CN102868344A - Device and method for controlling direct-current brushless motor - Google Patents
Device and method for controlling direct-current brushless motor Download PDFInfo
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- CN102868344A CN102868344A CN201210356606XA CN201210356606A CN102868344A CN 102868344 A CN102868344 A CN 102868344A CN 201210356606X A CN201210356606X A CN 201210356606XA CN 201210356606 A CN201210356606 A CN 201210356606A CN 102868344 A CN102868344 A CN 102868344A
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Abstract
The invention provides a device and a method for controlling a direct-current brushless motor. The control method includes: calculating actual rotation speed and position angle of a rotor according to signals outputted by a position sensor, calculating the numerical value of a voltage modulation ratio factor according to the actual rotation speed and a set rotation speed, and calculating voltage value loaded on a three-phase bus of the direct-current brushless motor according to the numerical value of the voltage modulation ratio factor, the position of the position angle and a dead zone compensation value, wherein the voltage value loaded on at least two-phase buses is obtained by addition of the dead zone compensation value and product of the numerical value of the voltage modulation ratio factor with a trigonometric function numerical value of the position angle. By means of the device and the method for controlling the direct-current brushless motor, the problems of torque ripple, commutation noise and the like caused by ending of motor winding current in advance due to the fact that dead zone time is larger than a commutation point adjacent voltage modulation ratio can be avoided, and field effect tubes can be avoided from long-time on and off operations, so that service lives of the field effect tubes and the motor are prolonged.
Description
Technical field
The present invention relates to the control field of motor, especially relate to a kind of control method to dc brushless motor and control device.
Background technology
Dc brushless motor possesses the advantage of continuous speed adjustment because of it, more and more is subject to people's favor, has been widely used in the various electric equipments.The control of the need of work control circuit of dc brushless motor drives, and control circuit comprises controller and the inversion unit that is used for driving dc brushless motor work, and inversion unit is controlled machine operation to the three-phase bus output voltage signal of motor.Controller is sine wave or square wave to the waveform of inversion unit output, therefore is called sine wave drive and square wave and drives.
The mode that square wave drives is comparatively simple, also easily realize, but output power of motor is when large, and obviously there are the problems such as torque pulsation, commutation noise in motor, exists to use limitation in some applications that noise is had higher requirements.For these application, adopt the sine wave drive mode can effectively reduce the problems such as torque pulsation, commutation noise.
At present the control mode of sine wave drive mainly contains following two kinds: a kind of is by take the terminal voltage of motor three-phase bus as the control target, three-phase bus to motor applies certain space vector PWM modulation voltage, make in the motor winding and produce sine-wave current, realize control to motor by the control amplitude of sine-wave current and phase place; Another kind is by take the phase current of motor three-phase bus as the control target, and phase current is carried out the decoupling zero operation, sets up electric current loop, by phase place and the control of amplitude realization to motor of direct control phase current.
Control circuit structure take the three-phase bus terminal voltage as the control target as shown in Figure 1, control circuit comprises controller 10, inversion unit 16 and position transducer 17, control unit 10 is the devices such as single-chip microcomputer or digital signal processor (DSP), is provided with voltage modulated in it than factor computing module 11, position angle computing module 12 and voltage computing module 13.
Position transducer 17 is photoelectric encoder or magnetism encoder, Hall element etc., for detection of the rotor-position of dc brushless motor, and exports the signal that detects to control unit 10.The voltage modulated of control unit 10 is calculated the current rotating speed of rotor than the signal of computing module 11 according to position transducer 17 outputs, and compares with the rotating speed of setting, and calculates voltage modulated than factor K.
In addition, position angle computing module 12 goes out the current position angle θ of rotor according to the signal estimation of position transducer 17 outputs, and the trigonometric function of calculating location angle θ, such as sin θ, sin(θ-120) etc., export result of calculation to voltage computing module 13.
Voltage computing module 13 calculates to the PWM modulation signal of the field effect transistor output of upper brachium pontis corresponding to the three-phase bus of inversion unit according to the trigonometric function of the voltage modulated that the calculates position angle θ more current than factor K and rotor.
As shown in Figure 2, inversion unit 16 has six field effect transistor, the inner reverse diode all in parallel of each field effect transistor, field effect transistor T1 is connected between anodal dc power supply terminal B+ and the U phase current lead-out terminal, and field effect transistor T2 is connected between U phase current lead-out terminal and the negative pole dc power supply terminal B-.Field effect transistor T1, T2 form mutually brachium pontis of U.
