CN102790568A - Soft start control system for high-speed brushless DC motor - Google Patents
Soft start control system for high-speed brushless DC motor Download PDFInfo
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Abstract
A soft start control system for a high-speed brushless DC motor mainly comprises a digital controller, a controllable three-phase rectifier bridge, a DC chopper, a three-phase inverter bridge, a current sensor, the high-speed brushless DC motor and other parts. In order to solve the problem that the start current of the high-speed brushless DC motor is large, the controllable three-phase rectifier bridge and the DC chopper are adopted to carry out two-stage voltage modulation so as to control the DC bus voltage of the three-phase inverter bridge; and the digital controller is adopted to regulate the duty ratio of five-path PWM (Pulse-Width Modulation) drive signals and six-path phase commutation signals according to three-phase inverter bridge DC bus current feedback signals and motor rotation speed feedback signals and control the three-phase inverter bridge DC bus voltage and the phase commutation frequency so as to realize the voltage-reduction variable-frequency soft start of the brushless DC motor. The soft start control system provided by the invention effectively solves the soft start problem of the high-speed brushless DC motor, and has a significant application value for the research of the soft start control of the high-speed brushless DC motor.
Description
Technical field
The present invention relates to high-speed brushless direct-current flexible starter for electric motor control system; Particularly adopt the soft start control system of the low generator loss under the brushless DC motor position transducer control mode, can be used as a kind of soft start control system of Large-power High-Speed equipment such as molecular pump, centrifuge, compressor with the Large-power High-Speed motor.
Background technology
Large-power High-Speed equipment such as molecular pump, centrifuge, compressor have the characteristics of small armature inductance usually with the Large-power High-Speed brushless DC motor.It is big that starting current appears in small armature inductance brushless DC motor easily, the problem that harmonic content is high.Big starting current can cause the increase of motor copper loss, and the harmonic content height can cause motor rotor eddy current loss to increase.Excessive generator loss can form pyrotoxin fast in motor interior, causes motor moment intensification, influences motor performance and life-span, even directly causes the motor stator winding to burn out or the rotor permanent magnet demagnetization.The big starting current that harmonic content is high in addition impacts serious to electrical network, form electric network pollution, influences the operate as normal of other power consumption equipments of same mains supply.Therefore, need to use starting device of motor to realize flexible starter for electric motor.
At present, the starting device of motor can be divided into reduced voltage starting device and varying frequency starting device two big classes.The reduced voltage starting device can not be accomplished the commutation of brushless DC motor, can only be as the servicing unit of X in brushless DC motor control device.The varying frequency starting device mainly contains thyristor motor soft starter and variable-frequency governor etc.The varying frequency starting device is the combination product of modern control theory, microcontroller technology and Technics of Power Electronic Conversion technology.The thyristor motor soft starter can make terminal voltage of motor start from scratch according to the control mode that is provided with in advance and rise to supply voltage gradually; Has the wide advantage of output voltage range; But owing to there is not commutation signal to detect arbitration functions; Can not guarantee the correct commutation of brushless DC motor, motor back emf can't normally be set up, and causes the motor starting electric current big.Variable-frequency governor can change output voltage and frequency simultaneously, and it is big to have starting torque, the advantage that power factor is high, but the starting current harmonic content is high, can cause motor stator eddy current loss to increase, the insulation of damage motor and cable.
Therefore, prior electric machine starting device still can not solve the big and high problem of starting current harmonic content of Large-power High-Speed brushless DC motor starting current, can not satisfy the demand of Large-power High-Speed brushless DC motor soft start.
Summary of the invention
The technical problem that the present invention solves is: solve the problem that existing Large-power High-Speed brushless DC motor starting current is big, harmonic content is high; Propose a kind of soft start control system to the Large-power High-Speed brushless DC motor, this system has the advantage that starting current is little, the starting current harmonic content is low.
