CN101789737B - Method and device for inhibiting electromagnetic torque pulsation of brushless direct-current motor - Google Patents

Method and device for inhibiting electromagnetic torque pulsation of brushless direct-current motor Download PDF

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Publication number
CN101789737B
CN101789737B CN201010118230XA CN201010118230A CN101789737B CN 101789737 B CN101789737 B CN 101789737B CN 201010118230X A CN201010118230X A CN 201010118230XA CN 201010118230 A CN201010118230 A CN 201010118230A CN 101789737 B CN101789737 B CN 101789737B
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switching
bridge inverter
electromagnetic torque
phase full
torque pulsation
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CN201010118230XA
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CN101789737A (en
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薛晓明
时倩
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薛晓明
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Abstract

The invention relates to a method and a device for inhibiting electromagnetic torque pulsation of a brushless direct-current motor, which are characterized in that: the inhibition of the electromagnetic torque pulsation of the brushless direct-current motor is realized by tracking a given current by controlling a conduction phase line current of the brushless direct-current motor, and the conduction phase line current of the brushless direct-current motor is obtained by stacking the products of currents of three switching devices of a lower bridge arm of an inverter and drive signals of corresponding switch devices. The device for inhibiting the electromagnetic torque pulsation of the brushless direct-current motor formed by using the method for inhibiting the electromagnetic torque pulsation of the brushless direct-current motor comprises a direct-current power supply, a three-phase full-bridge inverter, a permanent magnetic brushless direct-current motor, a single-chip microcontroller, a three-phase inverter switching device drive circuit and a conduction phase line current detection circuit, wherein the direct-current power supply is connected with the permanent magnetic brushless direct-current motor through the three-phase full-bridge inverter and the conduction phase line current detection circuit; rotor position signals output by a Hall sensor in the permanent magnetic brushless direct-current motor are connected to Hall input pins of the single-chip microcontroller; output signals of the single-chip microcontroller are connected with the three-phase full-bridge inverter and the conduction phase line current detection circuit through the three-phase inverter switching device drive circuit; and output signals of the conduction phase line current detection circuit are connected to analog-to-digital conversion pins of the single-chip microcontroller. The method and the device fulfill the aim of inhibiting the electromagnetic torque pulsation.

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 series of advantages such as high efficiency, high electromagnetic torque, high power density and good speed adjustment features; Be used widely in industry, traffic, military project and field of household appliances; 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 its occasion of motor performance, control precision being had relatively high expectations at electric automobile, SERVO CONTROL, Digit Control Machine Tool, robot, space flight and aviation, precision electronic device etc. 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 through 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 are complicated, cost is higher; Can not in full speed range, suppress the electromagnetic torque pulsation of motor, thereby in practical application, be difficult to promote.

Summary of the invention

The object of the invention is the deficiency to 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 through 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 principle of brshless DC motor inhibiting electromagnetic torque pulsation involved in the present invention is described below.

The structure of brshless DC motor governing system is as shown in Figure 1, is made up of DC power supply, three-phase bridge type converter, permanent magnetic brushless, commutation signal decoder and pwm generator.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 is 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, can know by (4) formula, 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.

The course of work through to brshless DC motor is further analysed in depth, and obtains six switching device current signal i of full-bridge inverter S1(t), i S2(t), i S3(t), i S4(t), i S5(t), i S6(t) waveform, as shown in Figure 3, from Fig. 3, obtain the conducting phase line current i of brshless DC motor 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 electric current and the respective switch device drive signal multiplication of three switching devices of brachium pontis under the inverter 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: the given electric current of conducting phase line current tracking through the control brshless DC motor is realized the 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 CCPOS0, CCPOS 1 and the CCPOS2 pin 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 and HO3 are connected the G utmost point of three switching element T 1 of brachium pontis, T3, T5 on the three-phase full-bridge inverter, and LO1, LO2, LO3 pin are connected respectively to Q1, the Q2 of the G utmost point and three the drainage switching tubes of conducting phase line current detection circuit of three switching element T 2 of brachium pontis, T4, T6 under the three-phase full-bridge inverter, 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; The collector electrode of three drainage switching tube Q1, Q2, Q3 respectively with three-phase full-bridge inverter under three switching element T 2, T4, the S utmost point of T6 of brachium pontis be connected, the emitter tandem of three drainage switching tube Q1, Q2, 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 advantage compared with prior art:

1, carries out the brshless DC motor controlling electromagnetic torque through 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 complicated circuit, expensive dsp controller, greatly reduces and controls cost.