In the same manner, field effect transistor T3, T4 form mutually brachium pontis of V, the electric current of output V phase, and field effect transistor T5, T6 form W phase brachium pontis, the electric current of output W phase.
Each brachium pontis is divided into brachium pontis and lower brachium pontis, and for example, in the inverter circuit of output U phase current, the circuit that is connected between anodal DC power supply B+ and the U phase current lead-out terminal is upper brachium pontis, i.e. field effect transistor T1 among Fig. 2.The circuit that is connected between U phase current lead-out terminal and the negative pole dc power supply terminal B-is lower brachium pontis, i.e. field effect transistor T2 among Fig. 2.In like manner, field effect transistor T3 is the upper brachium pontis of V phase power inverse transformation circuit, and field effect transistor T4 is the lower brachium pontis of V phase power inverse transformation circuit, and field effect transistor T5 is the upper brachium pontis of W phase power inverse transformation circuit, and field effect transistor T6 is the lower brachium pontis of W phase power inverse transformation circuit.
Use said method that motor is controlled, need to determine the complex steps such as the sector at current rotor position angle place and vector action time, amount of calculation is very large, takies very large resource of the device such as single-chip microcomputer.And in 360 ° of electrical degrees of motor, six field effect transistor of inversion unit 16 need to be modulated within the cycle of the waveform of each PWM modulation signal, and the switching loss of field effect transistor is larger, and caloric value is large, affects the useful life of field effect transistor and controller.
In the ideal situation, the complementation during control signal of two field effect transistor on the same brachium pontis, when the field effect transistor that namely goes up brachium pontis is high level signal, the field effect transistor of lower brachium pontis is low level signal, this situation is called the control signal that does not have Dead Time, shown in first oscillogram of Fig. 4 and second oscillogram.But in real process, if the control signal of upper brachium pontis field effect transistor becomes the low level while from high level, the control signal of the field effect transistor of lower brachium pontis becomes high level from low level at once, the situation of the simultaneously conducting of two field effect transistor of same brachium pontis easily occurs, the electric current that causes flow direction motor is excessive and cause short circuit, therefore, need between another field effect transistor conducting that from being closed to of a field effect transistor certain interval is arranged, this time interval is called Dead Time, such as the 3rd among Fig. 4, the 4th oscillogram is exactly the control signal oscillogram with two field effect transistor on the same brachium pontis of Dead Time.
In the present Electric Machine Control process, controller 10 only calculates the control signal waveform of the field effect transistor of upper brachium pontis usually, the field effect transistor control signal waveform of lower brachium pontis generates automatically according to the control waveform of upper brachium pontis field effect transistor, the method that generates is that the basic waveform with upper brachium pontis field effect transistor control signal of the control signal waveform of lower brachium pontis field effect transistor is complementary, just after the field effect transistor of upper brachium pontis is closed, increase certain time interval, also just form Dead Time.And, the certain hour before the field effect transistor of upper brachium pontis is opened, the field effect transistor of lower brachium pontis is closed first.
And the ON time of field effect transistor is determined by the duty ratio of field effect transistor, and in the wave period of a PWM modulation signal, the time that the ON time of field effect transistor accounts for the wave period of whole PWM modulation signal is called duty ratio.Duty ratio is larger, and the ON time of field effect transistor is longer, and the average voltage that is loaded into bus is higher, therefore regulates the magnitude of voltage that is loaded on the bus and is actually the duty ratio of regulating field effect transistor.
From the above analysis, when output power of motor was less, Dead Time may be close to voltage modulated than determined field effect transistor ON time greater than commutation point, thereby causes the motor winding current to end in advance, cause torque pulsation, the problems such as commutation noise.
And take electric machine phase current as control target the sine wave drive method in, need to use the sinusoidal control method of electric current loop, and need to carry out the decoupling zero operation of electric current, so the performance of devices such as single-chip microcomputer are required higher, need to detect current value with modulus (A/D) modular converter fast and flexibly.Use the method also to need to use based on the hexagonal SVPWM triangular function of on off state, need simultaneously to determine complex steps and the algorithmic procedures such as sector and vector action time, also exist six field effect transistor of inversion unit 16 in 360 ° of electrical degrees of motor need to carry out the problem that PWM modulates within the cycle of each PWM modulation signal waveform, the switching loss of field effect transistor is also larger.