Technical solution of the present invention is: a kind of high-speed brushless direct-current flexible starter for electric motor control system comprises controlled three-phase commutation bridge, electrochemical capacitor group, DC chopper, brake circuit, current sensor, three phase inverter bridge, brushless DC motor, line back electromotive force zero-crossing signal deteching circuit, digitial controller, filter circuit, programmable amplifier, first voltage sensor, second voltage sensor.Three-phase power electricity is through controlled three-phase commutation bridge output voltage U 1, and U1 is through the filtering of electrochemical capacitor group, and by first voltage sensor senses; Send into DC chopper then; Through modulation output dc voltage U2, U2 is by second voltage sensor senses, two ends parallel connection brake circuit; Be input to the three phase inverter bridge of logic commutation behind the U2 series current transducer, drive the brushless DC motor starting.In starting process; First voltage sensor output signal is sent into programmable amplifier with current sensor output signal and is amplified after filter circuit carries out filtering, this two-way analog signal and second voltage sensor export analog signal totally three road signals send into the AD translation interface of digitial controller.The CAP that sends into digitial controller after the line back electromotive force warp back electromotive force zero-crossing signal deteching circuit of brushless DC motor is handled catches interface.When the CAP of digitial controller interface was caught line back electromotive force zero-crossing signal, the forbidding DC chopper reduced the high frequency chopping noise jamming, and the circuit that enables to brake absorbs chopper circuit higher-order of oscillation noise.When the CAP of digitial controller interface was caught line back electromotive force zero-crossing signal, the forbidding DC chopper was used for reducing the high frequency chopping noise jamming, and the circuit that enables to brake is used to absorb chopper circuit higher-order of oscillation noise.
Described digitial controller is according to the feedback signal of current sensor, first voltage sensor, second voltage sensor; Adopt the two closed-loop controls of current closed-loop and speed closed loop; Guarantee that three phase inverter bridge bus current value is not more than the setting current value; And three phase inverter bridge forces the commutation frequency values to equal the anti-electronic crossover point signal frequency values of brushless DC motor line, simultaneously the modulation signal duty ratio of controlled three-phase commutation bridge of real-time regulated and DC chopper circuit.
Described three phase inverter bridge only carries out the logic commutation to brushless DC motor, does not carry out the line voltage modulated.
Principle of the present invention is: high-speed brushless direct-current flexible starter for electric motor control system of the present invention mainly comprises controlled three-phase commutation bridge, electrochemical capacitor group, DC chopper, brake circuit, current sensor, three phase inverter bridge, brushless DC motor, line back electromotive force zero-crossing signal deteching circuit, digitial controller, filter circuit, programmable amplifier, first voltage sensor, second voltage sensor.The brushless DC motor Soft Start-up Process comprises control system initial phase, motor starting boost phase and synchronous switch step three phases.
At the initial phase of control system, program accomplished by digitial controller and data space distributes, and exports three road low frequency pwm signals and control controlled three-phase commutation bridge output dc voltage U1, and U1 charges to given voltage to the electrochemical capacitor group; Simultaneously, digitial controller control DC chopper, brake circuit and three phase inverter bridge make the three all be in disabled status.Brushless DC motor soft start system accomplishes after the system initialization, gets into the starting boost phase of brushless DC motor.
