CN102624305A - Initial starting method for double-shaft contra-rotating permanent magnet brushless direct current motor - Google Patents

Abstract

The invention discloses an initial starting method for a double-shaft contra-rotating permanent magnet brushless direct current motor. A starting process is divided into two stages according to the characteristics of the starting process of the double-shaft contra-rotating permanent magnet brushless direct current motor. In a first stage, a first-stage phase change control table for the double-shaft contra-rotating permanent magnet brushless direct current motor in 144 initial states of an inner rotor and an outer rotor is established according to an advanced phase change principle for the 'two-phase conducted three-phase star-like six-state' driven double-shaft contra-rotating permanent magnet brushless direct current motor. A conduction mark calculation method is summarized by the initial phase change control table, a conduction mark can be rapidly calculated in a digital signal processor (DSP) without looking up the phase change control table, and the initial rotation of the motor is realized.

Description

A kind of twin shaft is to changeing the initial start method of permanent-magnet brushless DC electric machine

Technical field

The present invention relates to a kind of twin shaft to changeing the initial start method of permanent-magnet brushless DC electric machine, use this method can realize that twin shaft is to changeing permanent-magnet brushless DC electric machine safety, starting reliably.

Background technology

The only rotor magnetic pole rotation of common permanent-magnet brushless DC electric machine, its armature is actionless.And based on the twin shaft of active force and reaction force principle to changeing permanent-magnet brushless DC electric machine under the driving of electromagnetic torque, make the rotation in the opposite direction simultaneously of inside and outside two rotors.To changeing in the propulsion system, twin shaft is used changeing permanent-magnet brushless DC electric machine and co-axial contra rotating propeller, can improve the propulsive efficiency of submarine navigation device significantly, eliminates simultaneously by single screw and rotates the roll that brings under water.

Position transducer is a twin shaft to changeing the important component part of permanent-magnet brushless DC electric machine, and its effect is the relative position of detection rotor pole pair armature winding, thereby correct commutation information is provided for inverter.Since twin shaft to two rotors of rotating motor all the rotation, so just must measure two relative positions between the rotor, with this as the commutation foundation.Distinguish relatively and the position of support for detecting two rotors, the permanent magnetism magnetic pole that is used for position probing is installed respectively in inside and outside two rotating shafts, the Hall element of correspondence is rack-mount.Four road external rotor Hall element U, V, W, a-signal figure are as shown in Figure 1.The internal rotor signal graph is identical with the external rotor signal graph.

Utilize four road Hall element signals can the locus of rotor be converted into 12 kinds of states, the relative position of two rotors then is 144 kinds of states.The initial start process must be carried out according to these 144 kinds of states, but if only trigger commutation signal with the jumping moment of position signalling, with producing very big commutation error, even motor is reliably started.

Summary of the invention

For fear of the weak point of prior art, the present invention proposes the initial start method of a kind of twin shaft to the commentaries on classics permanent-magnet brushless DC electric machine,

A kind of twin shaft is characterized in that to changeing the initial start method of permanent-magnet brushless DC electric machine step is following:

Step 1: in the inside and outside rotor of motor, have under the situation of a distance that does not turn over a pair of utmost point, according to commutation code name computing formula C ₁=(D+Z) %12+1 calculates the commutation code name, and wherein: D is by internal rotor hall position sensor U ₁V ₁W ₁A ₁The internal rotor location status code name of composite signal establishment; Z is by external rotor hall position sensor U ₂V ₂W ₂A ₂The external rotor location status code name of composite signal establishment, inside and outside rotor state code establishment is regular as follows:

Internal rotor:

IF?U ₁V ₁W ₁A ₁＝0101?D＝0；

IF?U ₁V ₁W ₁A ₁＝0100?D＝1；

IF?U ₁V ₁W ₁A ₁＝0110?D＝2；

IF?U ₁V ₁W ₁A ₁＝0111?D＝3；

IF?U ₁V ₁W ₁A ₁＝0011?D＝4；

IF?U ₁V ₁W ₁A ₁＝0010?D＝5；

IF?U ₁V ₁W ₁A ₁＝1010?D＝6；

IF?U ₁V ₁W ₁A ₁＝1011?D＝7；

IF?U ₁V ₁W ₁A ₁＝1001?D＝8；

IF?U ₁V ₁W ₁A ₁＝1000?D＝9；

IF?U ₁V ₁W ₁A ₁＝0101?D＝10；

IF?U ₁V ₁W ₁A ₁＝1101?D＝11；

External rotor:

IF?U ₂V ₂W ₂A ₂＝0101?Z＝0；

IF?U ₂V ₂W ₂A ₂＝0100?Z＝1；

IF?U ₂V ₂W ₂A ₂＝0110?Z＝2；

IF?U ₂V ₂W ₂A ₂＝0111?Z＝3；

IF?U ₂V ₂W ₂A ₂＝0011?Z＝4；

IF?U ₂V ₂W ₂A ₂＝0010?Z＝5；

IF?U ₂V ₂W ₂A ₂＝1010?Z＝6；

IF?U ₂V ₂W ₂A ₂＝1011?Z＝7；

IF?U ₂V ₂W ₂A ₂＝1001?Z＝8；

IF?U ₂V ₂W ₂A ₂＝1000?Z＝9；

IF?U ₂V ₂W ₂A ₂＝0101?Z＝10；

IF?U ₂V ₂W ₂A ₂＝1101?Z＝11；

Step 2: according to commutation code name C ₁Result of calculation table look-up and 1 obtain power tube conducting order:

Table 1 power tube conducting sequence list

Step 3: with the phase I power tube V1, V3, V5 signal and the PWM phase of wave that obtain with after obtain the electric motor starting signal, then this signal is sent to the IPM that is connected with motor, simultaneously V2, V4, V6 signal directly are sent to the IPM that is connected with motor;

Step 4: all turn over the distance of a pair of utmost point at inside and outside rotor after, the calculating real-time angle:

The real-time angle of internal rotor ${\mathrm{\&theta;}}_1=\frac{T_{1\mathrm{<figure-callout\; id="1"\; label="s\; T"\; filenames="HDA0000150697050000011.png"\; state="\{\{state\}\}">s</figure-callout>}}}{T_{}}*360;$

The real-time angle of external rotor ${\mathrm{\&theta;}}_2=\frac{T_{2s}}{T_2}*360;$

Wherein: T _1s, T _2sBe the U signal of inside and outside rotor time, T apart from previous trailing edge ₁, T ₂Be the time span between preceding two trailing edges of the U signal of internal rotor;

Step 5: calculate second stage commutation code name, θ=θ ₁+ θ ₂, when θ＜360 °, C ₂=θ/60, when θ>=360 °, C ₂=(θ-360)/60;

Step 6: look into conducting table 1 and obtain power tube conducting order;

Step 7: with the second stage power tube V1, V3, V5 signal and the PWM phase of wave that obtain with after obtain the electric motor starting signal, then this signal is sent to the IPM that is connected with motor, simultaneously V2, V4, V6 signal directly are sent to the IPM that is connected with motor.

A kind of twin shaft that the present invention proposes to changeing the characteristics of permanent-magnet brushless DC electric machine initial start process, is divided into two stages with start-up course according to twin shaft to changeing the initial start method of permanent-magnet brushless DC electric machine, and is as shown in Figure 2.In the phase I; The twin shaft that drives to " two be conducted star-like six states of three-phase " is to changeing permanent-magnet brushless DC electric machine (as shown in Figure 3), according to commutation principle in advance make inside and outside rotor in initial 144 under the state twin shaft to changeing the commutation control table of permanent-magnet brushless DC electric machine phase I.Sum up conducting code name computational methods by initial commutation control table, need not to look into the commutation table and can in DSP, calculate the conducting code name fast, realize the motor initial rotation.Twin shaft is as shown in Figure 4 to changeing the permanent magnetic brushless DC motor control system block diagram.

Utilizing the U signal of inside and outside rotor to judge whether the inside and outside axle of motor all turns over the distance of a pair of utmost point, is then to transfer second stage to.Second stage is on the inside and outside rotor that utilizes the phase I measurement basis in a complete electric cycle; According to the angle of the inside and outside rotor of the real-time U signal accurate Calculation of inside and outside rotor with respect to support; The real-time angle of inside and outside rotor is superposeed, and then can accurately calculate the conducting order of real-time power tube.This method is used simple commutation code name computing formula, has avoided loaded down with trivial details look-up method, has improved the operational efficiency of program, makes the calculating of angle more accurate.On relevant model, carried out long-term test, result of the test shows that this startup method is reliable, does not have the dead-time problem of startup, and the start-up course electric current is steady.

Description of drawings

Fig. 1: be the Hall element signal graph;

Fig. 2: for the startup stage divide sketch map;

Fig. 3: for twin shaft drives figure to changeing permanent-magnet brushless DC electric machine " two be conducted star-like six states of three-phase ";

Fig. 4: for twin shaft to changeing the permanent magnetic brushless DC motor control system block diagram.

Embodiment

Combine embodiment, accompanying drawing that the present invention is further described at present:

Twin shaft as shown in Figure 3 is to changeing the permanent-magnet brushless DC electric machine driving control system by DSP, CPLD, IPM, position detecting module, electric current and voltage detection module, voltage transformation module, communication module composition.