Therefore, publication number is that the Chinese invention patent application of CN1988365A discloses the innovation and creation of a kind of " a kind of dead-zone compensation method of vector space pulse-width modulation output " by name, the method is mainly for the SVPWM control of permagnetic synchronous motor in the AC servo, when rotor is positioned at the diverse location angle, the pulse duration that loads to the field effect transistor of the upper brachium pontis of inverter circuit corresponding to three-phase bus is not identical, some is to increase a dead area compensation time, some is to deduct the dead area compensation time, the time span that causes loading to the field effect transistor of the upper brachium pontis of out of phase bus pwm signal is different, said method is applied in the control of dc brushless motor, not only can not solve the long problem of Dead Time under low-power, but also can increase voltage harmonic, affect motor slow-speed of revolution muting function.
Summary of the invention
Main purpose of the present invention provides the control method of the dc brushless motor of the life-and-death district of a kind of energy efficient solution overlong time.
Another object of the present invention provides a kind of control device of avoiding increasing the dc brushless motor of voltage harmonic.
For realizing main purpose of the present invention, the control method of dc brushless motor provided by the invention comprises actual speed and the rotor position angle according to the calculated signals rotor of position transducer output, rotating speed according to actual speed and setting calculates voltage modulated than the numerical value of factor, and, according to the numerical value of voltage modulated than factor, position angle position and dead area compensation value are calculated the magnitude of voltage that loads to the three-phase bus of dc brushless motor, to wherein at least the magnitude of voltage that loads of two-phase bus be that voltage modulated adds the dead area compensation value than the numerical value of factor and the product of position angle trigonometric function value.
By such scheme as seen, add a dead area compensation value during magnitude of voltage that calculating loads to bus, offsetting Dead Time affects upper brachium pontis control signal duty ratio, the magnitude of voltage that raising loads to bus, the field effect transistor ON time of the upper brachium pontis in each brachium pontis prolongs to some extent with respect to the control signal with Dead Time, thereby avoids in the motor operation course Dead Time long and cause the problem that winding current ends in advance.
A preferred scheme is, the magnitude of voltage that the two-phase bus in three-phase bus loads is that voltage modulated adds the dead area compensation value than the numerical value of factor and the product of position angle trigonometric function value, is the dead area compensation value to the magnitude of voltage of third phase bus loading.
This shows, when calculating the voltage that three-phase bus loads, only need wherein two-phase use location angle trigonometric function value, and need not use location angle trigonometric function value when calculating the magnitude of voltage of third phase bus, reduce the calculating of a trigonometric function value, improve the computational speed of controller.
Further scheme is, the controller of dc brushless motor stores the trigonometric function value of the position angle of rotor under the diverse location angle, when calculating the magnitude of voltage of bus, the trigonometric function value of position angle obtains by trigonometric function value corresponding to the current location angle of searching rotor.
As seen, when calculating the magnitude of voltage that loads to three-phase bus, be by acquisitions of tabling look-up to the calculating of trigonometric function value, and calculating trigonometric function value whether directly, can reduce like this amount of calculation of the control devices such as single-chip microcomputer, the raising computational speed.
For realizing another object of the present invention, the control device of dc brushless motor provided by the invention comprises the controller of position transducer and receiving position sensor output signal, controller has voltage modulated than factor computing module, position angle computing module and voltage computing module, voltage modulated is than the actual speed of factor computing module according to the calculated signals rotor of position transducer output, and calculate voltage modulated than the numerical value of factor according to the rotating speed of actual speed and setting, the position angle computing module is according to the current location angle of the calculated signals rotor of position transducer output, the voltage computing module is according to the numerical value of voltage modulated than factor, position angle position and dead area compensation value are calculated the magnitude of voltage that loads to the three-phase bus of dc brushless motor, to wherein at least the magnitude of voltage that loads of two-phase bus to be voltage modulated add the dead area compensation value than the product of the trigonometric function value of the numerical value of factor and position angle.
