CN102013827B - Inverter module for controlling brushless direct current (DC) motor - Google Patents
Inverter module for controlling brushless direct current (DC) motor Download PDFInfo
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- 230000002463 transducing effect Effects 0.000 description 2
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Abstract
The invention relates to the control technology of a three-phase direct current (DC) motor. In order to solve the problem that good current closed-loop control can not be realized aiming at the three-phase square wave brushless DC motor in the prior art, the invention provides a new scheme for realizing current closed-loop control on a square-wave brushless permanent magnet DC motor. In the new scheme, a brushless DC motor control system, a control method of the brushless DC motor control system and a corresponding inverter module are provided. Cathodes of freewheeling diodes D1, D3 and D5 are independent of the input ends of respective switches and are mutually connected to a sampling coil L2 in parallel, and/or the anodes of the freewheeling diodes D2, D4 and D6 are independent to the output ends of the respective switches and are mutually connected to a sampling coil L3 in parallel. In the invention, a single synthesized current sensor can be used for integrally and continuously sampling the three-phase currents of the motor in the cases of breakover and flow current, and a single current closed-loop adjustor is used for carrying out continuous closed-loop control on the three-phase currents, thereby greatly improving the dynamic and static indexes of the motor.
Description
Patent application of the present invention is that application number is dividing an application of " 200710072970.2 ", and the applying date of original application is on January 15th, 2007, and the name of original application is called " Control System for Brushless DC and control method thereof ".
Technical field
The present invention relates to the control technology of three-phase dc motor, more particularly, relate to inversion module for the control brushless DC motor, use the Control System for Brushless DC of this inversion module and for 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 three-phase brushless permanent magnet DC motor 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 DC 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 so that current closed-loop control becomes very difficult, therefore, in traditional square wave brushless DC permanent-magnet motor control system, seldom adopts current closed-loop control.
In the prior art, for the three-phase square wave brushless DC motor, usually adopt the phase current instantaneous value to realize current closed-loop control.This scheme needs three independently current sensor and three current regulators independently, causes its control circuit burdensome, complicated, 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 be sampled at brachium pontis (bus), 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 large value deviation, uses so only be used at present the monitoring of current limit value.
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 for the three-phase square wave brushless DC motor, so in existing high-performance servo-control system, usually do not adopt the three-phase brushless permanent magnet DC motor, but adopt AC servomotor or sinusoidal wave brushless permanent-magnet DC, consequently the control system complexity significantly increases, and holistic cost is high.
Summary of the invention
For the defects 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 for the three-phase square wave brushless DC motor, and the three-phase brushless permanent magnet DC motor can better be used.
In order to solve the problems of the technologies described above, the present invention at first provides a kind of inversion module for the control brushless DC motor, comprise switching tube Q1, the Q3, the Q5 that are connected with upper brachium pontis, the switching tube that is connected with lower brachium pontis closes Q4, Q6, Q2, 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 the output of switching tube separately and parallel with one another.
Among the present invention, above-mentioned inversion module for the control brushless DC motor can be made integrated circuit (IC) chip.During implementation, also can be only the negative electrode of the sustained diode 1 of upper brachium pontis, D3, D5 be independent of the input of switching tube separately and parallel with one another, forms the inversion module that the second is used for the control brushless DC motor; Perhaps only the anode of the sustained diode 4 of lower brachium pontis, D6, D2 is independent of the output of switching tube separately and parallel with one another, forms the inversion module that the third is used for the control brushless DC motor.