At the starting boost phase of brushless DC motor, digitial controller is exported one road high-frequency PWM signal controlling DC chopper direct voltage U1 is carried out second level voltage modulated output three phase inverter bridge DC bus-bar voltage U2; Simultaneously, six road logical signals of commutation frequency increments are forced in digitial controller output, and this frequency conversion commutation signal control three phase inverter bridge carries out beginning starting and quickening control from zero-speed to brushless DC motor.The starting of motor is quickened control and is adopted current closed-loop and the two closed-loop controls of speed closed loop to realize.Digitial controller real-time regulated DC chopper circuit drive signal duty ratio is carried out the motor current closed-loop control, and real-time regulated controlled three-phase commutation bridge drive signal duty ratio and three phase inverter bridge commutation frequency are carried out the motor speed closed-loop control.Motor current closed-loop control and speed closed loop control principle are: the three phase inverter bridge dc bus current detects and sends into filter circuit in real time through current sensor and carries out LPF; Send into programmable amplifier then and amplify the AD interface that conditioning sends into digitial controller and carry out analog-to-digital conversion, the digital signal after the conversion is as the feedback signal of current closed-loop control; Whether the current feedback signal that digitial controller judgement sampling obtains is greater than brushless DC motor soft start current setting value; If greater than set point then, form the current closed-loop control of brushless DC motor soft start according to the duty ratio control three phase inverter bridge DC bus-bar voltage of the error amount real-time regulated DC chopper drive signal of current feedback signal and current setting value.If current sampling data is not more than set point; Then the CAP interface of digitial controller obtains brushless DC motor back electromotive force zero-crossing signal in real time and calculates its frequency values; Contrast the pressure commutation frequency values of this frequency values and three phase inverter bridge; If two frequency values are inequality; Show that then electromotor velocity set-point and speed feedback value have error, digitial controller carries out the speed closed loop control of brushless DC motor soft start according to the duty ratio of velocity error and the controlled three-phase commutation bridge drive signal of the first voltage sensor feedback signal real-time regulated; If two frequency values are identical, then get into the synchronous switch step of brushless DC motor soft start.
In the synchronous switch step of brushless DC motor soft start, line back electromotive force zero-crossing signal deteching circuit detects the line back electromotive force zero-crossing signal of brushless DC motor.The CAP interface of digitial controller is caught crossover point signal as the brushless DC motor commutation signal, and according to the current rotating speed of crossover point signal frequency computation part brushless DC motor.Digitial controller is controlled the rotating speed speed stabilizing control that controlled three-phase commutation bridge, DC chopper circuit and three phase inverter bridge reach brushless DC motor.If the brushless DC motor rotating speed is not more than 0.1% with respect to setting the tachometer value error; Then show brushless DC motor soft start success, otherwise digitial controller is regulated the rotating speed adjustment that controlled three-phase commutation bridge drive signal duty ratio is carried out brushless DC motor again.
In the brushless DC motor soft start control system; Six road logical signals control three phase inverter bridge of digitial controller output only carries out the logic commutation; Do not modulate and do not carry out motor line voltage; Reduce the harmonic content of brushless DC motor starting current, be convenient to reduce three phase inverter bridge dc bus current signal noise amplitude and brushless DC motor line back electromotive force zero-crossing signal noise amplitude.When digitial controller obtains line back electromotive force zero-crossing signal as brushless DC motor phase change logic judgement signal; High frequency chopping noise jamming during for minimizing line back electromotive force zero-crossing signals collecting; The temporary transient usually forbidding DC chopper of digitial controller; And enable the circuit that brakes, increase the circuit damping, absorption of noise disturbs.
The present invention's advantage compared with prior art is: (1) the present invention adopts the drive signal duty ratio of controlled three-phase commutation bridge of closed-loop control real-time regulated and DC chopper; Realized two-stage voltage modulated to the three phase inverter bridge DC bus-bar voltage; Be different from the system that the traditional frequency conversion soft starter only carries out the inverter bridge voltage modulated, reduced high-speed brushless direct-current motor starting electric current.(2) among the present invention, three phase inverter bridge only carries out brushless DC motor frequency conversion commutation, is different from traditional frequency conversion soft starter inverter bridge and promptly carries out the system that voltage modulated is carried out the motor frequency change commutation again.Reduce the harmonic content of high-speed brushless direct-current motor stator currents, reduced rotor block eddy current loss, improved the operational efficiency and the life-span of high-speed brushless direct-current motor.
