CN102437805A - Compensation calculation method of heavy load phase of brushless direct current (DC) motor without position sensor - Google Patents

Compensation calculation method of heavy load phase of brushless direct current (DC) motor without position sensor Download PDF

Info

Publication number
CN102437805A
CN102437805A CN2011103340533A CN201110334053A CN102437805A CN 102437805 A CN102437805 A CN 102437805A CN 2011103340533 A CN2011103340533 A CN 2011103340533A CN 201110334053 A CN201110334053 A CN 201110334053A CN 102437805 A CN102437805 A CN 102437805A
Authority
CN
China
Prior art keywords
phase
voltage
signal
electromotive force
terminal voltage
Prior art date
Application number
CN2011103340533A
Other languages
Chinese (zh)
Other versions
CN102437805B (en
Inventor
孟凡民
徐殿国
杨明
曹何金生
王公旺
Original Assignee
威海克莱特机电有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to CN201110273544 priority Critical
Priority to CN201110273544.1 priority
Application filed by 威海克莱特机电有限公司 filed Critical 威海克莱特机电有限公司
Priority to CN2011103340533A priority patent/CN102437805B/en
Publication of CN102437805A publication Critical patent/CN102437805A/en
Application granted granted Critical
Publication of CN102437805B publication Critical patent/CN102437805B/en

Links

Abstract

The invention relates to the technical field of brushless direct current (DC) motors, and in particular relates to a compensation calculation method of the heavy load phase of a brushless DC motor without a position sensor. The method is characterized by adopting a back electromotive force detection method to detect the three-phase terminal voltage with a back electromotive force detection circuit, carrying out depth filtering with a filter circuit, comparing the voltage with an analog neutral point, generating a rotor position signal with a digital signal processor (DSP), dividing the terminal voltage into a back electromotive force signal and a follow current interference signal, calculating the phases and amplitudes of the two signals to obtain a phase advance angle, caused by the follow current, of the rotor position signal and compensating the phase advance angle. The method has the following beneficial effects that: the controller can determine the phase advance angle in real time by only detecting the phase current of the motor; and phase angle compensation can be appropriately carried out according to the current and the rotating speed as the advance phase change of the phase angle is beneficial to the reduction of the torque ripple of the brushless DC motor, thus ensuring the motor to reach the best operation state.

Description

Brushless DC motor without position sensor heavy duty phase compensation computational methods

Technical field

The present invention relates to the brshless DC motor technical field, specifically a kind of brushless DC motor without position sensor heavy duty phase compensation computational methods.

Background technology

Brushless DC motor (Brushless DC Motor; Hereinafter to be referred as BLDC) rely on characteristics such as its high reliability, high efficiency, speed governing convenience, life-span length to obtain in the world developing comparatively fully; In some comparatively flourishing countries; Brushless DC motor will become capstan motor in the coming years, and will progressively replace the motor of other types.

BLDC drive controlling mode is divided into two kinds of position sensor formula and position-sensor-free formulas.The existence of position transducer brings a lot of defectives and inconvenience can for the application of brushless electric machine, and at first, position transducer can increase the volume and the cost of motor; Secondly, the position transducer that line is numerous can reduce the motor reliability of operation, and once more, in some abominable operational environment, as in the compressor of air conditioner of sealing, because the severe corrosive of cold-producing medium, conventional position transducer just can't use at all.In addition, the installation accuracy of position transducer also can influence the runnability of motor, the technology difficulty of increase producing, and particularly when motor size is little when arriving to a certain degree, the disadvantage of use location transducer is day by day obvious.

Through retrieval; On October 24th, 2006; BJ University of Aeronautics & Astronautics has applied for that a kind of application number is: 2006101139873; Patent name is: a kind of patent of invention of phase-lock steady speed control system of high speed permanent-magnetic brushless DC motor, and it is made up of phase-locked loop speed control, wave digital lowpass filter, power amplifier, brushless, permanently excited direct current motor, Hall effect rotor-position sensor, and this invention obtains speed feedback through the Hall effect rotor-position sensor of low precision; Realized the high accuracy speed stabilizing control of magnetic suspension control torque gyroscope with the high-speed permanent-magnet brushless direct current machine; There is magnetic immunity region to a certain degree in this Hall effect rotor-position sensor in practical application, also exist the lock phase velocity slow, and frequency discrimination phase demodulation scope is low; The modulus range of counter is narrow, and motor speed must just can be locked in phase locking range and equate not enough.

Use the position-sensor-free type of drive then to save position detecting device, reduced cost, dwindled the volume of driver, realization and driver and motor is integrated more easily.Consider volume, operational environment and the production cost problem of blower fan, the mode of position Sensorless Control brshless DC motor is a better choice.In the position-sensor-free square wave control, the most frequently used is to adopt conduction mode control in twos, causes afterflow long but this control mode exists electric current to cross conference, and then causes the problem of commutation failure.