On the other hand, the inversion module that is used for the control brushless DC motor corresponding to above-mentioned the first, the invention provides a kind of Control System for Brushless DC, comprise for the inverter circuit to described threephase motor output power supply, and for detection of the current sensor of described threephase motor operating current; Comprise switching tube Q1, the Q3, the Q5 that are connected with upper brachium pontis in the described inverter circuit, the switching tube that is connected with lower brachium pontis closes Q4, Q6, Q2, 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 on described iron core and output current sensing result's sensing element; The sustained diode 1 of described switching tube Q1, Q3, Q5, the negative electrode of D3, D5 are independent of separately input and the Same Name of Ends to described sampling coil L2 parallel with one another of switching tube, and the different name end of described sampling coil L2 is connected with described upper brachium pontis; The sustained diode 4 of described switching tube Q4, Q6, Q2, the anode of D6, D2 are independent of separately output and the different name end to described sampling coil L3 parallel with one another of switching tube, and the Same Name of Ends of described sampling coil L3 is connected with described lower brachium pontis; Described sampling coil L1 is serially connected with in the described upper brachium pontis and its Same Name of Ends is connected with dc power anode, or is serially connected with in the described lower brachium pontis and its different name end is connected with dc power cathode.
Among the present invention, be used for the inversion module of control brushless DC motor corresponding to above-mentioned the second, two sampling coil L1, L2 can only be set, omit sampling coil L3, obtain the second control system scheme; Be used for the inversion module of control brushless DC motor corresponding to above-mentioned the second, two sampling coil L1, L3 can only be set, omit sampling coil L2, obtain the third control system scheme.
In the Control System for Brushless DC of the present invention, described sensing element for output current sensing result is a linear hall element.
In the Control System for Brushless DC of the present invention, the output voltage amplitude of described linear hall element is delivered to current regulator as current feedback signal, pulse modulated circuit is delivered in the output of described current regulator, the phase change logic circuit is delivered in the output of described pulse modulated circuit, predrive circuit is delivered in the output of described phase change logic circuit again, and the described predrive circuit again control end of each switching tube in the described inverter circuit is exported corresponding drive pulse signal; Described inverter circuit under the control of described drive pulse signal to the threephase motor output power supply.
In the Control System for Brushless DC of the present invention, 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 the 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 speed preset signal and speed feedback voltage, to the given signal of described current regulator output current; Described current regulator is exported corresponding control signal according to described given value of current signal with from the current feedback signal of described linear hall element to described pulse modulated circuit; Described phase change logic circuit is exported corresponding control impuls according to from the pulse signal of described pulse-width modulation circuit and commutation position signal and the motor drive direction signal of described location/velocity interface to described predrive circuit.
In the Control System for Brushless DC of the present invention, described three-phase square wave brushless permanent-magnet DC also can be stator iron-core-free straight line three-phase square wave brushless permanent-magnet DC, or the rotary three-phase square wave brushless permanent-magnet DC of stator iron-core-free.
On the other hand, for above-mentioned the first control system scheme, the present invention also provides a kind of control method of Control System for Brushless DC, 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 upper brachium pontis is carried out pulse-width modulation,
Perhaps, separately the switching tube that is connected with lower brachium pontis is carried out pulse-width modulation,
Perhaps, the switching tube that is connected with upper brachium pontis is carried out respectively pulse-width modulation with the switching tube that is connected with lower brachium pontis.
For above-mentioned the second control system scheme, owing to only have sampling coil L1, L2, without sampling coil L3, so only can carry out pulse-width modulation to the switching tube that is connected with lower brachium pontis separately.
For above-mentioned the third control system scheme, owing to only have sampling coil L1, L3, without sampling coil L2, so only can carry out pulse-width modulation to the switching tube that is connected with upper brachium pontis separately.
Can find out from technique scheme, the invention solves the problem that realizes good current closed-loop control for 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 State 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 the first inverter circuit embodiment of the present invention;
Fig. 4 is the schematic diagram of the second 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 upper 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 lower 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 only upper brachium pontis in the inverter circuit scheme shown in Figure 3 being carried out the PWM modulation;
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, to the current converter 112 that the transducing signal of current sensor is changed, the current regulator 108, PWM modulation circuit 103 and the predrive circuit 107 that connect 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 on this iron core and output current sensing result's sensing element, it is a linear hall element 202.Among the figure with asterisk (*) be the Same Name of Ends of each sampling coil, as seen, three sampling coils by equidirectional on this iron core, therefore, the linear hall element in this current sensor detects be electric current in three sampling coils vector and.
