CN103580558B - 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, more particularly, to a kind of electric based on brush DC
The control device and method of machine phase angle of phase current.
Background technology
Non-brush permanent-magnet DC motor have efficiency high, controllability good many advantages, such as.Although being manufactured into we in motor
Face, non-brush permanent-magnet DC motor is higher than the single-phase asynchronous motor of capacitor start, and non-brush permanent-magnet DC motor must also have
Supporting controller ability normal work, so that non-brush permanent-magnet DC motor has very high controllability, is applicable to various
Different working environments.
Non-brush permanent-magnet DC motor (small-power section < 500w) work efficiency is 90% about.Due to low power objective former
Cause, wants the design by motor itself, to reduce mechanical loss, magnetic loss or electrical loss, will be to make a futile effort.Permanent magnetism is straight at present
Stream brushless motor controller to be driven using the square-wave signal of 120 degree of mutual deviation mostly, does not give for operating current phase
Control, even if acquiring phase current be in real time also used merely as corresponding defencive function, the such as mistake of non-brush permanent-magnet DC motor
Stream, overload, stall, phase shortage etc..Customization due to DC brushless motor is all formed by enamel-covered wire coiling, so existing
Certain inductance value, just because of the presence of inductance, so can be had necessarily by the phase place of the electric current on stator coil and voltage
Phase contrast, lead to the power factor (PF) of input side to reduce so that reactive power increase.
Content of the invention
The present invention seeks to providing one kind to be based on DC brushless motor phase current phase place for the defect that prior art exists
The control device and method at angle.
The present invention for achieving the above object, adopts the following technical scheme that
A kind of control device based on DC brushless motor phase angle of phase current of the present invention, including speed setting module, in
Central processor, current amplification circuit, SPM, Hall element and the power supply mould powered to above-mentioned modules
Block, described central processing unit includes ad transducer, pwm output module and Special timer capture-port, speed setting module
The outfan of outfan and current amplification circuit connects the input of ad transducer, the output termination intelligence of pwm output module respectively
The input of power model, the three-phase output end of SPM connects the three-phase power input end of DC brushless motor, special
Timer capture port connects the outfan of three Hall elements being installed in DC brushless motor, current amplification circuit defeated
Enter the three-phase output current of end collection SPM.
Described current amplification circuit also includes electric current comparing unit, and the output of electric current comparing unit is directly connected to centre
The middle fracture of reason device.
A kind of control method of the control device based on DC brushless motor phase angle of phase current is as follows:
The real-time rotating speed of rotor is calculated while brushless DC motor real time position is gathered using Hall element,
Three opposite potential of its DC brushless motor identical with the phase place of the Hall element output waveform of corresponding phase thus obtaining direct current
The real-time counter electromotive force of brushless electric machine, gathers the real-time phase current of DC brushless motor, by real-time rotating speed using current amplification circuit
Adjust through speed pi with the speed difference of the setting speed of speed setting module output and obtain speed Regulate signal, by brush DC
The phase deviation of the real-time counter electromotive force of motor and phase current obtains pwm compensation dosage, central processing unit root through pwm compensation calculation
It is calculated pwm duty cycle signals according to speed Regulate signal and pwm compensation dosage, by calculated for central processing unit pwm signal
Export to SPM the control of the phase place realizing the phase current to DC brushless motor.
Current value after amplified for the phase current of described collection being filtered is sent into analog comparater, with the current value setting
It is compared the interrupt signal as central processing unit for the signal of the output obtaining, in DC brushless motor, excessively stream or stall occur
In the case of, close pwm output, to protect SPM to burn due to excessively stream.
The present invention has the advantages that: can be improved the efficiency of motor on the basis of original more several by control algolithm
Percentage point, and reduce the caloric value of motor, and the almost control with conventional DC brushless electric machine of the hardware cost of controller
Device maintains an equal level.But the motor cost for same power has certain decline space, because after adopting this control device, input side
Reactive power reduces, and reactive current also declines therewith, that is, the electric current flowing through on coil of stator of motor also reduces therewith, so coiling
The enamel-covered wire line footpath of stator coil can reduce, and is that motor cost declining provides a good space.Due to improve
The efficiency of motor, for a user, the direct benefit bringing is exactly that cost of use significantly reduces, for power supply grid
Speech, the direct benefit brought is exactly that network loss significantly reduces.