In June, 2010; " the special journal of Heilungkiang water " the 37th volume the 2nd periodical has been stepped on one piece of " based on the research of position-sensor-free BLDCM control system " literary composition by name; Set forth in the literary composition through detecting the back-emf voltage signal and replacing hall signal through after the phase discrimination processing; Software compensation is constantly carried out in exchange simultaneously mutually, realizes the approximate accurately switching-over of BLDCM.Its deficiency is: through detecting three phase terminals voltage, carry out comparing with simulated neutral point behind the depth filtering again, generate rotor-position signal; But because electric current is very big, time of afterflow is long, can influence the three phase terminals voltage waveform of " ideal " when heavy duty; Cause wave distortion; Influenced the accuracy of detected position signalling, that can not guarantee to commutate correctly carries out, and phase angle time-delay commutation is unfavorable for reducing the torque pulsation of brshless DC motor.

Therefore, this also is the technical difficult points that the position Sensorless Control mode is used in high-power field.

Summary of the invention

The objective of the invention is additional perfect to back electromotive force method brushless direct current motor sensorless control technology; Make the back electromotive force detection technique can under the situation of the big electric current afterflow of heavy duty, still keep good performance; Widen the range of application of back electromotive force detection technique; Provide a kind of and determine the deviation angle of electric current afterflow influence through detecting electric current, rotating speed, duty ratio, busbar voltage and the parameter of electric machine; Then this deviation angle is compensated, thereby make commutation constantly constantly, guarantee the brushless DC motor without position sensor that correctly the carries out heavy duty phase compensation computational methods that commutate near best commutation.

The technical solution adopted for the present invention to solve the technical problems is:

A kind of brushless DC motor without position sensor heavy duty phase compensation computational methods; It is characterized in that adopting the back electromotive force detection method; Detect three phase terminals voltage through counter electromotive force detection circuit (like Fig. 1), after filter circuit carries out depth filtering, compare with simulated neutral point again, generate rotor-position signal through dsp processor; Terminal voltage is divided into back-emf signal and electric current afterflow interference signal; Two kinds of signals are carried out the calculating of phase place and amplitude, and the phase advance angle degree of the rotor-position signal that obtains being caused by the electric current afterflow compensates; Concrete steps are following: in order to analyze the phase deviation phenomenon that makes motor position detection signal when the heavy duty, below the terminal voltage under the heavy duty is analyzed:

Because counter electromotive force detection circuit is a low pass filter, therefore high fdrequency component will can be done following simplification by filtering through testing circuit:

1) because of the cut-off frequency of PWM modulating frequency much larger than the low pass filter of counter electromotive force detection circuit, the PWM chopping voltage of high frequency can use its average voltage approximate;

2) same, the generator neutral point voltage fluctuation can use its mean value approximate also by filtering;

3) the phase back electromotive force is that 120 ° of flat-tops are wide, and equivalent amplitude is the PWM ripple of busbar voltage;

Brachium pontis modulation on adopting; Terminal voltage can be simplified to model as shown in Figure 4 during following brachium pontis conduction mode (PWM-ON); Wherein, is the voltage sum of ideal line back electromotive force and desirable neutral point; The voltage distortion that causes for the electric current afterflow; Terminal voltage equals and sum, i.e. = + (voltage reference points is the bus negative pole);

Terminal voltage among Fig. 4 can be divided into 6 states, is respectively:

1) with constantly: this descends the brachium pontis conducting mutually; Terminal voltage equates with ; Be the bus cathode voltage; Be labeled as 0; also is 0, at this moment not detection of impact position signal;

2) time period: motor commutation; Electric current is through last brachium pontis inverse parallel diode continuousing flow; Voltage is busbar voltage by clamper, the linear rising with the increase of phase back electromotive force; What was with is poor, i.e. ;

3) time period: this is mutually unsettled, and phase terminal voltage is phase back electromotive force and neutral point voltage sum.Neutral point voltage is a direct current biasing; Back electromotive force is linear to rise, and terminal voltage is linear with to rise; is 0, and be inoperative;

4) time period: this goes up the brachium pontis modulation mutually; Duty ratio is with the relation of product with of busbar voltage ; Terminal voltage equals , and arranged; is 0, the not detection of impact position signal;

5) time period: motor commutation; The electric current process is brachium pontis inverse parallel diode continuousing flow down; Terminal voltage is a bus ground voltage 0 by clamper; with back electromotive force reduce and linear decline; What was with is poor, i.e. ;

6) time period: this is mutually unsettled; Phase terminal voltage is phase back electromotive force and neutral point voltage sum; Neutral point voltage is a direct current biasing; Back electromotive force is linear to descend; Terminal voltage is linear with to descend; is 0, the not detection of impact position signal;