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 linearity of linear hall element increases; 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 upper brachium pontis in the described inverter circuit, the switching tube that is connected with lower brachium pontis closes Q4, Q6, Q2, 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, again through the Same Name of Ends of sampling coil L2, different name end and be connected with upper brachium pontis; The sustained diode 4 of switching tube Q4, Q6, Q2, the anode of D6, D2 then are independent of the output of switching tube separately and parallel with one another, again through the different name end of sampling coil L3, Same Name of Ends and be connected with lower brachium pontis; Sampling coil L1 then is serially connected with on the brachium pontis, its termination positive source of the same name.As seen, each sampling coil is wound on the iron core on the one hand, accesses 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.
Can find out in the description from behind, for sampling coil L1, L2, L3, during normal operation, arbitrary moment electric current only flows through one of them sampling coil, and all is to advance from Same Name of Ends, and different name brings out.In conjunction with connected mode shown in Figure 2, can guarantee to produce iron core from the electric current that the Same Name of Ends of each sampling coil L1, L2, L3 flows into the magnetic flux of equidirectional again.During implementation, sampling coil L1, L2, the L3 revert all of Fig. 3 can be connected i.e. Same Name of Ends and different name end transposing; Or being serially connected with lower brachium pontis after sampling coil L1 is reverse, sampling 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 Same Name of Ends of each sampling coil L1, L2, L3 flows into the magnetic flux of equidirectional, guarantee finally that linear hall element in the current sensor detects 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 upper brachium pontis switching tube Q1, Q3, Q5 and lower brachium pontis switching tube Q4, Q6, Q2, during any one group of switching tube conducting, electric current only passes through 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 abnormal condition, 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 normal operation, the brachium pontis switching tube adds one with it without direct-connected lower brachium pontis switching tube on any, consists of a conducting group.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 Same Name of Ends of sampling coil L1, flows through successively switching tube Q1, motor a phase winding, motor b phase winding, switching tube Q6 again.As seen, the electric current of this moment 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 equation that can not flow through in addition two sampling coil L2, L3 this moments is:
(2) electric current only flows through the situation of sampling coil L3
For 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, after switching tube Q1 is turned off (being the t2 period among Fig. 7 A), 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 into the Same Name of Ends of sampling coil L3 by Q6, flow through successively sustained diode 4, motor a phase winding, motor b phase winding again, forms the loop.At this moment, electric current flows through sampling coil L3, can not flow through in addition two sampling coil L1, L2.Equally, in the turn-on cycle of arbitrary group of switching tube, if upper brachium pontis switching tube is wherein carried out the PWN modulation, in the moment that upper brachium pontis switching tube is turned off, freewheel current only flows through sampling coil L3, can not flow through in addition two sampling coil L1, L2.This moment, circuit equation was:
(3) electric current only flows through the situation of sampling coil L2
For 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, after switching tube Q6 is turned off (being to be the t2 period among Fig. 7 C), because the effect of motor winding inductance, electric current can directly not jumped vanishing, can flow through successively this moment Q1, motor a phase winding, motor b phase winding, sustained diode 3, gets back to Q1 through the Same Name of Ends 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 in addition two sampling coil L1, L3.Equally, in the turn-on cycle of arbitrary group of switching tube, if lower brachium pontis switching tube is wherein carried out the PWN modulation, in the moment that lower brachium pontis switching tube is turned off, freewheel current only flows through sampling coil L2, can not flow through in addition two sampling coil L1, L3.
Can find out that from above-mentioned (1), (2), (3) these three kinds of situations 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 modulation method, has versatility.
(4) only lower brachium pontis switching tube is carried out the PWM modulation
Can find out from above-mentioned (3) kind situation, when only lower brachium pontis switching tube being carried out pulse-width modulation, freewheel current only flows through sampling coil L2, can not flow through in addition two sampling coil L1, L3.If use all the time this control mode, then electric current flows through sampling coil L1 during normally, electric current flows through sampling coil L2 during only to lower brachium pontis switching tube modulation work, therefore can omit the sampling coil L3 among Fig. 2, correspondingly, obtain inverter circuit shown in Figure 4, can find out with Fig. 3 contrast, sustained diode 4 among Fig. 4, D6, D2 keep conventional connected mode, namely the anodic bonding of each fly-wheel diode are arrived the output of each switching tube.