Brief description
Fig. 1 is present invention entirety principle block diagram；
Fig. 2 is the inventive method principle block diagram；
Fig. 3 is the inventive method flow chart；
Fig. 4 is that excessively stream of the present invention interrupts flow chart；
Fig. 5 is that flow chart is interrupted in Hall capture of the present invention；
Description of reference numerals: speed setting module 1, power module 2, central processing unit 3, current amplification circuit 4, intelligent work(
Rate module 5, non-brush permanent-magnet DC motor 6.
Specific embodiment
As shown in figure 1, this efficient control device based on DC brushless motor phase angle of phase current, set including speed
Module 1, central processing unit 3, current amplification circuit 4, SPM 5, Hall element and power module 2, centre
Reason device 3 is 8, and internal contains following peripheral hardware: the complementary pwm that 8 10, passage ad transducers, 6 tunnels carry dead band function exports,
Special timer captures mouth.Central processing unit 3 include altogether 6 railway digital amount outputs, 4 road analog inputs, 3 tunnels capture mouths defeated
Enter, 1 road interrupting input.6 road pwm include: upper brachium pontis three road pwm ripple and lower brachium pontis three road pwm ripple, have been respectively outputted to intelligent work(
Rate module 5；4 road analog inputs include: 1 tunnel is used for speed and sets, and is connected with speed setting module 1, remaining 3 tunnel is respectively used to
The collection of 3 phase currents, is connected with current amplification circuit 4；3 road quantity of the catch inputs come from being embedded in non-brush permanent-magnet DC motor
3 road Hall element signals within 6.Comprise in device to the power module 2 of light current module for power supply all of on panel.
Described current amplification circuit 4, is serially connected in the voltage at the resistance two ends in each phase, due to phase current by collection
Direction is two-way, so the electric current on sampling resistor is also two-way, this requires accessory power supply not only positive voltage to be exported
Also negative voltage to be exported, allows amplifier work in dual power supply state, current signal becomes voltage signal after resistance sampling,
Again after amplifying circuit or the ad port of central processing unit 3 can not be sent directly in addition it is also necessary to lifting through DC level
The ad end of convert of central processing unit 3 is sent into after process.Also include electric current comparing unit in this circuit, its output directly connects simultaneously
It is connected to the middle fracture of central processing unit 3, when non-brush permanent-magnet DC motor occurs excessively stream, comparator will produce a lower saltus step
Go out to trigger the interruption of central processing unit 3, such as Fig. 1.
As shown in Figure 2 and Figure 3, a kind of control of the control device based on DC brushless motor phase angle of phase current of the present invention
Method is as follows:
The real-time rotating speed of rotor is calculated while brushless DC motor real time position is gathered using Hall element,
Three opposite potential of its DC brushless motor identical with the phase place of the Hall element output waveform of corresponding phase thus obtaining direct current
The real-time counter electromotive force of brushless electric machine, gathers the real-time phase current of DC brushless motor, by real-time rotating speed using current amplification circuit
Adjust through speed pi with the speed difference of the setting speed of speed setting module output and obtain speed Regulate signal, by brush DC
The phase deviation of the real-time counter electromotive force of motor and phase current obtains pwm compensation dosage, central processing unit root through pwm compensation calculation
It is calculated pwm duty cycle signals according to speed Regulate signal and pwm compensation dosage, by calculated for central processing unit pwm signal
Export to SPM the control of the phase place realizing the phase current to DC brushless motor.
The counter electromotive force according to non-brush permanent-magnet DC motor 6 for this device and the phase deviation of phase current, dynamic regulation conveys
To the dutycycle of the pwm of the every phase of non-brush permanent-magnet DC motor 6, realize the phase place of the phase current to direct current permanent magnetic brushless motor 6
Control, reach the target that the high efficiency of non-brush permanent-magnet DC motor 6 controls.
The phase current of controller real-time tracking motor 6 and back-emf, are calculated the phase contrast of electric current and voltage, using this
Phase contrast goes to revise the pwm dutycycle in each cycle, substantially accomplishes current waveform and voltage waveform same phase, thus improving
The utilization rate to busbar voltage for the motor, that is, improve the work efficiency of motor.
Central processing unit 3 captures the electric signal of Hall element by special capture mouth, to determine DC with this
The rotor-position of brushless electric machine, the phase place due to the waveform of Hall and the counter potential waveform of motor is identical, so centre
Reason device 3 does not just spend detection phase voltage, thus reducing the complexity of hardware, increased the stability of system.Phase current
Using the scheme of sampling resistor, amplify and filtering through corresponding, send into the ad pin of central processing unit 3.By software algorithm,
The zero crossing of capture phase current.Amplify the waveform after being filtered and be simultaneously fed into analog comparater, enter with the current value of hardware setting
Row compares, the signal of output as the interrupt signal of central processing unit 3, in the case that motor occurs excessively stream or stall, with
The short time closes pwm output, reaches the purpose of protection motor and controller, such as Fig. 4.