By such scheme as seen, during voltage that calculating loads to bus the dead band offset is added, counteracting causes the little effect of upper brachium pontis conducting duty ratio perfect condition because of Dead Time, thereby the field effect transistor ON time of the upper brachium pontis in each brachium pontis prolongs to some extent, avoid motor to be close to the voltage modulated ratio at Dead Time greater than commutation point, thereby cause the motor winding current to end in advance, cause torque pulsation, the problems such as commutation noise.
A preferred scheme is, the magnitude of voltage that loads to the two-phase bus that the voltage computing module calculates is that voltage modulated adds the dead area compensation value than the numerical value of factor and the product of position angle trigonometric function value, and the magnitude of voltage that loads to the third phase bus of calculating is the dead area compensation value.
This shows, the magnitude of voltage that loads to the third phase bus only is the dead area compensation value, the trigonometric function that does not need the calculating location angle when therefore calculating the magnitude of voltage that loads to the third phase bus, reduce the amount of calculation of the controllers such as single-chip microcomputer, the upper brachium pontis field effect transistor of this brachium pontis need not to carry out the pwm pulse modulation, field effect transistor is in off state, and the corresponding time of dead area compensation value D is less than or equal to Dead Time 1/2nd, therefore the field effect transistor of the upper brachium pontis in each brachium pontis need not all to be modulated by PWM in the wave period of each PWM modulation signal, switching loss is less, and useful life is longer.
Description of drawings
Fig. 1 is the structural representation block diagram of existing dc brushless motor, inversion unit and controller.
Fig. 2 is the electrical schematic diagram of inversion unit.
Fig. 3 is the structural representation block diagram of control device for direct-current brushless motor embodiment of the present invention and dc brushless motor, inversion unit.
Fig. 4 be on the same brachium pontis a pair of field effect transistor do not have Dead Time, with Dead Time and the present invention with the control waveform figure in the dead-time compensation situation.
The invention will be further described below in conjunction with drawings and Examples.
Embodiment
Control device for direct-current brushless motor of the present invention is used for dc brushless motor is controlled, referring to Fig. 1, control device comprises controller 20, controller 20 has the device of programming, operational capability for single-chip microcomputer or digital signal processor etc., be provided with voltage modulated in the controller 20 than factor computing module 21, position angle computing module 22, voltage computing module 23 and memory cell 24.Control device also has inversion unit 26 and position transducer 27.
Position transducer 27 is photoelectric encoder or magnetism encoder, Hall element etc., for detection of the rotor-position of dc brushless motor.Preferably, position transducer 27 comprises three bipolar locking-typed Hall elements, is installed with permanent magnet at rotor, and when rotor, Hall element comes the position of detection rotor by detecting field signal, thereby exports the corresponding signal of telecommunication.The signal of position transducer 27 outputs is received by controller 20.
The voltage modulated of controller 20 is than the actual speed of factor computing module 21 according to the current rotor of calculated signals that receives, and according to setting ratio calculation voltage modulated between rotating speed and the actual speed than the numerical value of factor K.Because permanent magnet is fixed on the rotor, so therefore permanent magnet calculates the rotating speed that quantity that permanent magnet that the Hall element per minute receives sends electromagnetic signal can be calculated rotor with respect to the Hall element rotation during rotor.Set the definite rotating speed of signal that rotating speed Time Controller 20 bases receive outside input, voltage modulated is the ratio between setting rotating speed and the actual speed than factor K.
Position angle computing module 22 is according to the current position angle of signal estimation rotor of position transducer 27 outputs that receive.During the estimated position angle, 360 ° electrical degrees on average are divided into six sectors, each sector is 60 ° electrical degree.Because position transducer 27 is three bipolar locking-typed Hall elements, it is to six position signallings of controller 20 outputs, and position angle computing module 22 calculates current residing six the sector original positions of rotor according to six position signallings that receive.
Then, calculate the current position angle θ of rotor according to following formula
Wherein θ n is the original position of sector, rotor place, N is that rotor is in the last electrical degree cycle, the number of the pulse of the PWM modulation voltage that namely in 360 ° electrical degree, receives, M is the number of the pulse of the PWM modulation voltage that experiences in current sector of motor, Δ θ is the compensation leading angle.Because there is the inductance effect in the motor winding, therefore phase current lags behind phase voltage, during the current position angle θ of estimation rotor, need to carry out the leading angle compensation, need namely to add that leading angle Δ θ to calculate position angle θ, realizes phase current and opposite potential same-phase.Leading angle Δ θ determines according to motor performance and operate power, can be pre-written in the controller 20.