Through decomposition to terminal voltage; is the same with when heavy duty in underloading; then has very big difference; During underloading; Electric current is little; and is very short; The action time of is very short; Its voltagesecond product is very little; arranged ( = ; ); Therefore the position input is only caused faint influence, can ignore; During heavy duty; Electric current is big; and continues the long time; Voltagesecond product can not ignore; It is serious to the influence of position detection signal; The phase advance angle that produces is spent greatly; Fig. 5 is the voltage of terminal voltage and its decomposition and the signal of the generation behind process low pass filter; The leading back-emf signal of afterflow interference signal; Make the synthetic terminal voltage signal of they stacks be ahead of back-emf signal; The amplitude of afterflow interference signal is big more; The leading angle of terminal voltage signal is big more, and the terminal voltage phase place makes the zero crossing of terminal voltage arrive in advance constantly in advance, detects the zero crossing that obtains and departs from real back electromotive force zero-crossing; When increase along with load current; The phase advance angle degree increases thereupon, and when leading angle was excessive, it is abominable that the commutation situation becomes; Cause current distortion; Have influence on terminal voltage waveform and position detection signal conversely, cause the further deterioration of commutation, finally cause commutation failure;

Foundation through above-mentioned model; Decomposition analysis to terminal voltage; We can obtain underloading and when heavy duty back electromotive force detection signal phase relation is exactly in fact and the phase relation of + ; Because is the same with cycle; Phase angular lag through low pass filter equates; Therefore the difference of the position signalling phase angle under underloading and the heavy duty depends on angle and the amplitude of and ; Thus, draw the heavy duty under the phase compensation computational methods:

Under the step voltage, low pass filter zero state response computing formula does

(1)

Wherein , , and are shown in accompanying drawing 1.Voltage through low pass filter compares with simulated neutral point voltage ; Thereby obtain the zero crossing of back electromotive force; Ignore the fluctuation of neutral point voltage; Then is the mean value of ; Therefore; The alternating current component of only considering has

(2)

Shown in the accompanying drawing 1 in the counter electromotive force detection circuit; Select suitable resistance and electric capacity; Make , obtain

(3)

made the step signal of Approximate Equivalent and handle, bringing that formula (3) obtains into has through the ac amplitude of output voltage behind the low pass filter

(4)

Wherein, is the afterflow angle; It is the electrical angle of electric current time of afterflow conversion; is the frequency of counter electromotive force of motor; is for revising scale factor; Here get =1

Similarly After a low-pass filter output AC voltage amplitude There

(5)

The fundamental phase with and is consistent basically for phase place with ; is relevant with , and its relational expression can be expressed as

(6)

And satisfy ; Finding the solution of is non-linear; Calculation of complex; But because fluctuation range is less; Adopt the method for engineering approximation, can think that it is for often being worth approximate calculation

According to formula (4) and formula (5); As shown in Figure 6, phase angle with satisfies

(7)

When when getting 20 °, can try to achieve

(8)

In the formula: is offset angle

for back-emf signal through the ac amplitude behind the low pass filter

for the current interference signal through the ac amplitude behind the low pass filter

Present microprocessor can easily handle calculate above-mentioned formula push away the leading angle of phase place; Therefore after the relation that records electric current afterflow angle and size of current; Only need to detect electric machine phase current, controller can be confirmed leading phase angle in real time, because the commutation of phase angular advance helps reducing the torque pulsation of brshless DC motor; So can according to size of current and rotating speed suitable carry out phase angle compensation, thereby make motor reach optimal operational condition.

Description of drawings

Fig. 1 is a counter electromotive force detection circuit among the present invention.

Fig. 2 is under the heavy duty, back electromotive force detection signal when current time is very long and Hall detection signal.Wherein signal 1 is a back electromotive force U phase detection signal, and signal 2 is a Hall U phase detection signal, and signal 3 is that signal 4 is a simulated neutral point voltage signal through the back-emf signal behind the depth filtering.

The signal waveforms of phase compensation when Fig. 3 is the process heavy duty.

Fig. 3-the 1st, the phase signal oscillogram during underloading.

Fig. 3-the 2nd, phase compensation signal waveforms during heavy duty.

Among the figure: 1, terminal voltage, 2, the back electromotive force commutation, 3, the Hall commutation, 4, signal location, 5, the simulated neutral point.

Fig. 4 is terminal voltage and exploded view thereof.

Fig. 5 is through the terminal voltage behind the low pass filter and decomposes figure.

Among the figure: 1, afterflow interference signal, 2, terminal voltage signal, 3, the phase back-emf signal.

Fig. 6 is for analyzing the phase relation between each voltage.

