CN102437805B - 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 PDFInfo
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Abstract
Description
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 the characteristics such as its high reliability, high efficiency, speed governing convenience, life-span length to obtain in the world developing comparatively fully, comparatively flourishing countries at some, brushless DC motor will become capstan motor within the coming years, and progressively replace the motor of other types.
BLDC drives control mode to be divided into two kinds of position sensor formula and position-sensor-free formulas.The existence meeting of position transducer brings a lot of defects and inconvenience to the application of brushless electric machine, and at first, position transducer can increase volume and the cost of motor; Secondly, the position transducer that line is numerous can reduce the motor reliability of operation, and again, in some severe operational environment, in the compressor of air conditioner in sealing, due to 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 affect the runnability of motor, the technology difficulty of increase producing, particularly when motor size little to a certain extent the time, 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, it is by the phase-locked loop speed control device, wave digital lowpass filter, power amplifier, brushless, permanently excited direct current motor, the Hall effect rotor-position sensor forms, this invention obtains speed feedback by 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 actual applications in this Hall effect rotor-position sensor, also exist phase-locked speed slow, the frequency and phase discrimination scope is low, the modulus range of counter is narrow, motor speed must just can phase-lockedly wait not enough in phase locking range.
Use the position-sensor-free type of drive to save position detecting device, reduced cost, dwindled the volume of driver, more easily realization and driver and motor is integrated.Consider volume, operational environment and the production cost problem of blower fan, the mode of position Sensorless Control brshless DC motor is better selection.In the position-sensor-free square wave is controlled, the most frequently used is to adopt conduction mode in twos to control, but this control mode exists electric current to cross conference, causes afterflow long, 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 " research based on the sensorless brushless DC motor control system " literary composition by name, in literary composition, set forth by detecting the back-emf voltage signal and replace hall signal after phase demodulation being processed, exchange is simultaneously constantly carried out software compensation mutually, realizes the approximate accurately commutation of BLDCM.Its deficiency is: by detecting three phase terminals voltage; carry out with the simulation neutral point, comparing again after depth filtering; generate rotor-position signal; but because electric current is very large, time of afterflow is long when heavy duty, can affect the three phase terminals voltage waveform of " ideal "; cause wave distortion; affect the accuracy of the position signalling detected, can not guarantee correctly carrying out of commutation, and phase angle time delay commutation has been unfavorable for reducing the torque pulsation of brshless DC motor.
Therefore, this is also the technical difficult points of position Sensorless Control mode in the application of high-power field.
Summary of the invention
The objective of the invention is supplementary perfect to back electromotive force method brushless direct current motor sensorless control technology, make the back electromotive force detection technique can be in the situation that the large electric current afterflow of heavy duty still keeps good performance, widen the range of application of back electromotive force detection technique, provide a kind of by detecting electric current, rotating speed, duty ratio, busbar voltage and the parameter of electric machine are determined the deviation angle of electric current afterflow impact, then this deviation angle is compensated, thereby make commutation constantly approach best commutation constantly, guarantee the brushless DC motor without position sensor correctly the carried out heavy duty phase compensation computational methods of 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 by counter electromotive force detection circuit (as Fig. 1), after carrying out depth filtering, with the simulation neutral point, compares again by filter circuit, generate rotor-position signal through dsp processor, terminal voltage is divided into to back-emf signal and electric current afterflow interference signal, two kinds of signals are carried out to the calculating of phase place and amplitude, obtain the phase advance angle degree of the rotor-position signal that caused by the electric current afterflow, compensated, concrete steps are as follows: in order to analyze the phase deviation phenomenon that makes motor position detection signal when the heavy duty, below the terminal voltage under heavy duty is analyzed:
Because counter electromotive force detection circuit is a low pass filter, high fdrequency component will, by filtering, therefore can be done following simplification through testing circuit:
1) cut-off frequency much larger than the low pass filter of counter electromotive force detection circuit because of the PWM modulating frequency, the PWM chopping voltage of high frequency can be approximate with its average voltage;
2) same, the generator neutral point voltage fluctuation, can be approximate with its mean value also by filtering;
3) the phase back electromotive force is that 120 ° of flat-tops are wide, the PWM ripple that equivalent amplitude value is busbar voltage;
Brachium pontis modulation on adopting, during lower brachium pontis conduction mode (PWM-ON), terminal voltage can be simplified to model as shown in Figure 4, wherein, for the voltage sum of ideal line back electromotive force and desirable neutral point, for the voltage distortion that the electric current afterflow causes, terminal voltage equal with sum, = + (voltage reference points is the bus negative pole);