Description of drawings
Fig. 1 is high-speed brushless direct-current flexible starter for electric motor control system figure of the present invention;
Fig. 2 is the digitial controller figure of high-speed brushless direct-current motor control system of the present invention;
Fig. 3 is the digitial controller software flow pattern of high-speed brushless direct-current motor control system of the present invention;
Fig. 4 is the programmable amplifier figure of high-speed brushless direct-current motor control system of the present invention;
Embodiment
Be illustrated in figure 1 as a kind of high-speed brushless direct-current flexible starter for electric motor control system, comprise controlled three-phase commutation bridge 1, electrochemical capacitor group 2, DC chopper 3, brake circuit 4, current sensor 5, three phase inverter bridge 6, brushless DC motor 7, line back electromotive force zero-crossing signal deteching circuit 8, digitial controller 9, filter circuit 10, programmable amplifier 11, second voltage sensor 12, first voltage sensor 13.Three-phase power electricity is output dc voltage U1 behind controlled three-phase commutation bridge 1, and U1 parallel connection electrochemical capacitor group 2 is carried out filtering, and electrochemical capacitor group 2 two ends parallel connection first voltage sensor 13 carries out voltage detecting; And this voltage is as DC chopper 3 input voltages; Through behind the DC chopper, the controlled direct voltage U2 that output amplitude is lower, U2 two ends parallel connection second voltage sensor 12 carries out voltage detecting; And series current transducer 5 detects three phase inverter bridge 6 dc bus currents to three phase inverter bridge 6.Three phase inverter bridge 6 drives brushless DC motor 7 startings through the logic commutation.Zero signal is passed by in output three behind the line back electromotive force process line back electromotive force zero-crossing signal deteching circuit of brushless DC motor 7.First voltage sensor, 13 outputs, one road voltage analog signal; Second voltage sensor, 12 outputs, one road voltage analog signal; Current sensor 5 outputs one road current analog signal; Back two-way analog signal is sent into filter circuit 10 filtering noise reductions earlier, sends into programmable amplifier 11 conditionings amplification output two-way analog signal then.The AD interface of digitial controller 9 receives above-mentioned three tunnel analog signals and carries out analog-to-digital conversion; The universal digital interface GPIO of digitial controller 9 sends gain to programmable amplifier 11 and selects signal, and receiving gain is selected feedback information; The interface CAP that catches of digitial controller 9 receives three-route back electromotive force zero-crossing signal.Digitial controller 9 sampling obtains according to AD two-way voltage signal and one road current signal are exported three road pwm signals and are controlled controlled three-phase commutation bridge 1, regulate direct voltage U1; Simultaneously, export one road pwm signal control DC chopper 3, regulate direct voltage U2, the DC bus-bar voltage of restriction three phase inverter bridge 6; Export one road pwm signal, the work of control brake circuit 4.Digitial controller 9 advanced the computing of in house software control routine according to line back electromotive force zero-crossing signal; Export six tunnel logic commutation signals; The commutation frequency of control three phase inverter bridge 6 is carried out commutation and speed governing to brushless DC motor 7, and judges synchronously outer and motor synchronizing switching point.
As shown in Figure 2, digitial controller 9 adopts dsp chip TMS320F28335, mainly is made up of CPU, A/D module, PWM module and universal digital interface (GPIO) etc.CPU is the CPU of controller.The A/D module is carried out analog to digital conversion to the voltage analog signal of first voltage sensor output, the voltage analog signal of second voltage sensor output and the current analog signal of current sensor output, and the data after the analog to digital conversion read register through CPU and obtain the data of back as code calculating.The PWM module is provided with and the code computing through the CPU register; Controlled generation five road pwm signals, wherein three road low frequency pwm signals are used for the control of controlled three-phase commutation bridge 1, wherein one road 10kHz high-frequency PWM signal is used for the control of DC chopper 3, the little duty ratio pwm signal of other one road 1kHz frequency be used to the to brake control of circuit 4.The PWM module also produces commutation and the speed governing that six road phase change logic signals are used for brushless DC motor 7.GPIO can be configured to input/output interface arbitrarily by CPU, the output two ways of digital signals, and the input two ways of digital signals, the former selects signal as the gain of programmable amplifier 11, and the latter is the gain selection feedback signal that programmable amplifier 11 feeds back to digitial controller 9.
Described digitial controller 9 is according to the feedback signal of current sensor 5, first voltage sensor 13, second voltage sensor 12; Adopt the two closed-loop controls of current closed-loop and speed closed loop; Guarantee that three phase inverter bridge bus current value is not more than the setting current value; And three phase inverter bridge forces the commutation frequency values to equal the anti-electronic crossover point signal frequency values of brushless DC motor line, simultaneously the modulation duty cycle of controlled three-phase commutation bridge 1 of real-time regulated and DC chopper circuit 3.
