CN103812400B - A kind of five-phase brushless DC motor control method and electric motor car - Google Patents
A kind of five-phase brushless DC motor control method and electric motor car Download PDFInfo
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- CN103812400B CN103812400B CN201210450274.1A CN201210450274A CN103812400B CN 103812400 B CN103812400 B CN 103812400B CN 201210450274 A CN201210450274 A CN 201210450274A CN 103812400 B CN103812400 B CN 103812400B
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- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000004804 winding Methods 0.000 claims description 17
- 230000010349 pulsation Effects 0.000 claims description 8
- 238000009434 installation Methods 0.000 claims description 6
- 230000007423 decrease Effects 0.000 abstract description 2
- 230000006698 induction Effects 0.000 description 5
- 239000002699 waste material Substances 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
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- 230000009467 reduction Effects 0.000 description 1
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Abstract
The present invention relates to a kind of five-phase brushless DC motor control method and electric motor car.Described method comprises: before each former running status of the conduction mode of described five-phase brushless DC motor, insert new running status one by one respectively, and each former running status runs a period of time in advance than the running status of original conduction mode, described former running status is two upper running statuses that brachium pontis switch is opened, two lower brachium pontis switches are opened, and described new running status is the running status that four are opened one of them brachium pontis switch OFF of brachium pontis switch, other three brachium pontis switches are still opened of the former running status be arranged in thereafter.In the present invention, the running status that increase by 10 is new on 10 running status bases of original four or four conductings, before these 10 new running statuses are placed in former running status respectively, and open original running status a period of time in advance, reduce motor pulsating current, decrease noise when underloading, highest running speed improves about 20%.
Description
Technical field
The present invention relates to electric motor car five-phase induction motor control field, particularly relate to a kind of five-phase brushless DC motor control method and electric motor car.
Background technology
Now the main flow motor of electric motor car on the market can be divided into three-phase brushless dc motor and five-phase brushless DC motor, three-phase brushless dc motor adopts conducting control mode between two because of it, toque and efficiency is less than normal, and when entering saturation condition, rotating speed obviously declines, and affects the cruising time of storage battery; And five-phase brushless DC motor adopts four or four conducting control modes because of it, toque and efficiency obviously increases, when entering saturation condition, rotating speed can not obviously decline, moment of torsion also can be larger than common three phase electric machine, torque pulsation is little, directly start load without deceleration, reaction speed is fast, can extend the cruising time of storage battery.
But in actual use, five-phase brushless DC motor adopts four or four conducting control modes, during light running, noise is bigger than normal, and consume more multi-energy because torque drive is large, as electric motor car travel on smooth road time, because it possesses certain speed and inertia, do not need so large torque actuated, and four or four conduction modes have larger torque pulsation, it will consume more energy, and the consumption of this energy is a kind of waste.
Existing five phase control modes are mostly four or four conduction modes, 10 corresponding 10 running statuses of Hall state, four the winding energisings of each state motor, the five-phase induction motor controlled by this kind of mode brings up to 80% than three phase electric machine winding utilization from 66.7%, the power density of motor improves greatly, torque during low-speed running improves more than 20%, but the electric motor car of this kind of mode does not need so large torque actuated when underloading, during operation, motor pulsating current is larger, have comparatively significantly noise, larger torque pulsation causes the waste of electric energy.
For the obvious problem of four or four conduction mode underloading noise, a kind of four or three conduction modes reducing five-phase induction motor pulsating current are had in prior art, be specially and shift to an earlier date in each original running status later stage the power switch pipe that a period of time turns off a brachium pontis, be equivalent to the running status that interpolation 1 is new in each original 10 running statuses below, new running status opens three power switch pipes at every turn, make during this period of time motor three winding energisings, reduce the pulsating current of motor with this.But motor torque when this kind of control mode is run is little compared with four or four conduction modes, may stall be entered during heavy duty and not play the potential of motor, and during heavy duty, adding the burden of power switch pipe, improve the failure rate of controller.