Behind calculating voltage modulation ratio factor K and the position angle θ, voltage computing module 23 calculates the magnitude of voltage of pwm signal of the field effect transistor of the corresponding upper brachium pontis of three-phase bus that is loaded into inversion unit 26, namely calculates the magnitude of voltage of the terminal voltage that is loaded into three-phase bus.
Because dc brushless motor uses the sine wave drive mode, therefore the magnitude of voltage that is loaded in theory each phase busbar voltage all should be that voltage modulated is than the product of factor K with the trigonometric function of position angle θ, consider the existence of Dead Time, the magnitude of voltage that is loaded into each phase bus also needs to add dead area compensation value D, dead area compensation value D is a fixed value, be pre-written in the controller 20, directly dead band offset D added when calculating the magnitude of voltage that is loaded into bus.
Yet, if the magnitude of voltage of the bus of each phase is very high to the calculation requirement of the control devices such as single-chip microcomputer all by trigonometric function value and the modulation ratio product of calculating location angle θ, cause the amount of calculation of single-chip microcomputer excessive.
Because the electrical degree of the line voltage of the three-phase bus voltage of three phase electric machine forms 120 ° angle between any two, can in certain electrical degree, calculate the wherein magnitude of voltage of two-phase bus with voltage modulated than factor by the trigonometric function value of a use location angle θ, and the magnitude of voltage of third phase bus can directly be calculated as dead area compensation value D.In 360 ° electrical degree, as shown in table 1 to the magnitude of voltage that three-phase bus loads.
| Electrical degree | Uu | Uu | Uw |
| 0°- 120° | K×sin(θ)+D | D | K×(-sin(θ-120))+D |
| 120°- 240° | K×(-sin(θ-240))+D | K×sin(θ-120)+D | D |
| 240°- 360° | D | K×(-sin(θ))+D | K×(sin(θ -240))+D |
Table 1
Wherein, Uu, Uv, Uw represent respectively to be loaded into the magnitude of voltage of U, V, W three-phase bus.
As can be seen from Table 1, in 360 ° electrical degree, the three-phase bus magnitude of voltage is piecewise function.But the phase voltage of motor stator winding phase difference between any two is 120 °, and is complete SIN function.As shown in table 2.
| Electrical degree | Uu - Uv | Uv - Uw | Uw - Uu |
| 0°- 120° | K×sin(θ) | K×sin(θ-120) | K×sin(θ-240) |
| 120°- 240° | K×sin(θ) | K×sin(θ-120) | K×sin(θ-240) |
| 240°- 360° | K×sin(θ) | K×sin(θ-120) | K×sin(θ-240) |
Table 2
By table 1, table 2 as can be known, the present invention is different from existing SPWM modulation system, terminal voltage Uu, the Uv, the Uw that are applied to the motor three-phase bus are not sine voltage, but with the piecewise function of dead area compensation value, this moment, dc brushless motor central point voltage was not to be 0, but motor phase voltage (Uu-Uv, Uv-Uw, Uw-Uu) still is that sine voltage and phase difference are 120 °.
Like this, the field effect transistor of the upper brachium pontis that three-phase bus is corresponding is in 360 ° electrical degree scope, always have one not need to be modulated by pwm signal in the time of 120 ° of electrical degrees, field effect transistor can be in closed condition, and the corresponding time of dead area compensation value D is less than or equal to Dead Time 1/2nd, as shown in Figure 4.Like this, field effect transistor is not all the time to work, and prolonged its useful life, also is conducive to working long hours of motor.
Because the time that single-chip microcomputer calculating trigonometric function consumes is longer, in order to reduce the operand of single-chip microcomputer, avoid directly calculating SIN function, depict motor in the array of 360 ° electrical degree three-phase bus terminal voltage amplitude by table 1, voltage modulated in the table 1 is got constant 1 than factor K at this moment, and dead area compensation value D gets constant 0.According to above-mentioned formula, calculate a two-dimensional array TAB[T], each array comprises three numerical value, respectively rotor employed three trigonometric function values when under the same position angle, calculating the voltage that is carried in three-phase bus, certainly, must have a numerical value in each array at least is zero, because do not need to use trigonometric function value when calculating the magnitude of voltage of a bus wherein.These arrays are stored in the memory cell 24 of controller 20 continuously, six sectors of the corresponding motor of the numerical value of all arrays.