Formulate phase I commutation control table

Step 1, according to internal rotor U, V, W, A position signalling establishment internal rotor state code D, 0≤D≤11, D ∈ N;

Step 2, according to external rotor U, V, W, A position signalling establishment external rotor location designation Z, 0≤Z≤11, Z ∈ N;

Step 3, the residing angular interval of inside and outside rotor is superposeed, i.e. θ=θ ₁+ θ ₁, if θ>=360 ° make θ=θ-360 °;

a、IF?0°≤θ＜60°C＝0；

b、IF?60°≤θ＜120°C＝1；

c、IF?120°≤θ＜180°C＝2；

d、IF?180°≤θ＜240°C＝3；

e、IF?240°≤θ＜300°C＝4；

f、IF?300°≤θ＜360°C＝5；

10, if interval stack scope is in 30 °≤θ＜90 °, and 90 °≤θ＜150 °, 150 °≤θ＜210 °; 210 °≤θ＜270 °, 270 °≤θ＜330 °, in the time of 330 °≤θ＜360 °; Interval angle is added 30 °, handle according to all in the above-mentioned steps 3 again;

The present embodiment twin shaft is following to the initial start method step that changes permanent-magnet brushless DC electric machine:

One: phase I commutation control

1, according to internal rotor Hall element U ₁V ₁W ₁A ₁The composite signal state is confirmed internal rotor angular interval of living in and establishment internal rotor location status code name D;

IF?U ₁V ₁W ₁A ₁＝0101?D＝0；

IF?U ₁V ₁W ₁A ₁＝0100?D＝1；

IF?U ₁V ₁W ₁A ₁＝0110?D＝2；

IF?U ₁V ₁W ₁A ₁＝0111?D＝3；

IF?U ₁V ₁W ₁A ₁＝0011?D＝4；

IF?U ₁V ₁W ₁A ₁＝0010?D＝5；

IF?U ₁V ₁W ₁A ₁＝1010?D＝6；

IF?U ₁V ₁W ₁A ₁＝1011?D＝7；

IF?U ₁V ₁W ₁A ₁＝1001?D＝8；

IF?U ₁V ₁W ₁A ₁＝1000?D＝9；

IF?U ₁V ₁W ₁A ₁＝0101?D＝10；

IF?U ₁V ₁W ₁A ₁＝1101?D＝11；

2, according to external rotor Hall element U ₂V ₂W ₂A ₂The composite signal state confirms that unofficial biography are at angular interval of living in and establishment external rotor location status code name Z;

IF?U ₂V ₂W ₂A ₂＝0101?Z＝0；

IF?U ₂V ₂W ₂A ₂＝0100?Z＝1；

IF?U ₂V ₂W ₂A ₂＝0110?Z＝2；

IF?U ₂V ₂W ₂A ₂＝0111?Z＝3；

IF?U ₂V ₂W ₂A ₂＝0011?Z＝4；

IF?U ₂V ₂W ₂A ₂＝0010?Z＝5；

IF?U ₂V ₂W ₂A ₂＝1010?Z＝6；

IF?U ₂V ₂W ₂A ₂＝1011?Z＝7；

IF?U ₂V ₂W ₂A ₂＝1001?Z＝8；

IF?U ₂V ₂W ₂A ₂＝1000?Z＝9；

IF?U ₂V ₂W ₂A ₂＝0101?Z＝10；

IF?U ₂V ₂W ₂A ₂＝1101?Z＝11；

3, in the motor inner and outer rotors, have under the situation of a distance that does not turn over a pair of utmost point, by DSP according to commutation code name computing formula C ₁=(D+Z) %12+1 calculates the commutation code name;

4, according to commutation code name C ₁Table look-up and 1 obtain power tube conducting order;

5, with the phase I power tube V1, V3, V5 signal and the PWM phase of wave that obtain with after be sent to IPM, V2, V4, V6 signal directly are sent to IPM;

Two: the real-time angle calculation commutation control of second stage

1, after inside and outside rotor respectively turns over the distance of a pair of utmost point, changes real-time angle calculation module over to;

2, the real-time angle of internal rotor ${\mathrm{\&theta;}}_1=\frac{T_{1s}}{{\mathrm{<figure-callout\; id="1"\; label="T"\; filenames="HDA0000150697050000011.png"\; state="\{\{state\}\}">T</figure-callout>}}_1}*360;$

3, the real-time angle of external rotor ${\mathrm{\&theta;}}_2=\frac{T_{2s}}{T_2}*360;$

T _1s, T _2sBe the U signal of inside and outside rotor time apart from previous trailing edge;

T ₁, T ₂Be the time span between preceding two trailing edges of the U signal of internal rotor;

4, calculate second stage commutation code name, θ=θ ₁+ θ ₂, when θ＜360 °, C ₂=θ/60, when θ>=360 °, C ₂=(θ-360)/60;

6, according to commutation code name C ₂Table look-up and 1 obtain power tube conducting order;

7, with the second stage power tube V1, V3, V5 signal and the PWM phase of wave that obtain with after be sent to IPM, V2, V4, V6 signal directly are sent to IPM.