7 of 6 pairs of brushless DC motors of described three phase inverter bridge carry out the logic commutation, do not carry out the line voltage modulated.
As shown in Figure 3, software flow comprises system initialization module, starting accelerating module and synchronous handover module.System initialization module is carried out the master controller initialization; Promptly accomplish the distribution of program and data memory space; And electrochemical capacitor group 2 is precharged to given voltage, simultaneously, digitial controller 9 control DC choppers 3, brake circuit 4 and three phase inverter bridge 6 make the three all be in disabled status.In the starting accelerating module, digitial controller 9 enables and controls in real time DC chopper 3 input voltages and three phase inverter bridge 6 DC bus-bar voltages.Digitial controller 9 outputs six tunnel are forced the phase change logic signal to drive three phase inverter bridge 6 and are forced commutation, and forcing the commutation frequency values is f1.Three phase inverter bridge 6 dc bus currents are through detect and judge that it is whether greater than 1.5 times of motor operation load current value in real time; If greater than 1.5 times of motor operation load current value; Then reduce DC chopper 3 drive signal duty ratios control three phase inverter bridge 6 DC bus-bar voltages, form the current closed-loop control of brushless DC motor 7 soft starts.If be not more than 1.5 times of motor operation load current value, then digitial controller 9 obtains brushless DC motor 7 back electromotive force zero-crossing signals in real time and calculates its frequency values f2 and three phase inverter bridge 6 is forced commutation frequency values f1 contrast.If frequency values f1, then reduces controlled three-phase commutation bridge drive signal duty ratio greater than frequency values f2,, carry out the control of brushless DC motor 7 soft start speed closed loops if frequency values f1, then increases controlled three-phase commutation bridge drive signal duty ratio less than frequency values f2.If two frequency values f1 are identical with f2, then get into synchronous handover module, detect brushless DC motor 7 line back electromotive force zero-crossing signals as commutation signal.In brushless DC motor line back electromotive force zero-crossing signal detection process, forbid DC chopper 3, open brake circuit 4, guarantee the accuracy that crossover point signal is gathered.If brushless DC motor 7 rotating speeds are not more than 0.1% with respect to setting the tachometer value error; Then show brushless DC motor soft start success, controlled three-phase commutation bridge 1 drive signal duty ratio gets into the starting accelerating module and synchronous handover module carries out the motor speed adjustment otherwise digitial controller 9 is regulated again.
As shown in Figure 4, programmable amplifier 11 comprises instrumentation amplifier, programmable amplifier.Instrumentation amplifier is isolated one road voltage sample analog signal and the common two-way sampled analog signal of one road current sample analog signal of filter circuit 10 outputs, sends into programmable amplifier then and amplifies.Programmable amplifier receives the two-way gain of digitial controller 9 outputs and selects signal, and programmable amplifier is programmed to gain amplifier according to this signal.Programmable amplifier is to digitial controller 9 feedback two-way current gain value, and digitial controller 9 is according to the gain amplifier of this signal distinguishing programmable amplifier.Programmable amplifier 11 output one road voltage signal analog quantity and one road current signal analog quantitys, the former is a three phase inverter bridge DC bus-bar voltage signal imitation amount, the latter is a three phase inverter bridge dc bus current signal imitation amount.