As seen, for Fig. 3 and circuit shown in Figure 4, all can adopt the mode of only lower 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 upper brachium pontis switching tube, and L is the driving pulse of lower brachium pontis switching tube.In the embodiment shown in fig. 8, for 120 ° of angles of flow of each lower brachium pontis switching tube, only to wherein rear 60 ° carry out the PWM modulation.During implementation, also the time of PWM modulation can be increased or reduces.
(5) only upper brachium pontis switching tube is carried out the PWM modulation
Can find out from above-mentioned (2) kind situation, when only upper brachium pontis switching tube being carried out pulse-width modulation, freewheel current only flows through sampling coil L3, can not flow through in addition two sampling coil L1, L2.If use all the time this control mode, then electric current flows through sampling coil L1 during normally, electric current flows through sampling coil L3 during only to upper brachium pontis switching tube modulation work, therefore can omit the sampling coil L2 among Fig. 2, correspondingly, obtain inverter circuit shown in Figure 5, can find out with Fig. 3 contrast, 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 upper 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 front 60 ° carry out PWM modulation.During implementation, also the time of PWM modulation can be increased or reduces.
(6) simultaneously upper brachium pontis switching tube is carried out the PWM modulation
For circuit shown in Figure 3, owing to wherein three sampling coil L1, L2, L3 being arranged, in the turn-on cycle of arbitrary group of switching tube, can carry out pulse-width modulation to upper brachium pontis switching tube first, more lower brachium pontis switching tube is carried out pulse-width modulation, otherwise perhaps.
In modulated process, preferably can guarantee 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 Same Name of Ends of sampling coil L2, then enters the non-same polarity of sampling coil L1, and power supply U again flows through
Dc(can charge to the battery DC power supply at this moment, or the electric capacity in parallel with power supply is charged) afterwards, enter the Same Name of Ends of sampling coil L3, as seen, this moment, freewheel current was through sampling coil L1, L2, L3.Because in the current circuit of this moment, sampling coil L1 and L2 are reverse, both electric currents are identical, opposite direction, and the magnetic flux that produces 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 simultaneously conductings, electric current only passes through sampling coil L1; When lower brachium pontis switching tube was carried out pulse-width modulation, electric current only passed through sampling coil L2; When the upper and lower bridge arm switching tube was carried out pulse-width modulation, electric current only passed 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 front 30 ° and rear 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, for Fig. 3, can implement simultaneously (4), (5), (6) these three kinds of control modes; For Fig. 4, then implement only (4) and plant control mode, namely only lower brachium pontis switching tube is carried out the PWM modulation; For Fig. 5, then implement only (5) and plant control mode, namely only upper brachium pontis switching tube is carried out the PWM modulation.
On the other hand, for 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 for the control brushless DC motor.Wherein, upper brachium pontis and lower brachium pontis are connected to respectively first, second pin P1, P2; 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 the output of switching tube separately and parallel with one another to the 4th pin P4; Three outputs of inverter circuit are connected to respectively the 5th, the 6th, the 7th pin P5, P6, P7; The control end of switching tube Q1 to Q6 is connected to respectively the 8th to the tenth three-prong P8-P13.
Equally, for circuit shown in Figure 4, can remove peripheral cell after, obtain circuit shown in Figure 16, be made into integrated circuit, can obtain the another kind of inversion module that is used for the control brushless DC motor.For circuit shown in Figure 5, after removing peripheral cell, can obtain circuit shown in Figure 17, be made into integrated circuit, can obtain the another kind of inversion module that is used for the 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 modulated circuit 103 is delivered in the output of current regulator, phase change logic circuit 104 is delivered in the output of pulse modulated circuit, predrive circuit 107 is delivered in the output of phase change logic circuit again, and the predrive circuit again control end of each switching tube in the inverter circuit 101 is exported corresponding drive pulse signal; 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, in the rotating shaft of described DC motor position transducer 115 is housed, 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 the 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 speed preset signal and speed feedback voltage, to the given signal of current regulator 108 output currents; Current regulator is according to the given value of current signal with from the current feedback signal of linear hall element, to the corresponding control signal of pulse modulated circuit 103 outputs; 114 bases of phase change logic circuit are exported corresponding control impuls from the pulse signal of described pulse-width modulation circuit and from commutation position signal and the motor drive direction signal of described location/velocity interface 111 to predrive circuit.
