CN103580558A - Control device and method based on phase angle of phase current of direct-current brushless motor - Google Patents
Control device and method based on phase angle of phase current of direct-current brushless motor Download PDFInfo
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Abstract
The invention discloses a control device and method based on a phase angle of a phase current of a direct-current brushless motor. The control device comprises a speed setting module, a central processing unit, a current amplifying circuit, an intelligent power module, Hall sensors and a power source module which provides power for the speed setting module, the central processing unit, the current amplifying circuit, the intelligent power module and the Hall sensors. The control method comprises the steps that the real-time rotation speed of the direct-current brushless motor is collected and counter emf is obtained at the same time; the real-time phase current of the direct-current brushless motor is collected, and speed PI adjustment is conducted on a speed difference between the real-time rotation speed and a set rotation speed, so that a speed adjustment signal is obtained; PWM compensation calculation is conducted on the real-time counter emf and the phase deviation of the phase current of the direct-current brushless motor, so that a PWM compensation amount is obtained; a PWM duty ratio signal is obtained through calculation conducted by the central processing unit according to the speed adjustment signal and the PWM compensation amount; the PWM duty ratio signal is output to the intelligent power module, so that control over the phase of the phase current of the direct-current brushless motor is achieved. By the adoption of the control device and method based on the phase angle of the phase current of the direct-current brushless motor, the motor efficiency is improved, and the amount of emitted-heat is reduced.
Description
Technical field
The present invention relates to a kind of control device and method of brshless DC motor, relate in particular to a kind of control device and method based on DC brushless motor phase current phase angle.
Background technology
Non-brush permanent-magnet DC motor has the plurality of advantages such as efficiency is high, controllability is good.Although aspect the manufacturing cost of motor, non-brush permanent-magnet DC motor will be higher than the single-phase asynchronous motor of capacitor start, and non-brush permanent-magnet DC motor also must have supporting controller to work, make non-brush permanent-magnet DC motor there is very high controllability, applicable to various operational environment.
Non-brush permanent-magnet DC motor (at small-power section <500W) operating efficiency is in 90% left and right.Due to low power odjective cause, want, by the design of motor itself, to reduce mechanical loss, magnetic loss or electrical loss, will be to make a futile effort.Non-brush permanent-magnet DC motor controller adopts the square-wave signal of mutual deviation 120 degree to drive mostly at present; for operating current phase, do not controlled; even real-time collection phase current also just for example, as corresponding defencive function, the overcurrent of non-brush permanent-magnet DC motor, overload, stall, phase shortage etc.Because the customization of DC brushless motor all forms by enamelled wire coiling, so there is certain inductance value, existence just because of inductance, so the phase place by the electric current on stator coil and voltage can have certain phase difference, cause the power factor (PF) of input side to reduce, thereby reactive power is increased.
Summary of the invention
The defect that the present invention seeks to exist for prior art provides a kind of control device and method based on DC brushless motor phase current phase angle.
The present invention for achieving the above object, adopts following technical scheme:
A kind of control device based on DC brushless motor phase current phase angle of the present invention, comprise Speed Setting module, central processing unit, current amplification circuit, Intelligent Power Module, Hall element and the power module of giving above-mentioned modules power supply, described central processing unit comprises AD converter, PWM output module and Special timer capture-port, the output of Speed Setting module and the output of current amplification circuit connect respectively the input of AD converter, the input of the output termination Intelligent Power Module of PWM output module, the three-phase output end of Intelligent Power Module connects the three-phase power input end of DC brushless motor, Special timer capture-port connects the output that is installed on three Hall elements in DC brushless motor, the input of current amplification circuit gathers the three-phase output current of Intelligent Power Module.
Described current amplification circuit also comprises electric current comparing unit, and the output of electric current comparing unit is directly connected to the middle fracture of central processing unit.