Embodiment

Below in conjunction with accompanying drawing the present invention is further specified:

Shown in accompanying drawing, a kind of brushless DC motor without position sensor heavy duty phase compensation computational methods is characterized in that adopting meal electromotive force detection method; Detect three phase terminals voltage through counter electromotive force detection circuit (like Fig. 1), after filter circuit carries out depth filtering, compare with simulated neutral point again, generate rotor-position signal through dsp processor; Because electric current is very big, time of afterflow is long, can influence the three phase terminals voltage waveform of " ideal " when heavy duty for this method; Cause wave distortion, influenced the accuracy of detected position signalling, be depicted as the position detection signal experimental waveform under the heavy duty like accompanying drawing 2; Wherein signal 1 is the back electromotive force detection signal; Signal 4 is the hall position detection signal, and clearly, the back electromotive force detection signal has bigger deviation with approaching best commutation Hall detection signal constantly; Then terminal voltage is divided into back-emf signal and electric current afterflow interference signal like accompanying drawing 3; Two kinds of signals are carried out the calculating of phase place and amplitude, and the phase advance angle degree of the rotor-position signal that obtains being caused by the electric current afterflow compensates; Concrete compensation computational methods are following: in order to analyze the phase deviation phenomenon that makes motor position detection signal when the heavy duty, below the terminal voltage under the heavy duty is analyzed:

Because counter electromotive force detection circuit is a low pass filter, therefore high fdrequency component will can be done following simplification by filtering through testing circuit:

1) because of the cut-off frequency of PWM modulating frequency much larger than the low pass filter of counter electromotive force detection circuit, the PWM chopping voltage of high frequency can use its average voltage approximate;

2) same, the generator neutral point voltage fluctuation can use its mean value approximate also by filtering;

3) the phase back electromotive force is that 120 ° of flat-tops are wide, and equivalent amplitude is the PWM ripple of busbar voltage;

Brachium pontis modulation on adopting; Terminal voltage can be simplified to model as shown in Figure 4 during following brachium pontis conduction mode (PWM-ON); Wherein, is the voltage sum of ideal line back electromotive force and desirable neutral point; The voltage distortion that causes for the electric current afterflow; Terminal voltage equals and sum, i.e. = + (voltage reference points is the bus negative pole);

Terminal voltage among Fig. 4 can be divided into 6 states, is respectively:

1) with constantly: this descends the brachium pontis conducting mutually; Terminal voltage equates with ; Be the bus cathode voltage; Be labeled as 0; also is 0, at this moment not detection of impact position signal;

2) time period: motor commutation; Electric current is through last brachium pontis inverse parallel diode continuousing flow; Voltage is busbar voltage by clamper, the linear rising with the increase of phase back electromotive force; What was with is poor, i.e. ;

3) time period: this is mutually unsettled, and phase terminal voltage is phase back electromotive force and neutral point voltage sum.Neutral point voltage is a direct current biasing; Back electromotive force is linear to rise, and terminal voltage is linear with to rise; is 0, and be inoperative;

4) time period: this goes up the brachium pontis modulation mutually; Duty ratio is with the relation of product with of busbar voltage ; Terminal voltage equals , and arranged; is 0, the not detection of impact position signal;

5) time period: motor commutation; The electric current process is brachium pontis inverse parallel diode continuousing flow down; Terminal voltage is a bus ground voltage 0 by clamper; with back electromotive force reduce and linear decline; What was with is poor, i.e. ;

6) time period: this is mutually unsettled; Phase terminal voltage is phase back electromotive force and neutral point voltage sum; Neutral point voltage is a direct current biasing; Back electromotive force is linear to descend; Terminal voltage is linear with to descend; is 0, the not detection of impact position signal;

Through decomposition to terminal voltage; is the same with when heavy duty in underloading; then has very big difference; During underloading; Electric current is little; and is very short; The action time of is very short; Its voltagesecond product is very little; arranged ( = ; ); Therefore the position input is only caused faint influence, can ignore; During heavy duty; Electric current is big; and continues the long time; Voltagesecond product can not ignore; It is serious to the influence of position detection signal; The phase advance angle that produces is spent greatly; Fig. 5 is the voltage of terminal voltage and its decomposition and the signal of the generation behind process low pass filter; Afterflow interference signal 1 leading back-emf signal 3; Make the synthetic terminal voltage signal 2 of they stacks be ahead of back-emf signal 3; The amplitude of afterflow interference signal 1 is big more; The leading angle of terminal voltage signal 2 is big more; The terminal voltage phase place makes the zero crossing of terminal voltage arrive in advance constantly in advance; The zero crossing that detection obtains departs from real back electromotive force zero-crossing, and when the increase along with load current, the phase advance angle degree increases thereupon; When leading angle is excessive; It is abominable that the commutation situation becomes, and causes current distortion, has influence on terminal voltage waveform and position detection signal conversely; Cause the further deterioration of commutation, finally cause commutation failure;