For example, when being 5 ° corresponding to position angle θ, three numerical value of array be respectively sin5,0 ,-sin(-115), be 135 ° corresponding to position angle θ, three numerical value of array are respectively-sin(-105), sin15,0, so analogize.
When voltage computing module 23 calculates to the magnitude of voltage of three-phase bus loading, the numerical value of one group of trigonometric function that inquiry current location angle θ is corresponding, then according to the relation in the table 1, the trigonometric function value that corresponding bus is corresponding is multiplied by voltage modulated than factor K and adds dead area compensation value D, can calculate the magnitude of voltage that loads to a certain phase bus.
Because array is continuously arranged, when searching numerical value, can search corresponding numerical value according to following formula,
Wherein L1 is that employed trigonometric function value is in the position of array when calculating U phase bus on-load voltage, and T is the numerical value sum of all numerical value.
Employed trigonometric function value L2, L3 can use following formula to calculate acquisition when correspondence was calculated to V phase bus, W phase bus on-load voltage in the array position:
Can obtain to calculate under the same position angle easily the employed trigonometric function value of magnitude of voltage that loads to three-phase bus by tabling look-up like this, reduce the amount of calculation of single-chip microcomputer, performance requirement to single-chip microcomputer reduces, and can use more cheap chip microcontroller to the accurate control of motor.
Three numerical value under the inquiry same position angle, be three numerical value L1, L2, L3 5 ° under such as inquiry θ after, according to the formula of table 1, the magnitude of voltage to the three-phase bus loading of calculating is respectively
Certainly, the magnitude of voltage that loads to three-phase bus is actually the magnitude of voltage that the field effect transistor of the upper brachium pontis in the corresponding inverter circuit of three-phase bus in the inversion unit 26 loads.By above-mentioned calculating, can be flexibly, convenient and accurately realize the sine wave drive of motor, 120 ° electrical degrees in the time, always there is the field effect transistor of upper brachium pontis corresponding to a phase bus not modulated by pwm signal, and the corresponding time of dead area compensation value D is less than or equal to Dead Time 1/2nd, switching loss is less, is conducive to the long-time use of field effect transistor.
The signal that loads for the field effect transistor of downward brachium pontis, automatically calculate generation by controller 10, computational methods are identical with existing method, it all is the control signal according to the field effect transistor of upper brachium pontis, generate one roughly with the signal of upper brachium pontis field effect transistor control signal complementation, and after the field effect transistor of guaranteeing upper brachium pontis is closed through the just conducting of field effect transistor of lower brachium pontis behind the Dead Time, after the field effect transistor of also guaranteeing lower brachium pontis is closed through the just conducting of field effect transistor of upper brachium pontis behind the Dead Time.
Because the magnitude of voltage that loads to each bus has all added dead area compensation value D, the average voltage that requires like this to be carried on the bus increases to some extent, the field effect transistor of the upper brachium pontis that bus is corresponding ON time in the wave period of a PWM modulation signal prolongs to some extent than the control signal with Dead Time, this moment same brachium pontis the control signal of two field effect transistor shown in the 5th, the 6th oscillogram among Fig. 4, can avoid causing because Dead Time is long the field effect transistor ON time of upper brachium pontis too short, cause the phenomenon that electric current ends in advance.
Certainly, above-mentioned execution mode only is the preferred embodiment of the present invention, during practical application more change can also be arranged, such as the trigonometric function value of pre-stored calculating in memory cell not, but directly calculate the such change of trigonometric function value when calculating the voltage that loads to three-phase bus and also can realize purpose of the present invention each.
It is emphasized that at last to the invention is not restricted to above-mentioned execution mode, also should be included in the protection range of claim of the present invention such as the formula change of calculating trigonometric function, the variations such as change of array quantity.
Claims (10)
1. method for controlling direct current brushless motor comprises
According to actual speed and the rotor position angle of the calculated signals rotor of position transducer output, calculate voltage modulated than the numerical value of factor according to the rotating speed of described actual speed and setting;
It is characterized in that:
Calculate the magnitude of voltage that loads to the three-phase bus of described dc brushless motor than the numerical value of factor, described position angle position and dead area compensation value according to described voltage modulated, to wherein at least the magnitude of voltage that loads of two-phase bus be that described voltage modulated adds the above dead area compensation value than the numerical value of factor and the product of described position angle trigonometric function value.