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 iron-core-free 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 be conducive to realize the precision positions SERVO CONTROL.
In addition, wherein motor also can adopt the rotary three-phase square wave brushless permanent-magnet DC of stator iron-core-free.
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 consists of with AC servomotor in the prior art, has great advantage, and is mainly reflected in:
(a) because the mean value of square wave is larger than sinusoidal wave, so the energy index of electric system of the present invention improves approximately 33%.This means that the volume of motor, weight and price can corresponding declines 33% when realizing said function.
(b) the square wave Drive and Control Circuit is relatively simple, and cost only has 50% of AC servo usually.
(c) the torque fluctuations index is suitable, and when adopting stator iron-core-free three-phase square wave brushless permanent-magnet DC, its torque fluctuations index even meeting are better especially.
(d) manufacturing cost of three-phase brushless permanent magnet DC motor is usually than AC servomotor low about 30%.
(e) Positioning Servo System of three-phase brushless permanent magnet DC motor 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 input one by the given signal of moment to current regulator, and then realize required Torque Control.In the present embodiment, adopt stator non iron-core brushless permanent-magnet DC.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 the new departure to the realization current closed-loop control of square wave brushless permanent-magnet DC, and can further consist of the high-performance servo-control system.Three-phase current when the present invention adopts single resultant current transducer to motor conducting and afterflow carries out complete and continuous sampling, and by the single current closed-loop regulator three-phase current is carried out continuous closed-loop control, thereby significantly improved motor dynamically and Static State Index.The high-performance servo-control system that this three-phase brushless permanent magnet DC motor consists of can be used in multiple digital control system, compares with the main flow system of commercial Application now, and cost 50%, energy index improve 33%.
Claims (3)
1. inversion module that is used for the control brushless DC motor, comprise switching tube Q1, the Q3, the Q5 that are connected with upper brachium pontis, switching tube Q4, the Q6, the Q2 that are connected with lower 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,
The sustained diode 1 of described 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;
The sustained diode 4 of described switching tube Q4, Q6, Q2, the anode of D6, D2 are independent of the output of switching tube separately and parallel with one another.
2. inversion module that is used for the control brushless DC motor, comprise switching tube Q1, the Q3, the Q5 that are connected with upper brachium pontis, switching tube Q4, the Q6, the Q2 that are connected with lower 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,
The sustained diode 1 of described 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.
3. an inversion module that is used for the control brushless DC motor comprises switching tube Q1, Q3, Q5 that brachium pontis connects, switching tube Q4, the Q6, the Q2 that are connected with lower 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,
The sustained diode 4 of described switching tube Q4, Q6, Q2, the anode of D6, D2 are independent of the output of the pipe that opens the light separately and parallel with one another; Described inversion module for the control brushless DC motor also comprises the current sensor for detection of the threephase motor operating current, described current sensor comprises sampling coil L1, the L3 that the number of turn is identical, sampling coil L1, L3 are wound on the same iron core, also are equipped with one according to the flux change of this iron core on described iron core and output current sensing result's sensing element; The sustained diode 4 of described switching tube Q4, Q6, Q2, the anode of D6, D2 are independent of separately output and the different name end to described sampling coil L3 parallel with one another of switching tube, and the Same Name of Ends of described sampling coil L3 is connected with described lower brachium pontis; Described sampling coil L1 is series in the described upper brachium pontis and its Same Name of Ends is connected with dc power anode, or is serially connected with in the described lower brachium pontis and its different name end is connected with dc power cathode.
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