Foundation through above-mentioned model; Decomposition analysis to terminal voltage; We can obtain underloading and when heavy duty back electromotive force detection signal phase relation is exactly in fact and the phase relation of + ; Because is the same with cycle; Phase angular lag through low pass filter equates; Therefore the difference of the position signalling phase angle under underloading and the heavy duty depends on angle and the amplitude of and ; Thus, draw the heavy duty under the phase compensation computational methods:

Under the step voltage, low pass filter zero state response computing formula does

(1)

Wherein , , and are shown in accompanying drawing 1.Voltage through low pass filter compares with simulated neutral point voltage ; Thereby obtain the zero crossing of back electromotive force; Ignore the fluctuation of neutral point voltage; Then is the mean value of ; Therefore; The alternating current component of only considering has

(2)

Shown in the accompanying drawing 1 in the counter electromotive force detection circuit; Select suitable resistance and electric capacity; Make , obtain

(3)

made the step signal of Approximate Equivalent and handle, bringing that formula (3) obtains into has through the ac amplitude of output voltage behind the low pass filter

(4)

Wherein, is the afterflow angle; It is the electrical angle of electric current time of afterflow conversion; is the frequency of counter electromotive force of motor; is for revising scale factor; Here get =1

Similarly After a low-pass filter output AC voltage amplitude There

(5)

The fundamental phase with and is consistent basically for phase place with ; is relevant with , and its relational expression can be expressed as

(6)

And satisfy ; Finding the solution of is non-linear; Calculation of complex; But because fluctuation range is less; Adopt the method for engineering approximation, can think that it is for often being worth approximate calculation

According to formula (4) and formula (5); As shown in Figure 6, phase angle with satisfies

(7)

When when getting 20 °, can try to achieve

(8)

In the formula: is offset angle

for back-emf signal through the ac amplitude behind the low pass filter

for the current interference signal through the ac amplitude behind the low pass filter

Present microprocessor can easily handle calculate above-mentioned formula push away the leading angle of phase place; Therefore after the relation that records electric current afterflow angle and size of current; Only need to detect electric machine phase current, controller can be confirmed leading phase angle in real time, because the commutation of phase angular advance helps reducing the torque pulsation of brshless DC motor; So can according to size of current and rotating speed suitable carry out phase angle compensation, thereby make motor reach optimal operational condition.

Claims (2)