A kind of control method of the control device based on DC brushless motor phase current phase angle is as follows:
When adopting Hall element to gather brushless DC motor real time position, calculate the real-time rotate speed of rotor, thereby the identical real-time back electromotive force of DC brushless motor that obtains of the phase place of the Hall element output waveform of three opposite potential of its DC brushless motor and corresponding phase, adopt current amplification circuit to gather the real-time phase current of DC brushless motor, the speed difference of the setting rotating speed of real-time rotate speed and the output of Speed Setting module is regulated and obtains speed conditioning signal through speed PI, by the phase deviation of the real-time back electromotive force of DC brushless motor and phase current, through PWM, compensation calculates PWM compensation rate, central processing unit calculates PWM duty cycle signals according to speed conditioning signal and PWM compensation rate, the pwm signal that central processing unit is calculated exports Intelligent Power Module to and realizes the control to the phase place of the phase current of DC brushless motor.
Current value by the phase current of described collection after amplification filtering is complete is sent into analog comparator; compare the signal of the output obtaining as the interrupt signal of central processing unit with the current value of setting; the in the situation that of DC brushless motor generation overcurrent or stall; close PWM output, to protect Intelligent Power Module because overcurrent burns.
Useful effect of the present invention is: by control algolithm, the efficiency of motor can be improved to several percentage points on original basis again, and reduce the caloric value of motor, and the hardware cost of controller almost maintains an equal level with the controller of conventional DC brushless electric machine.But the motor cost for same power has certain decline space, because adopt after this control device, the reactive power of input side reduces, reactive current also declines thereupon, the electric current flowing through on coil of stator of motor also reduces thereupon, so the enamelled wire wire diameter of coiling stator coil can reduce to some extent, for falling in motor, cost provides a good space.Owing to having improved the efficiency of motor, for user, the direct benefit bringing is exactly that cost of use significantly reduces, and for power supply grid, the direct benefit of bringing is exactly that network loss significantly reduces.
Accompanying drawing explanation
Fig. 1 is the whole principle block diagram of the present invention;
Fig. 2 is the inventive method principle block diagram;
Fig. 3 is the inventive method flow chart;
Fig. 4 is that overcurrent of the present invention interrupts flow chart;
Fig. 5 is Hall capture interrupt flow chart of the present invention;
Description of reference numerals: Speed Setting module 1, power module 2, central processing unit 3, current amplification circuit 4, Intelligent Power Module 5, non-brush permanent-magnet DC motor 6.
Embodiment
As shown in Figure 1, this efficient control device based on DC brushless motor phase current phase angle, comprise Speed Setting module 1, central processing unit 3, current amplification circuit 4, Intelligent Power Module 5, Hall element and power module 2, central processing unit 3 is 8, and following peripheral hardware is contained in inside: 8 path 10 bit A/D converters, 6 tunnels carry complementary PWM output, the Special timer of dead band function and catch mouth.Central processing unit 3 includes altogether 6 railway digital amount outputs, 4 road analog inputs, 3 tunnels and catches a mouthful input, 1 road interrupting input.6 road PWM comprise: upper brachium pontis three road PWM ripples and lower brachium pontis three road PWM ripples, outputed to respectively Intelligent Power Module 5; 4 road analog inputs comprise: 1 tunnel, for Speed Setting, is connected with Speed Setting module 1, and all the other 3 tunnels are respectively used to the collection of 3 phase currents, are connected with current amplification circuit 4; 3 road quantity of the catch inputs are to come from the 3 road Hall element signals that are embedded in non-brush permanent-magnet DC motor 6 inside.In device, comprise the power module 2 to light current module for power supply all on control board.
Described current amplification circuit 4, by collection, be serially connected in the voltage at each resistance two ends of going up mutually, because the direction of phase current is two-way, so the electric current on sampling resistor is also two-way, this just requires accessory power supply not only will export positive voltage also will export negative voltage, allow amplifier work in duplicate supply state on one side, current signal becomes voltage signal after resistance sampling, after amplifying circuit, still can not directly send into again the AD port of central processing unit 3, also need to send into the AD end of convert of central processing unit 3 after the lifting of DC level is processed.In this circuit, also include electric current comparing unit, its output is directly connected to the middle fracture of central processing unit 3 simultaneously, and when non-brush permanent-magnet DC motor generation overcurrent, comparator will produce the interruption that a lower saltus step goes out to trigger central processing unit 3, as Fig. 1.