Can not only obtain the position of rotor by Hall in real time, the number of pole-pairs of the magnet steel according to rotor, or in real time
The rotating speed calculating rotor, be that software does the value of feedback that closed loop control provides speed.
Software aspects: as shown in Fig. 2,5, after upper electricity, to itself and peripheral hardware initialization, initialization completes software first
Call the starting algorithm of non-brush permanent-magnet DC motor afterwards, and judge whether motor is in locked rotor condition in start-up course.Just
After often starting, software just passes through to compare the mistake calculating Hall element rising edge out or trailing edge and this phase current in real time
Time difference during zero point, thus calculating the phase contrast between phase voltage and phase current in a current cycle, for next week
The output phase voltage time of phase is as reference.
Claims (3)
1. a kind of control device based on DC brushless motor phase angle of phase current it is characterised in that include speed setting module,
Central processing unit, current amplification circuit, SPM, Hall element and the power module powered to modules,
Described central processing unit includes ad transducer, pwm output module and Special timer capture-port, the output of speed setting module
The outfan of end and current amplification circuit connects the input of ad transducer, the output termination intelligent power of pwm output module respectively
The input of module, the three-phase output end of SPM connects the three-phase power input end of DC brushless motor, special regular
Device capture-port connects the outfan of three Hall elements being installed in DC brushless motor, the input of current amplification circuit
The three-phase output current of collection SPM, gathers the same of brushless DC motor real time position using Hall element
When calculate the real-time rotating speed of rotor, the Hall element output waveform of three opposite potential of DC brushless motor and corresponding phase
Phase place identical thus obtaining the real-time counter electromotive force of DC brushless motor, using current amplification circuit gather DC brushless motor reality
When phase current, the speed difference of the setting speed of real-time rotating speed and speed setting module output is adjusted through speed pi and obtains speed
Regulate signal, the phase deviation of the real-time counter electromotive force of DC brushless motor and phase current is obtained pwm through pwm compensation calculation
Compensation dosage, central processing unit is calculated pwm duty cycle signals according to speed Regulate signal and pwm compensation dosage, and central authorities are processed
Device calculated pwm signal output realizes the control of the phase place of the phase current to DC brushless motor to SPM.
2. a kind of control device based on DC brushless motor phase angle of phase current according to claim 1, its feature exists
Also include electric current comparing unit in described current amplification circuit, the output of electric current comparing unit is directly connected to central processing unit
Middle fracture.
3. a kind of control method of the control device based on DC brushless motor phase angle of phase current as claimed in claim 1,
It is characterized in that the current value after amplified for the phase current of described collection being filtered is sent into analog comparater, with the electric current setting
Value is compared the interrupt signal as central processing unit for the signal of the output obtaining, and in DC brushless motor, excessively stream or stifled occurs
In the case of turning, close pwm output, to protect SPM to burn due to excessively stream.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210283136.9A CN103580558B (en) | 2012-08-10 | 2012-08-10 | Control device and method based on phase angle of phase current of direct-current brushless motor |
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| CN201210283136.9A CN103580558B (en) | 2012-08-10 | 2012-08-10 | Control device and method based on phase angle of phase current of direct-current brushless motor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108322106A (en) * | 2018-02-27 | 2018-07-24 | 牟特科技（北京）有限公司 | A kind of method and device of DC brushless motor commutation |
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| JPH02299496A (en) * | 1989-05-12 | 1990-12-11 | Nippon Steel Corp | Driving method for brushless dc motor |
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| CN201315560Y (en) * | 2008-11-27 | 2009-09-23 | 湖南力升信息设备有限公司 | Direct current brushless motor driving device |
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| CN108322106A (en) * | 2018-02-27 | 2018-07-24 | 牟特科技（北京）有限公司 | A kind of method and device of DC brushless motor commutation |
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Address after: Wucheng District of Zhejiang province 321000 Venus street Jinhua City No. 163 Building No. 2 Patentee after: INCORE TECH CO.,LTD. Address before: 321000 Zhejiang province Jinhua City Street No. 2 building 163 Venus Patentee before: Incore Technology Co.,Ltd. |
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