1. brushless DC motor without position sensor heavy duty phase compensation computational methods; It is characterized in that adopting the back electromotive force detection method; Detect three phase terminals voltage through counter electromotive force detection circuit, after filter circuit carries out depth filtering, compare with simulated neutral point again, generate rotor-position signal through dsp processor; Terminal voltage is divided into back-emf signal and electric current afterflow interference signal; Two kinds of signals are carried out the calculating of phase place and amplitude, and the phase advance angle degree of the rotor-position signal that obtains being caused by the electric current afterflow compensates; Concrete steps are following: in order to analyze the phase deviation phenomenon that makes motor position detection signal when the heavy duty, below the terminal voltage under the heavy duty is analyzed:
Because counter electromotive force detection circuit is a low pass filter, therefore high fdrequency component will can be done following simplification by filtering through testing circuit:
1) because of the cut-off frequency of PWM modulating frequency much larger than the low pass filter of counter electromotive force detection circuit, the PWM chopping voltage of high frequency can use its average voltage approximate;
2) same, the generator neutral point voltage fluctuation can use its mean value approximate also by filtering;
3) the phase back electromotive force is that 120 ° of flat-tops are wide, and equivalent amplitude is the PWM ripple of busbar voltage;
Brachium pontis modulation on adopting; Terminal voltage can be simplified to model as shown in Figure 4 during following brachium pontis conduction mode (PWM-ON); Wherein, is the voltage sum of ideal line back electromotive force and desirable neutral point; The voltage distortion that causes for the electric current afterflow; Terminal voltage equals and sum, i.e. = + (voltage reference points is the bus negative pole);
Terminal voltage among Fig. 4 can be divided into 6 states, is respectively:
1) with constantly: this descends the brachium pontis conducting mutually; Terminal voltage equates with ; Be the bus cathode voltage; Be labeled as 0; also is 0, at this moment not detection of impact position signal;
2) time period: motor commutation; Electric current is through last brachium pontis inverse parallel diode continuousing flow; Voltage is busbar voltage by clamper, the linear rising with the increase of phase back electromotive force; What was with is poor, i.e. ;
3) time period: this is mutually unsettled, and phase terminal voltage is phase back electromotive force and neutral point voltage sum.
2. neutral point voltage is a direct current biasing; Back electromotive force is linear to rise, and terminal voltage is linear with to rise; is 0, and be inoperative;
4) time period: this goes up the brachium pontis modulation mutually; Duty ratio is with the relation of product with of busbar voltage ; Terminal voltage equals , and arranged; is 0, the not detection of impact position signal;
5) time period: motor commutation; The electric current process is brachium pontis inverse parallel diode continuousing flow down; Terminal voltage is a bus ground voltage 0 by clamper; with back electromotive force reduce and linear decline; What was with is poor, i.e. ;
6) time period: this is mutually unsettled; Phase terminal voltage is phase back electromotive force and neutral point voltage sum; Neutral point voltage is a direct current biasing; Back electromotive force is linear to descend; Terminal voltage is linear with to descend; is 0, the not detection of impact position signal;
Through decomposition to terminal voltage; is the same with when heavy duty in underloading; then has very big difference; During underloading; Electric current is little; and is very short; The action time of is very short; Its voltagesecond product is very little; arranged ( = ; ); Therefore the position input is only caused faint influence, can ignore; During heavy duty; Electric current is big; and continues the long time; Voltagesecond product can not ignore; It is serious to the influence of position detection signal; The phase advance angle that produces is spent greatly; Fig. 5 is the voltage of terminal voltage and its decomposition and the signal of the generation behind process low pass filter; The leading back-emf signal of afterflow interference signal; Make the synthetic terminal voltage signal of they stacks be ahead of back-emf signal; The amplitude of afterflow interference signal is big more; The leading angle of terminal voltage signal is big more; The terminal voltage phase place makes the zero crossing of terminal voltage arrive in advance constantly in advance; The zero crossing that detection obtains departs from real back electromotive force zero-crossing; When increase along with load current; The phase advance angle degree increases thereupon, and when leading angle was excessive, it is abominable that the commutation situation becomes; Cause current distortion; Have influence on terminal voltage waveform and position detection signal conversely, cause the further deterioration of commutation, finally cause commutation failure;
Foundation through above-mentioned model; Decomposition analysis to terminal voltage; We can obtain underloading and when heavy duty back electromotive force detection signal phase relation is exactly in fact and the phase relation of + ; Because is the same with cycle; Phase angular lag through low pass filter equates; Therefore the difference of the position signalling phase angle under underloading and the heavy duty depends on angle and the amplitude of and ; Thus, draw the heavy duty under the phase compensation computational methods:
Under the step voltage, low pass filter zero state response computing formula does
(1)
Wherein ; , and are shown in accompanying drawing 1; Voltage through low pass filter compares with simulated neutral point voltage ; Thereby obtain the zero crossing of back electromotive force; Ignore the fluctuation of neutral point voltage; Then is the mean value of ; Therefore; The alternating current component of only considering has
(2)
Shown in the accompanying drawing 1 in the counter electromotive force detection circuit; Select suitable resistance and electric capacity; Make , obtain
(3)
made the step signal of Approximate Equivalent and handle, bringing that formula (3) obtains into has through the ac amplitude of output voltage behind the low pass filter
(4)
Wherein, is the afterflow angle; It is the electrical angle of electric current time of afterflow conversion; is the frequency of counter electromotive force of motor; is for revising scale factor; Here get =1
Similarly After a low-pass filter output AC voltage amplitude There
(5)
The fundamental phase with and is consistent basically for phase place with ; is relevant with , and its relational expression can be expressed as
(6)
And satisfy ; Finding the solution of is non-linear; Calculation of complex; But because fluctuation range is less; Adopt the method for engineering approximation, can think that it is for often being worth approximate calculation
According to formula (4) and formula (5); As shown in Figure 6, phase angle with satisfies
(7)
When when getting 20 °, can try to achieve
(8)
In the formula: is offset angle
for back-emf signal through the ac amplitude behind the low pass filter
for the current interference signal through the ac amplitude behind the low pass filter
Utilize microprocessor calculate above-mentioned formula push away the leading angle of phase place.
CN2011103340533A 2011-09-15 2011-10-28 Compensation calculation method of heavy load phase of brushless direct current (DC) motor without position sensor CN102437805B (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN201110273544 2011-09-15
CN201110273544.1 2011-09-15
CN2011103340533A CN102437805B (en) 2011-09-15 2011-10-28 Compensation calculation method of heavy load phase of brushless direct current (DC) motor without position sensor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2011103340533A CN102437805B (en) 2011-09-15 2011-10-28 Compensation calculation method of heavy load phase of brushless direct current (DC) motor without position sensor

Publications (2)

Publication Number Publication Date
CN102437805A true CN102437805A (en) 2012-05-02
CN102437805B CN102437805B (en) 2013-11-13

Family

ID=45985714

Family Applications (1)

Application Number Title Priority Date Filing Date
CN2011103340533A CN102437805B (en) 2011-09-15 2011-10-28 Compensation calculation method of heavy load phase of brushless direct current (DC) motor without position sensor

Country Status (1)

Country Link
CN (1) CN102437805B (en)