2, be through 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 expensive Hall current sensor or the integrated chip current sensor of use cost, 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

Below in conjunction with accompanying drawing and specific embodiment the present invention is described further.

Brshless DC motor inhibiting electromagnetic torque pulsation method of the present invention; The given electric current of conducting phase line current tracking through the control brshless DC motor is realized the inhibiting electromagnetic torque pulsation to brshless DC motor, and brshless DC motor conducting phase line current utilizes the electric current of three switching devices of brachium pontis under the inverter and the back stack of multiplying each other of switching device drive signal accordingly to obtain.

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 the S utmost point of three switching element T 2 of 2 times brachium pontis of three-phase full-bridge inverter, T4, T6 is 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 CCPOS0, CCPOS1 and the CCPOS2 pin 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 and HO3 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, and LO1, LO2, LO3 pin are connected respectively to Q1, the Q2 of the G utmost point and 6 three the drainage switching tubes of conducting phase line current detection circuit of three switching element T 2 of 2 times brachium pontis of three-phase full-bridge inverter, T4, T6, 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; The collector electrode of three drainage switching tube Q1, Q2, Q3 is connected with the S utmost point of three switching element T 2 of 2 times brachium pontis of three-phase full-bridge inverter, T4, T6 respectively, and the emitter tandem of three drainage switching tube Q1, Q2, Q3 is connected with the end of divider resistance R1, and 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, handles 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, the action of drive inverse bridge switch, thus 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, and these voltages are drawn the conducting phase line current signal that synthesizes and after dividing potential drop filtering, obtain brshless DC motor, and the analog-to-digital conversion pin of sending into chip microprocessor XC866 continues to ask deviation with given electric current; Repeat above process, the continuous service of the low electromagnetic torque pulsation of the brshless DC motor that is achieved.

Claims (6)

1. 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-magnet brushless DC electric machine (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 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).
2. brshless DC motor electromagnetic torque pulsation suppression device according to claim 1; It is characterized in that: described three-phase full-bridge inverter (2) comprises six switching element T 1, T2, T3, T4, T5, T6; The D utmost point tandem of three switching element T 1 of the last brachium pontis of three-phase full-bridge inverter (2), T3, T5 is connected with DC power supply (1) anode, and the S utmost point of three switching element T 2 of brachium pontis, T4, T6 is connected ground connection with DC power supply (1) negative terminal respectively under the three-phase full-bridge inverter (2) after three sample resistance RS tandem.
3. brshless DC motor electromagnetic torque pulsation suppression device according to claim 1 is characterized in that: the rotor-position signal of described permanent-magnet brushless DC electric machine (3) Hall element output is connected with CCPOS0, CCPOS1 and the CCPOS2 pin of single chip microcontroller (4).
4. brshless DC motor electromagnetic torque pulsation suppression device according to claim 1; It is characterized in that: described single chip microcontroller (4) adopts XC866, and the CC60 of single chip microcontroller (4), 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 (5) respectively.
5. brshless DC motor electromagnetic torque pulsation suppression device according to claim 1; It is characterized in that: described three-phase full-bridge inverter switching device drive circuit (5) adopts IR2130; Its HO1, HO2 and HO3 pin 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 respectively, and LO1, LO2, LO3 pin connect Q1, the Q2 of the G utmost point and (6) three the drainage switching tubes of conducting phase line current detection circuit of three switching element T 2 of brachium pontis, T4, T6 under the three-phase full-bridge inverter (2), the base stage of Q3 respectively.
6. brshless DC motor electromagnetic torque pulsation suppression device according to claim 1; 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; The collector electrode of three drainage switching tube Q1, Q2, Q3 respectively with three-phase full-bridge inverter (2) down three switching element T 2, T4, the S utmost point of T6 of brachium pontis be connected, the emitter tandem of three drainage switching tube Q1, Q2, 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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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
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
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
CN104407614B (en) * 2014-10-23 2017-08-25 河北工业大学 Four-wheel-type indoor mobile robot
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