西北工业大学 Method for driving brushless direct current motor in 150-degree conduction mode
CN102710204A (en) * 2012-06-01 2012-10-03 天津工业大学 Method for rejecting torque ripple of motor
CN103078570A (en) * 2013-02-04 2013-05-01 上海理工大学 Torque pulsation restraining system and method of permanent magnet brushless direct current motor
CN103107751A (en) * 2013-02-05 2013-05-15 睿能机电有限公司 Electromagnetic torque pulsation suppressing device of brushless direct current motor
CN103595312A (en) * 2013-10-30 2014-02-19 江苏科技大学 Brushless direct current motor control device and method based on current source inverter
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CN105259502A (en) * 2015-10-16 2016-01-20 沈阳兴华航空电器有限责任公司 Brushless DC motor testing device
CN104158447B (en) * 2014-08-12 2016-11-30 南京航空航天大学 A kind of control method for brushless direct current motor
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CN102629844A (en) * 2012-04-21 2012-08-08 山西潞安环保能源开发股份有限公司 Control device of diving explosion suppression permanent magnet brushless direct current motor used in explosion-proof propeller
CN102655388A (en) * 2012-05-17 2012-09-05 西北工业大学 Method for driving brushless direct current motor in 150-degree conduction mode
CN102655388B (en) * 2012-05-17 2014-11-12 西北工业大学 Method for driving brushless direct current motor in 150-degree conduction mode
CN102710204A (en) * 2012-06-01 2012-10-03 天津工业大学 Method for rejecting torque ripple of motor
CN102710204B (en) * 2012-06-01 2014-04-09 天津工业大学 Method for rejecting torque ripple of motor
CN103078570A (en) * 2013-02-04 2013-05-01 上海理工大学 Torque pulsation restraining system and method of permanent magnet brushless direct current motor
CN103107751B (en) * 2013-02-05 2014-01-08 睿能机电有限公司 Electromagnetic torque pulsation suppressing device of brushless direct current motor
CN103107751A (en) * 2013-02-05 2013-05-15 睿能机电有限公司 Electromagnetic torque pulsation suppressing device of brushless direct current motor
CN104079216A (en) * 2013-03-26 2014-10-01 峰岹科技(深圳)有限公司 Driving system of three-phase BLDC (Brushless Direct Current) motor with sensors, and driving method of driving system
CN104079216B (en) * 2013-03-26 2016-12-28 峰岹科技(深圳)有限公司 Three-phase has sensor BLDC motor driven systems and driving method thereof
CN103595312A (en) * 2013-10-30 2014-02-19 江苏科技大学 Brushless direct current motor control device and method based on current source inverter
CN104158447B (en) * 2014-08-12 2016-11-30 南京航空航天大学 A kind of control method for brushless direct current motor
CN104407614A (en) * 2014-10-23 2015-03-11 河北工业大学 Four-wheel type indoor mobile robot
CN104535329A (en) * 2015-01-29 2015-04-22 四川诚邦测控技术有限公司 Integrated test system based on fuel and electricity hybrid power distribution
CN105259502A (en) * 2015-10-16 2016-01-20 沈阳兴华航空电器有限责任公司 Brushless DC motor testing device
CN106533398A (en) * 2016-09-14 2017-03-22 芯海科技(深圳)股份有限公司 Trapezoidal wave generating circuit used for USB PD controller
CN106533398B (en) * 2016-09-14 2019-11-08 芯海科技(深圳)股份有限公司 A kind of trapezoidal wave generation circuit for USB PD control device
CN106787988A (en) * 2016-12-22 2017-05-31 东南大学 A kind of full speed adjustable range internal torque pulsation suppressing method of brshless DC motor

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