As shown in Figure 2 and Figure 3, the control method of a kind of control device based on DC brushless motor phase current phase angle of the present invention is as follows:
When adopting Hall element to gather brushless DC motor real time position, calculate the real-time rotate speed of rotor, thereby the identical real-time back electromotive force of DC brushless motor that obtains of the phase place of the Hall element output waveform of three opposite potential of its DC brushless motor and corresponding phase, adopt current amplification circuit to gather the real-time phase current of DC brushless motor, the speed difference of the setting rotating speed of real-time rotate speed and the output of Speed Setting module is regulated and obtains speed conditioning signal through speed PI, by the phase deviation of the real-time back electromotive force of DC brushless motor and phase current, through PWM, compensation calculates PWM compensation rate, central processing unit calculates PWM duty cycle signals according to speed conditioning signal and PWM compensation rate, the pwm signal that central processing unit is calculated exports Intelligent Power Module to and realizes the control to the phase place of the phase current of DC brushless motor.
This device is according to the phase deviation of the back electromotive force of non-brush permanent-magnet DC motor 6 and phase current, dynamic adjustments is transported to the duty ratio of the PWM of non-brush permanent-magnet DC motor 6 every phases, the control of realization to the phase place of the phase current of direct current permanent magnetic brushless motor 6, reaches the target that the high efficiency of non-brush permanent-magnet DC motor 6 is controlled.
Phase current and the back-emf of controller real-time tracking motor 6, calculate the phase difference of electric current and voltage, utilize this phase difference to go to revise the PWM duty ratio in each cycle, substantially accomplish current waveform and voltage waveform same-phase, thereby improve the utilance of motor to busbar voltage, namely improve the operating efficiency of motor.
The position of acquisition rotor that not only can be real-time by Hall, according to the number of pole-pairs of the magnet steel of rotor, or the real-time rotating speed that calculates rotor, for software is done the value of feedback that closed-loop control provides speed.
Software aspect: as shown in Fig. 2,5, after powering on first software to self and the initialization of peripheral hardware, after initialization completes, call the starting algorithm of non-brush permanent-magnet DC motor, and judgement in start-up course motor whether in stall state.After normal startup, time difference when software relatively calculates the zero crossing of rising edge out of Hall element or trailing edge and this phase current with regard to real-time passing through, thereby calculate the phase difference between phase voltage and phase current in a current cycle, for output phase voltage time of next cycle as a reference.
Claims (4)
1. the control device based on DC brushless motor phase current phase angle, it is characterized in that comprising Speed Setting module, central processing unit, current amplification circuit, Intelligent Power Module, Hall element and the power module of giving above-mentioned modules power supply, described central processing unit comprises AD converter, PWM output module and Special timer capture-port, the output of Speed Setting module and the output of current amplification circuit connect respectively the input of AD converter, the input of the output termination Intelligent Power Module of PWM output module, the three-phase output end of Intelligent Power Module connects the three-phase power input end of DC brushless motor, Special timer capture-port connects the output that is installed on three Hall elements in DC brushless motor, the input of current amplification circuit gathers the three-phase output current of Intelligent Power Module.
2. a kind of control device based on DC brushless motor phase current phase angle according to claim 1, is characterized in that described current amplification circuit also comprises electric current comparing unit, and the output of electric current comparing unit is directly connected to the middle fracture of central processing unit.