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102904502A (en) * 2012-10-16 2013-01-30 南京航空航天大学 Position sensor-free control technology for four-phase doubly salient motor
CN103595320A (en) * 2013-06-27 2014-02-19 南京航空航天大学 High speed positionless operation technology for three-phase electrical excitation double salient pole motor
CN104641550A (en) * 2012-09-28 2015-05-20 三菱电机株式会社 Heat pump device, air-conditioner, and refrigerator
CN104767432A (en) * 2015-03-31 2015-07-08 江苏大学 Back electromotive force detection circuit free of starting of position sensor of brushless direct-current motor
CN104779845A (en) * 2015-03-19 2015-07-15 四川长虹电器股份有限公司 Position and rotating speed detection method of permanent-magnet brushless direct current motor
CN104937831A (en) * 2012-12-27 2015-09-23 松下知识产权经营株式会社 Motor drive device and brushless motor equipped with same, and air conditioner
CN106382243A (en) * 2016-11-01 2017-02-08 爱美达(上海)热能系统有限公司 Fan air volume compensating algorithm based on constant counter electromotive force control
CN106602941A (en) * 2016-12-06 2017-04-26 南京邮电大学 Control device and method for reducing commutation torque ripple of brushless direct-current motor
CN108075691A (en) * 2016-11-07 2018-05-25 英飞凌科技股份有限公司 The controller and method and self-synchronous system of control multi-phase brushless DC motor
CN110601606A (en) * 2019-09-17 2019-12-20 西北工业大学 High-dynamic internal power angle control method for brushless direct current motor
CN110716577A (en) * 2019-11-13 2020-01-21 北京航空航天大学 Sensorless adaptive commutation error compensation method for brushless direct current motor of magnetic suspension control moment gyroscope
CN110829905A (en) * 2018-03-30 2020-02-21 江苏美的清洁电器股份有限公司 Counter potential zero-crossing detection method, device and control system for dust collector and motor
CN110838809A (en) * 2018-06-19 2020-02-25 江苏美的清洁电器股份有限公司 Counter potential zero-crossing detection method, device and control system for dust collector and motor

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1505718A1 (en) * 2003-03-17 2005-02-09 Matsushita Electric Industrial Co., Ltd. Electrically powered compressor
CN102005993A (en) * 2010-11-02 2011-04-06 中颖电子股份有限公司 Method and device for controlling permanent magnet direct current brushless without hall motor

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1505718A1 (en) * 2003-03-17 2005-02-09 Matsushita Electric Industrial Co., Ltd. Electrically powered compressor
CN102005993A (en) * 2010-11-02 2011-04-06 中颖电子股份有限公司 Method and device for controlling permanent magnet direct current brushless without hall motor

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
李志强等: "基于线反电动势的无刷直流电机无位置传感器控制", 《电工技术学报》 *
高晗璎等: "基于无位置传感器BLDCM控制系统的研究", 《黑龙江水专学报》 *

Cited By (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104641550A (en) * 2012-09-28 2015-05-20 三菱电机株式会社 Heat pump device, air-conditioner, and refrigerator
CN104641550B (en) * 2012-09-28 2018-05-25 三菱电机株式会社 Heat pump assembly, air conditioner and refrigeration machine
CN102904502A (en) * 2012-10-16 2013-01-30 南京航空航天大学 Position sensor-free control technology for four-phase doubly salient motor
CN102904502B (en) * 2012-10-16 2015-12-16 南京航空航天大学 A kind of Sensorless Control Technique for four phase double salient-pole electric machines
CN104937831A (en) * 2012-12-27 2015-09-23 松下知识产权经营株式会社 Motor drive device and brushless motor equipped with same, and air conditioner
CN104937831B (en) * 2012-12-27 2017-11-03 松下知识产权经营株式会社 Motor drive, the brushless motor and air conditioner for possessing the motor drive
CN103595320A (en) * 2013-06-27 2014-02-19 南京航空航天大学 High speed positionless operation technology for three-phase electrical excitation double salient pole motor
CN103595320B (en) * 2013-06-27 2016-08-17 南京航空航天大学 A kind of high speed for three-phase electricity excitation biconvex electrode electric machine is without position operation method
CN104779845A (en) * 2015-03-19 2015-07-15 四川长虹电器股份有限公司 Position and rotating speed detection method of permanent-magnet brushless direct current motor
CN104779845B (en) * 2015-03-19 2017-09-29 四川长虹电器股份有限公司 Permanent-magnet brushless DC electric machine position and Rotating speed measring method
CN104767432A (en) * 2015-03-31 2015-07-08 江苏大学 Back electromotive force detection circuit free of starting of position sensor of brushless direct-current motor
CN106382243A (en) * 2016-11-01 2017-02-08 爱美达(上海)热能系统有限公司 Fan air volume compensating algorithm based on constant counter electromotive force control
CN106382243B (en) * 2016-11-01 2019-02-05 爱美达(上海)热能系统有限公司 A kind of air quantity of fan backoff algorithm based on the control of constant counter electromotive force
CN108075691A (en) * 2016-11-07 2018-05-25 英飞凌科技股份有限公司 The controller and method and self-synchronous system of control multi-phase brushless DC motor
CN106602941A (en) * 2016-12-06 2017-04-26 南京邮电大学 Control device and method for reducing commutation torque ripple of brushless direct-current motor
CN106602941B (en) * 2016-12-06 2019-03-05 南京邮电大学 A kind of control device and method reducing brshless DC motor commutation torque ripple
CN110829905A (en) * 2018-03-30 2020-02-21 江苏美的清洁电器股份有限公司 Counter potential zero-crossing detection method, device and control system for dust collector and motor
CN110838809A (en) * 2018-06-19 2020-02-25 江苏美的清洁电器股份有限公司 Counter potential zero-crossing detection method, device and control system for dust collector and motor
CN110601606A (en) * 2019-09-17 2019-12-20 西北工业大学 High-dynamic internal power angle control method for brushless direct current motor
CN110601606B (en) * 2019-09-17 2020-09-22 西北工业大学 Internal power angle control method of brushless direct current motor
CN110716577A (en) * 2019-11-13 2020-01-21 北京航空航天大学 Sensorless adaptive commutation error compensation method for brushless direct current motor of magnetic suspension control moment gyroscope