Terminal voltage in Fig. 4 can be divided into 6 states, wherein, for the phase angle of controlling phase from during 0 °-60 °, for phase angle from 60 °- , for phase angle from during-120 °, for phase angle from during 120 °-240 °, for phase angle from 240 °- during this time, for phase angle from during-300 °, for phase angle from 300 °-360 °, wherein 60 °< <120 °, 240 °< <300 °, its state is respectively:
1) with constantly: this descends brachium pontis conducting, terminal voltage mutually with equating, is the bus cathode voltage, is labeled as 0, be also 0, now the not detection of impact position signal;
2) time period: the motor commutation, electric current is through the afterflow of upper brachium pontis anti-paralleled diode, and voltage is busbar voltage by clamper , the linear rising with the increase of phase back electromotive force; for with poor, ;
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 direct current biasing, and back electromotive force is linear to rise, terminal voltage with the linear rising; be 0, inoperative;
4) time period: this goes up brachium pontis modulation, duty ratio mutually with busbar voltage product with pass be , terminal voltage equal , have ; be 0, the not detection of impact position signal;
5) time period: the motor commutation, electric current is through the afterflow of lower brachium pontis anti-paralleled diode, and terminal voltage is bus ground voltage 0 by clamper, with back electromotive force reduce and linear decline, for with poor, ;
6) time period: this is mutually unsettled, and phase terminal voltage is phase back electromotive force and neutral point voltage sum, and neutral point voltage is direct current biasing, and back electromotive force is linear to descend, terminal voltage with linear decline, be 0, the not detection of impact position signal;
By the decomposition to terminal voltage, the same with when heavy duty in underloading, and very large difference is arranged, and during underloading, electric current is little, with it is very short, action time very short, its voltagesecond product is very little, has ( = , ), therefore the position input only being caused to faint impact, can ignore, during heavy duty, electric current is large, with continue the longer time, voltagesecond product can not ignore, it is serious on the impact of position detection signal, and the phase advance angle of generation is spent greatly, and Fig. 5 is terminal voltage voltage with its decomposition with the signal of the generation after low pass filter, the leading back-emf signal of afterflow interference signal, make their synthetic terminal voltage signals that superposes be ahead of back-emf signal, the amplitude of afterflow interference signal is larger, the leading angle of terminal voltage signal is larger, the terminal voltage phase place makes the zero crossing of terminal voltage constantly arrive in advance in advance, the zero crossing that detection obtains departs from real back electromotive force zero-crossing, when the increase along with load current, the phase advance angle degree increases thereupon, when leading angle is excessive, it is severe that the commutation situation becomes, cause current distortion, have influence on conversely terminal voltage waveform and position detection signal, cause the further deterioration of commutation, finally cause commutation failure,
By the foundation of above-mentioned model, to the decomposition analysis of terminal voltage, back electromotive force detection signal phase relation when we can obtain underloading and heavy duty is exactly in fact with + phase relation, due to with cycle is the same, equal through the phase delay of low pass filter, so the difference of the position signalling phase angle under underloading and heavy duty depends on with angle and amplitude, thus, draw the heavy duty under the phase compensation computational methods:
Under step voltage, low pass filter zero state response computing formula is
?????????????????????????????(1)
Wherein , , with mean with an end warp after the C series connection with a phase terminal voltage signal input part, be connected, the other end is connected with square wave back electromotive force circuit, as shown in Figure 1.Voltage through low pass filter with the simulation neutral point voltage relatively, thereby obtain the zero crossing of back electromotive force, ignore the fluctuation of neutral point voltage, for mean value, therefore, only consider alternating current component, have
??????????????????????(2)
In counter electromotive force detection circuit, select suitable resistance and electric capacity shown in accompanying drawing 1, make , obtain
????????????????????????????(3)
Will make the step signal of Approximate Equivalent and process, bring formula (3) into and obtain the AC amplitude of output voltage after low pass filter have
?????????????????????????(4)
Wherein, for the afterflow angle, it is the electric current time of afterflow the electrical degree of conversion, for the frequency of counter electromotive force of motor, for revising scale factor, get here =1,
In like manner the AC amplitude of output voltage after low pass filter have
????????????????????????????(5)
with phase place basically with with fundamental phase consistent, with relevant, its relational expression can be expressed as
????????????????????????????(6)
And meet , to solve be nonlinear, calculation of complex, but due to fluctuation range is less, adopts 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, with phase angle meet
????????????????????????(7)
When while getting 20 °, can try to achieve
????????????????????????(8)
In formula: for offset angle,
aC amplitude for back-emf signal after low pass filter,
for the AC amplitude of current interference signal after low pass filter,
Present microprocessor can easily process 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 determined leading phase angle in real time, because the commutation of phase angular advance is conducive to reduce 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.
the accompanying drawing explanation
Fig. 1 is counter electromotive force detection circuit in the present invention.