3. a control method for a kind of control device based on DC brushless motor phase current phase angle as claimed in claim 1, is characterized in that described method is as follows:
When adopting Hall element to gather brushless DC motor real time position, calculate the real-time rotate speed of rotor, thereby the identical real-time back electromotive force of DC brushless motor that obtains of the phase place of the Hall element output waveform of three opposite potential of its DC brushless motor and corresponding phase, adopt current amplification circuit to gather the real-time phase current of DC brushless motor, the speed difference of the setting rotating speed of real-time rotate speed and the output of Speed Setting module is regulated and obtains speed conditioning signal through speed PI, by the phase deviation of the real-time back electromotive force of DC brushless motor and phase current, through PWM, compensation calculates PWM compensation rate, central processing unit calculates PWM duty cycle signals according to speed conditioning signal and PWM compensation rate, the pwm signal that central processing unit is calculated exports Intelligent Power Module to and realizes the control to the phase place of the phase current of DC brushless motor.
4. the control method of a kind of control device based on DC brushless motor phase current phase angle according to claim 1; it is characterized in that the current value after amplification filtering is complete is sent into analog comparator by the phase current of described collection; compare the signal of the output obtaining as the interrupt signal of central processing unit with the current value of setting; the in the situation that of DC brushless motor generation overcurrent or stall; close PWM output, to protect Intelligent Power Module because overcurrent burns.
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| CN104638989A (en) * | 2015-02-03 | 2015-05-20 | 上海品致测控技术有限公司 | High-reliability direct current brushless motor intelligent controller |
| CN104836486A (en) * | 2015-04-09 | 2015-08-12 | 哈尔滨工程大学 | Brushless direct-current motor energy-saving control system based on FPGA and control method |
| CN105119538A (en) * | 2015-09-17 | 2015-12-02 | 矽力杰半导体技术(杭州)有限公司 | Driving circuit and method of permanent magnet synchronous motor |
| CN105281629A (en) * | 2014-07-09 | 2016-01-27 | 常州雷利电机科技有限公司 | Single-phase permanent-magnet synchronous motor magnetic field orientation control method and permanent-magnet synchronous motor system |
| CN107664746A (en) * | 2016-07-29 | 2018-02-06 | 杭州三花研究院有限公司 | stepper motor stall detection method |
| CN108267981A (en) * | 2017-12-14 | 2018-07-10 | 中国电子科技集团公司第三十二研究所 | Dual-channel electric servo control system based on antifuse type FPGA |
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| CN110487160A (en) * | 2019-09-04 | 2019-11-22 | 青岛艾普智能仪器有限公司 | A kind of p-m rotor magnet steel test method |
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| CN105281629A (en) * | 2014-07-09 | 2016-01-27 | 常州雷利电机科技有限公司 | Single-phase permanent-magnet synchronous motor magnetic field orientation control method and permanent-magnet synchronous motor system |
| CN104638989A (en) * | 2015-02-03 | 2015-05-20 | 上海品致测控技术有限公司 | High-reliability direct current brushless motor intelligent controller |
| CN104836486A (en) * | 2015-04-09 | 2015-08-12 | 哈尔滨工程大学 | Brushless direct-current motor energy-saving control system based on FPGA and control method |
| CN104836486B (en) * | 2015-04-09 | 2017-08-04 | 哈尔滨工程大学 | A kind of brshless DC motor energy-saving control system and control method based on FPGA |
| CN105119538A (en) * | 2015-09-17 | 2015-12-02 | 矽力杰半导体技术(杭州)有限公司 | Driving circuit and method of permanent magnet synchronous motor |
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| CN109268279A (en) * | 2018-12-07 | 2019-01-25 | 长沙多浦乐泵业科技有限公司 | A kind of brushless centrifugal water pump |
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| CN110572090A (en) * | 2019-09-11 | 2019-12-13 | 珠海凯邦电机制造有限公司 | hall element-free motor control device, method and storage medium |
| CN114499351A (en) * | 2022-01-21 | 2022-05-13 | 北京信息科技大学 | Motor system high-reliability operation method based on current phase closed-loop control |
| CN114499351B (en) * | 2022-01-21 | 2023-12-01 | 北京信息科技大学 | Motor system fault detection method |
| WO2023201979A1 (en) * | 2022-04-18 | 2023-10-26 | 中山大洋电机股份有限公司 | Adaptive control method based on angle-of-advance calculation for inductive brushless electric motor |
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