Also Published As

Publication number Publication date
CN102437805B (en) 2013-11-13

Similar Documents

Publication Publication Date Title
Chun et al. Sensorless control of BLDC motor drive for an automotive fuel pump using a hysteresis comparator
Shao et al. A novel direct back EMF detection for sensorless brushless DC (BLDC) motor drives
Liu et al. Sensorless control for high-speed brushless DC motor based on the line-to-line back EMF
Cui et al. Sensorless drive for high-speed brushless DC motor based on the virtual neutral voltage
JP5697745B2 (en) Synchronous motor drive system
Miyamasu et al. Efficiency comparison between Brushless dc motor and Brushless AC motor considering driving method and machine design
CN101204003B (en) Power conversion control device, power conversion control method
Singh et al. State of the art on permanent magnet brushless DC motor drives
Lee et al. A seamless transition control of sensorless PMSM compressor drives for improving efficiency based on a dual-mode operation
CN101252336B (en) Permanent magnetism synchronous electric machine - compressor system high speed operation control method
CN100514836C (en) Apparatus and method using drive multi-phase motor of magnetic pole position detector
EP2031752B1 (en) Current detector unit and motor control device
KR100732717B1 (en) Motor system and control method thereof, and compressor using the same
Rahman et al. Problems associated with the direct torque control of an interior permanent-magnet synchronous motor drive and their remedies
KR20140014734A (en) Inverter control apparatus and method thereof
US8278860B2 (en) Variable pulse width modulation for reduced zero-crossing granularity in sensorless brushless direct current motors
Benjak et al. Review of position estimation methods for IPMSM drives without a position sensor part I: Nonadaptive methods
KR101523334B1 (en) Motor control device
Seok et al. Sensorless speed control of nonsalient permanent-magnet synchronous motor using rotor-position-tracking PI controller
Bateman et al. Sensorless operation of an ultra-high-speed switched reluctance machine
JP4261523B2 (en) Motor driving apparatus and driving method
Bae et al. Implementation of sensorless vector control for super-high-speed PMSM of turbo-compressor
Hammel et al. Position sensorless control of PMSM by synchronous injection and demodulation of alternating carrier voltage
JP3843391B2 (en) Synchronous motor drive
CN101741299B (en) Method for regulating speed of brushless direct current motor supplied with power by four-switch three-phase inverter

Legal Events

Date Code Title Description
PB01 Publication
C06 Publication
SE01 Entry into force of request for substantive examination
C10 Entry into substantive examination
GR01 Patent grant
C14 Grant of patent or utility model
ASS Succession or assignment of patent right

Owner name: WEIHAI CREDIT FAN VENTILATOR CO., LTD.

Free format text: FORMER OWNER: WEIHAI CREDIT MOTOR CO., LTD.

Effective date: 20131024

TR01 Transfer of patent right

Effective date of registration: 20131024

Address after: 264200 hi tech Industrial Development Zone, Shandong, Weihai

Patentee after: Weihai Credit Fan Ventilator Co., Ltd.

Address before: 264209 No. 111 Hing Road, Xincheng science and Technology Development Zone, Weihai hi tech Industrial Development Zone, Shandong, Weihai

Patentee before: Weihai Credit Motor Co., Ltd.

C41 Transfer of patent application or patent right or utility model
COR Change of bibliographic data

Free format text: CORRECT: ADDRESS; FROM: 264209 WEIHAI, SHANDONG PROVINCE TO: 264200 WEIHAI, SHANDONG PROVINCE

CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20131113

Termination date: 20151028

EXPY Termination of patent right or utility model