Claims (3)
1. high-speed brushless direct-current flexible starter for electric motor control system; It is characterized in that; Comprise controlled three-phase commutation bridge (1), electrochemical capacitor group (2), DC chopper (3), brake circuit (4), current sensor (5), three phase inverter bridge (6), brushless DC motor (7), line back electromotive force zero-crossing signal deteching circuit (8), digitial controller (9), filter circuit (10), programmable amplifier (11), second voltage sensor (12), first voltage sensor (13); Three-phase power electricity is through controlled three-phase commutation bridge (1) rectifier output voltage U1; U1 is through electrochemical capacitor group (2) filtering, and detected by first voltage sensor (13), sends into DC chopper (3) then; Through high frequency modulated output dc voltage U2; U2 is detected by second voltage sensor (12), and behind current sensor (5), is input to three phase inverter bridge (6), drives brushless DC motor (7) starting; Second voltage sensor (12) output voltage analog signal and current sensor (5) output current analog signal are sent into programmable amplifier (11) and are amplified after filter circuit (10) carries out filtering, this two-way analog signal and first voltage sensor (13) output analog signal totally three road signals AD translation interface of sending into digitial controller (9) are carried out analog-to-digital conversion; The line back electromotive force warp back electromotive force zero-crossing signal deteching circuit (8) of brushless DC motor (7) obtains line back electromotive force zero-crossing signal after handling, and judges signal as the logic commutation of brushless DC motor (7); When the CAP interface of digitial controller (9) was caught line back electromotive force zero-crossing signal, forbidding DC chopper (3) reduced the high frequency chopping noise jamming, and the circuit (4) that enables to brake absorbs chopper circuit higher-order of oscillation noise.
2. high-speed brushless direct-current flexible starter for electric motor control system according to claim 1; It is characterized in that: described digitial controller (9) is according to the feedback signal of current sensor (5), first voltage sensor (13), second voltage sensor (12); Adopt the two closed-loop controls of current closed-loop and speed closed loop; Guarantee that three phase inverter bridge bus current value is not more than the setting current value; And three phase inverter bridge forces the commutation frequency values to equal the anti-electronic crossover point signal frequency values of brushless DC motor line, the modulation signal duty ratio of controlled three-phase commutation bridge of real-time regulated (1) and DC chopper circuit (3).
3. high-speed brushless direct-current flexible starter for electric motor control system according to claim 1 is characterized in that: described three phase inverter bridge (6) only carries out the logic commutation to brushless DC motor (7), does not carry out the line voltage modulated.
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| CN103248291B (en) * | 2013-05-30 | 2015-09-09 | 北京航空航天大学 | A kind of high-speed brushless direct-current motor control system without position sensor |
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| CN104300854A (en) * | 2014-11-07 | 2015-01-21 | 黑龙江省科学院科技孵化中心 | Brushless direct current motor drive circuit based on Buck convertor |
| CN104410341A (en) * | 2014-11-27 | 2015-03-11 | 江苏科技大学 | Low-speed torque ripple restraining device and restraining method based on direct current voltage adjustment |
| CN104868771A (en) * | 2015-04-03 | 2015-08-26 | 浙江新富凌电气股份有限公司 | Molecular pump frequency converter control system |
| CN107872185A (en) * | 2016-09-27 | 2018-04-03 | 德昌电机(深圳)有限公司 | Load drive device, electric machine assembly and motor driver |
| CN107404259A (en) * | 2017-08-22 | 2017-11-28 | 北京机械设备研究所 | A kind of brushless DC motor control circuit |
| CN107612434A (en) * | 2017-08-22 | 2018-01-19 | 北京机械设备研究所 | A kind of brshless DC motor alignment circuit based on wave chopping technology |
| CN108258950A (en) * | 2017-08-29 | 2018-07-06 | 苏州博牛电气有限公司 | The control method that permanent-magnet brushless DC electric machine driving starts |
| CN108258950B (en) * | 2017-08-29 | 2021-06-01 | 苏州博牛电气有限公司 | Control method for driving and starting permanent magnet brushless direct current motor |
| CN109302106A (en) * | 2018-09-19 | 2019-02-01 | 深圳拓邦股份有限公司 | A kind of brushless electric machine no-position control circuit, device and method |
| CN112398373A (en) * | 2019-08-13 | 2021-02-23 | 江苏美的清洁电器股份有限公司 | Control method and device of brushless direct current motor and storage medium |
| CN112398373B (en) * | 2019-08-13 | 2022-11-04 | 江苏美的清洁电器股份有限公司 | Control method and device of brushless direct current motor and storage medium |
| CN113364305A (en) * | 2021-05-08 | 2021-09-07 | 黄石东贝压缩机有限公司 | Frequency converter for controlling rotating speed of variable frequency compressor and control method thereof |
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