Fig. 2 is under heavy duty, back electromotive force detection signal when current time is very long and Hall detection signal.Wherein signal 1 is back electromotive force U phase detection signal, and signal 2 is Hall U phase detection signal, and signal 3 is the back-emf signal after depth filtering, and signal 4 is simulation neutral point voltage signal.
The signal waveforms of phase compensation when Fig. 3 is the process heavy duty.
Fig. 3-1st, phase signal oscillogram during underloading.
Fig. 3-2nd, phase compensation signal waveforms during heavy duty.
In figure: 1, terminal voltage, 2, the back electromotive force commutation, 3, the Hall commutation, 4, signal location, 5, the simulation neutral point.
Fig. 4 is terminal voltage and exploded view thereof.
Fig. 5 is the terminal voltage after low pass filter and decomposes figure.
In 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 utility model is further illustrated:
As shown in drawings, a kind of brushless DC motor without position sensor heavy duty phase compensation computational methods, it is characterized in that adopting meal electromotive force detection method, detect three phase terminals voltage by counter electromotive force detection circuit (as Fig. 1), after carrying out depth filtering, with the simulation neutral point, compares again by filter circuit, generate rotor-position signal through dsp processor, the method when heavy duty because electric current is very large, time of afterflow is long, can affect the three phase terminals voltage waveform of " ideal ", cause wave distortion, affected the accuracy of the position signalling detected, be the position detection signal experimental waveform under heavy duty as shown in Figure 2, wherein signal 1 is the back electromotive force detection signal, signal 4 is the hall position detection signal, clearly, the back electromotive force detection signal has larger deviation with the Hall detection signal that approaches the best commutation moment, as then accompanying drawing 3 is divided into terminal voltage back-emf signal and electric current afterflow interference signal, two kinds of signals are carried out to the calculating of phase place and amplitude, obtain the phase advance angle degree of the rotor-position signal that caused by the electric current afterflow, compensated, concrete compensation computational methods are as follows: in order to analyze the phase deviation phenomenon that makes motor position detection signal when the heavy duty, below the terminal voltage under heavy duty is analyzed:
Because counter electromotive force detection circuit is a low pass filter, high fdrequency component will, by filtering, therefore can be done following simplification through testing circuit:
1) cut-off frequency much larger than the low pass filter of counter electromotive force detection circuit because of the PWM modulating frequency, the PWM chopping voltage of high frequency can be approximate with its average voltage;
2) same, the generator neutral point voltage fluctuation, can be approximate with its mean value also by filtering;
3) the phase back electromotive force is that 120 ° of flat-tops are wide, the PWM ripple that equivalent amplitude value is busbar voltage;
Brachium pontis modulation on adopting, during lower brachium pontis conduction mode (PWM-ON), terminal voltage can be simplified to model as shown in Figure 4, wherein, for the voltage sum of ideal line back electromotive force and desirable neutral point, for the voltage distortion that the electric current afterflow causes, terminal voltage equal with sum, = + (voltage reference points is the bus negative pole);
Terminal voltage in Fig. 4 can be divided into 6 states, wherein, for the phase angle of controlling phase from during 0 °-60 °, for phase angle from 60 °- , for phase angle from during-120 °, for phase angle from during 120 °-240 °, for phase angle from 240 °- during this time, for phase angle from during-300 °, for phase angle from 300 °-360 °, wherein 60 °< <120 °, 240 °< <300 °,
Its state is respectively:
1) with constantly: this descends brachium pontis conducting, terminal voltage mutually with equating, is the bus cathode voltage, is labeled as 0, be also 0, now the not detection of impact position signal;
2) time period: the motor commutation, electric current is through the afterflow of upper brachium pontis anti-paralleled diode, and voltage is busbar voltage by clamper , the linear rising with the increase of phase back electromotive force; for with poor, ;
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 direct current biasing, and back electromotive force is linear to rise, terminal voltage with the linear rising; be 0, inoperative;
4) time period: this goes up brachium pontis modulation, duty ratio mutually with busbar voltage product with pass be , terminal voltage equal , have ; be 0, the not detection of impact position signal;
5) time period: the motor commutation, electric current is through the afterflow of lower brachium pontis anti-paralleled diode, and terminal voltage is bus ground voltage 0 by clamper, with back electromotive force reduce and linear decline, for with poor, ;
6) time period: this is mutually unsettled, and phase terminal voltage is phase back electromotive force and neutral point voltage sum, and neutral point voltage is direct current biasing, and back electromotive force is linear to descend, terminal voltage with linear decline, be 0, the not detection of impact position signal;