2. method for controlling direct current brushless motor according to claim 1 is characterized in that:
The magnitude of voltage that two-phase bus in described three-phase bus loads is that described voltage modulated adds the above dead area compensation value than the numerical value of factor and the product of described position angle trigonometric function value, and the magnitude of voltage that loads to the third phase bus is described dead area compensation value.
3. method for controlling direct current brushless motor according to claim 1 and 2 is characterized in that:
The controller of described dc brushless motor stores the trigonometric function value of the position angle of described rotor under the diverse location angle, when calculating the magnitude of voltage of described bus, the trigonometric function value of described position angle obtains by described trigonometric function value corresponding to the current location angle of searching rotor.
4. method for controlling direct current brushless motor according to claim 3 is characterized in that:
Stored described trigonometric function value is arranged in a plurality of continuously arranged arrays.
5. method for controlling direct current brushless motor according to claim 4 is characterized in that:
Each described array comprises three trigonometric function values corresponding to described three-phase bus difference under the same position angle.
6. control device for direct-current brushless motor comprises
Position transducer and the controller that receives described position sensor output signal, described controller has:
Voltage modulated is than factor computing module, according to the actual speed of the calculated signals rotor of described position transducer output, and calculates voltage modulated than the numerical value of factor according to the rotating speed of described actual speed and setting;
The position angle computing module is according to the current location angle of the calculated signals rotor of described position transducer output;
It is characterized in that:
Described controller also is provided with the voltage computing module, calculate the magnitude of voltage that loads to the three-phase bus of described dc brushless motor than the numerical value of factor, described position angle position and dead area compensation value according to described voltage modulated, to wherein at least the magnitude of voltage that loads of two-phase bus to be described voltage modulated add the above dead area compensation value than the product of the trigonometric function value of the numerical value of factor and described position angle.
7. control device for direct-current brushless motor according to claim 6 is characterized in that:
The magnitude of voltage that loads to the two-phase bus that described voltage computing module calculates is that described voltage modulated adds the above dead area compensation value than the numerical value of factor and the product of described position angle trigonometric function value, and the magnitude of voltage that loads to the third phase bus of calculating is described dead area compensation value.
8. it is characterized in that according to claim 6 or 7 described control device for direct-current brushless motors:
Described controller is provided with memory cell, is used for storing the trigonometric function value of the position angle of described rotor under the diverse location angle.
9. control device for direct-current brushless motor according to claim 8 is characterized in that:
The described trigonometric function value that is stored in described memory cell is arranged a plurality of continuously arranged numerical value.
10. control device for direct-current brushless motor according to claim 9 is characterized in that:
Each described array comprises three trigonometric function values corresponding to described three-phase bus difference under the same position angle.
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| CN103501140A (en) * | 2013-10-11 | 2014-01-08 | 昆山市润苏物资有限公司 | Singlechip-based permanent magnet brushless direct-current motor control system |
| CN105340173A (en) * | 2013-07-02 | 2016-02-17 | 三菱电机株式会社 | Motor control device |
| CN106374802A (en) * | 2016-09-19 | 2017-02-01 | 上海新时达电气股份有限公司 | Automatic adjustment method for dead-time compensation voltage value of motor driver |
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| CN106374802A (en) * | 2016-09-19 | 2017-02-01 | 上海新时达电气股份有限公司 | Automatic adjustment method for dead-time compensation voltage value of motor driver |
| CN106374802B (en) * | 2016-09-19 | 2019-01-25 | 上海新时达电气股份有限公司 | The automatic adjusting method of the dead area compensation voltage value of motor driver |
| CN106787981A (en) * | 2016-11-25 | 2017-05-31 | 广东明阳龙源电力电子有限公司 | A kind of control method for improving efficiency of magneto |
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| CN114754069A (en) * | 2022-03-15 | 2022-07-15 | 格瑞拓动力股份有限公司 | Radial magnetic suspension bearing self-adaptive dead zone control method and system |
| CN114754069B (en) * | 2022-03-15 | 2023-12-12 | 格瑞拓动力股份有限公司 | Self-adaptive dead zone control method and system for radial magnetic suspension bearing |
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