Table 1 power tube conducting table

Claims (1)

1. a twin shaft is characterized in that to changeing the initial start method of permanent-magnet brushless DC electric machine step is following:

Step 1: in the inside and outside rotor of motor, have under the situation of a distance that does not turn over a pair of utmost point, according to commutation code name computing formula C ₁=(D+Z) %12+1 calculates the commutation code name, and wherein: D is by internal rotor hall position sensor U ₁V ₁W ₁A ₁The internal rotor location status code name of composite signal establishment; Z is by external rotor hall position sensor U ₂V ₂W ₂A ₂The external rotor location status code name of composite signal establishment, inside and outside rotor state code establishment is regular as follows:

Internal rotor:

IF?U ₁V ₁W ₁A ₁＝0101?D＝0；

IF?U ₁V ₁W ₁A ₁＝0100?D＝1；

IF?U ₁V ₁W ₁A ₁＝0110?D＝2；

IF?U ₁V ₁W ₁A ₁＝0111?D＝3；

IF?U ₁V ₁W ₁A ₁＝0011?D＝4；

IF?U ₁V ₁W ₁A ₁＝0010?D＝5；

IF?U ₁V ₁W ₁A ₁＝1010?D＝6；

IF?U ₁V ₁W ₁A ₁＝1011?D＝7；

IF?U ₁V ₁W ₁A ₁＝1001?D＝8；

IF?U ₁V ₁W ₁A ₁＝1000?D＝9；

IF?U ₁V ₁W ₁A ₁＝0101?D＝10；

IF?U ₁V ₁W ₁A ₁＝1101?D＝11；

External rotor:

IF?U ₂V ₂W ₂A ₂＝0101?Z＝0；

IF?U ₂V ₂W ₂A ₂＝0100?Z＝1；

IF?U ₂V ₂W ₂A ₂＝0110?Z＝2；

IF?U ₂V ₂W ₂A ₂＝0111?Z＝3；

IF?U ₂V ₂W ₂A ₂＝0011?Z＝4；

IF?U ₂V ₂W ₂A ₂＝0010?Z＝5；

IF?U ₂V ₂W ₂A ₂＝1010?Z＝6；

IF?U ₂V ₂W ₂A ₂＝1011?Z＝7；

IF?U ₂V ₂W ₂A ₂＝1001?Z＝8；

IF?U ₂V ₂W ₂A ₂＝1000?Z＝9；

IF?U ₂V ₂W ₂A ₂＝0101?Z＝10；

IF?U ₂V ₂W ₂A ₂＝1101?Z＝11；

Step 2: according to commutation code name C ₁Result of calculation table look-up and 1 obtain power tube conducting order:

Table 1 power tube conducting sequence list

Step 3: with the phase I power tube V1, V3, V5 signal and the PWM phase of wave that obtain with after obtain the electric motor starting signal, then this signal is sent to the IPM that is connected with motor, simultaneously V2, V4, V6 signal directly are sent to the IPM that is connected with motor;

Step 4: all turn over the distance of a pair of utmost point at inside and outside rotor after, the calculating real-time angle:

The real-time angle of internal rotor ${\mathrm{\&theta;}}_1=\frac{T_{1s}}{T_1}*360;$

The real-time angle of external rotor ${\mathrm{\&theta;}}_2=\frac{T_{2s}}{T_2}*360;$

Wherein: T _1s, T _2sBe the U signal of inside and outside rotor time, T apart from previous trailing edge ₁, T ₂Be the time span between preceding two trailing edges of the U signal of internal rotor;

Step 5: calculate second stage commutation code name, θ=θ ₁+ θ ₂, when θ＜360 °, C ₂=θ/60, when θ>=360 °, C ₂=(θ-360)/60;

Step 6: look into conducting table 1 and obtain power tube conducting order;

Step 7: with the second stage power tube V1, V3, V5 signal and the PWM phase of wave that obtain with after obtain the electric motor starting signal, then this signal is sent to the IPM that is connected with motor, simultaneously V2, V4, V6 signal directly are sent to the IPM that is connected with motor.

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