By the decomposition to terminal voltage, the same with when heavy duty in underloading, and very large difference is arranged, and during underloading, electric current is little, with it is very short, action time very short, its voltagesecond product is very little, has ( = , ), therefore the position input only being caused to faint impact, can ignore, during heavy duty, electric current is large, with continue the longer time, voltagesecond product can not ignore, it is serious on the impact of position detection signal, and the phase advance angle of generation is spent greatly, and Fig. 5 is terminal voltage voltage with its decomposition with the signal of the generation after low pass filter, the leading back-emf signal 3 of afterflow interference signal 1, make their synthetic terminal voltage signals 2 that superposes be ahead of back-emf signal 3, the amplitude of afterflow interference signal 1 is larger, the leading angle of terminal voltage signal 2 is larger, the terminal voltage phase place makes the zero crossing of terminal voltage constantly arrive in advance in advance, the zero crossing that detection obtains departs from real back electromotive force zero-crossing, when the increase along with load current, the phase advance angle degree increases thereupon, when leading angle is excessive, it is severe that the commutation situation becomes, cause current distortion, have influence on conversely terminal voltage waveform and position detection signal, cause the further deterioration of commutation, finally cause commutation failure,
By the foundation of above-mentioned model, to the decomposition analysis of terminal voltage, back electromotive force detection signal phase relation when we can obtain underloading and heavy duty is exactly in fact with + phase relation, due to with cycle is the same, equal through the phase delay of low pass filter, so the difference of the position signalling phase angle under underloading and heavy duty depends on with angle and amplitude, thus, draw the heavy duty under the phase compensation computational methods:
Under step voltage, low pass filter zero state response computing formula is
?????????????????????????????(1)
Wherein , , with mean with an end warp after the C series connection with a phase terminal voltage signal input part, be connected, the other end is connected with square wave back electromotive force circuit, as shown in Figure 1, and through the voltage of low pass filter with the simulation neutral point voltage relatively, thereby obtain the zero crossing of back electromotive force, ignore the fluctuation of neutral point voltage, for mean value, therefore, only consider alternating current component, have
??????????????????????(2)
In counter electromotive force detection circuit, select suitable resistance and electric capacity shown in accompanying drawing 1, make , obtain
????????????????????????????(3)
Will make the step signal of Approximate Equivalent and process, bring formula (3) into and obtain the AC amplitude of output voltage after low pass filter have
?????????????????????????(4)
Wherein, for the afterflow angle, it is the electric current time of afterflow the electrical degree of conversion, for the frequency of counter electromotive force of motor, for revising scale factor, get here =1,
In like manner the AC amplitude of output voltage after low pass filter have
????????????????????????????(5)
with phase place basically with with fundamental phase consistent, with relevant, its relational expression can be expressed as
????????????????????????????(6)
And meet , to solve be nonlinear, calculation of complex, but due to fluctuation range is less, adopts 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, with phase angle meet
????????????????????????(7)
When while getting 20 °, can try to achieve
????????????????????????(8)
In formula: for offset angle,
aC amplitude for back-emf signal after low pass filter,
for the AC amplitude of current interference signal after low pass filter,
Present microprocessor can easily process 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 determined leading phase angle in real time, because the commutation of phase angular advance is conducive to reduce 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.
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| 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 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPWO2014049867A1 (en) * | 2012-09-28 | 2016-08-22 | 三菱電機株式会社 | Heat pump device, air conditioner and refrigerator |
| 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 |
| WO2014103205A1 (en) * | 2012-12-27 | 2014-07-03 | パナソニック株式会社 | Motor drive device and brushless motor equipped with same, and air conditioner |
| 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 |
| 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 |
| 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 |
| US10097115B2 (en) * | 2016-11-07 | 2018-10-09 | Infineon Technologies Ag | Auto-synchronization of brushless DC motors |
| 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 |
| CN110601606B (en) * | 2019-09-17 | 2020-09-22 | 西北工业大学 | Internal power angle control method of brushless direct current motor |
| CN110716577B (en) * | 2019-11-13 | 2020-12-15 | 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 |
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| 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 |
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- 2011-10-28 CN CN2011103340533A patent/CN102437805B/en not_active IP Right Cessation
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| 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 |
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| 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》.2010,第25卷(第7期),第38-44页. * |
| 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》.2010,第37卷(第2期), * |
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