Summary of the invention
Main purpose of the present invention is to provide a kind of five-phase brushless DC motor control method, the noise large and problem of waste energy when being intended to solve existing five-phase brushless DC motor light running.
The present invention is achieved in that a kind of five-phase brushless DC motor control method, comprises the steps:
New running status is one by one inserted respectively before each former running status of the conduction mode of described five-phase brushless DC motor, and each former running status runs a period of time in advance than the running status of original conduction mode, described former running status is two upper running statuses that brachium pontis switch is opened, two lower brachium pontis switches are opened, and described new running status is the running status that four are opened one of them brachium pontis switch OFF of brachium pontis switch, other three brachium pontis switches are still opened of the former running status be arranged in thereafter.
Another object of the present invention is to provide a kind of five-phase brushless DC motor control method, comprise the steps:
Carry out Initialize installation, set On current threshold value and First Speed threshold value, second speed threshold value and the third speed threshold value of different conduction mode, described conduction mode comprises following four kinds: each running status opens four or four conduction modes of four brachium pontis switches at every turn; Each running status opens three or three conduction modes of three brachium pontis switches at every turn; Four or three conduction modes that one is only opened the new running status of three brachium pontis switches are increased after each former running status of described four or four conduction modes; And before each former running status of described four or four conduction modes, increase by one only open the new running status of three brachium pontis switches and each former running status runs three or four conduction modes of a period of time in advance than the running status of former four or four conduction modes;
When motor just starts, enter described four or four conduction modes;
When motor On current is less than described On current threshold value, and motor speed is between described First Speed threshold value and second speed threshold value, then enter described four or three conduction modes;
When motor On current is less than described On current threshold value, and motor speed is between described second speed threshold value and third speed threshold value, then enter described three or three conduction modes;
When motor On current is less than described On current threshold value, and motor speed is greater than described third speed threshold value, then enter described three or four conduction modes;
When motor On current is greater than described On current threshold value, then enter four or four conduction modes.
Another object of the present invention is to provide a kind of electric motor car, described electric motor car comprises motor control module, and described motor control module comprises:
Initialization unit, for carrying out Initialize installation, set On current threshold value and First Speed threshold value, second speed threshold value and the third speed threshold value of different conduction mode, described conduction mode comprises following four kinds: each running status opens four or four conduction modes of four brachium pontis switches at every turn; Each running status opens three or three conduction modes of three brachium pontis switches at every turn; Four or three conduction modes that one is only opened the new running status of three brachium pontis switches are increased after each former running status of described four or four conduction modes; And before each former running status of described four or four conduction modes, increase by one only open the new running status of three brachium pontis switches and each former running status runs three or four conduction modes of a period of time in advance than the running status of former four or four conduction modes;
Start unit, when just starting for motor, enters described four or four conduction modes;
First control unit, for being less than described On current threshold value when motor On current, and motor speed is between described First Speed threshold value and second speed threshold value, then enter described four or three conduction modes;
Second control unit, for being less than described On current threshold value when motor On current, and motor speed is between described second speed threshold value and third speed threshold value, then enter described three or three conduction modes;
3rd control unit, for being less than described On current threshold value when motor On current, and motor speed is greater than described third speed threshold value, then enter described three or four conduction modes;
4th control unit, for being greater than described On current threshold value when motor On current, then enters four or four conduction modes.
In the present invention, the running status that increase by 10 is new on 10 running status bases of original four or four conductings, be different from four or three conduction modes, before these 10 new running statuses are placed in former running status respectively, and open original running status a period of time in advance, this kind of mode not only can reduce motor pulsating current, reduces outside noise when underloading, its highest running speed can improve about 20%, can meet the requirement of portions of client to speed.
Accompanying drawing explanation
Fig. 1 is the flow chart of the five-phase brushless DC motor control method that the embodiment of the present invention provides;
Fig. 2 is the structural representation of the motor control module that the embodiment of the present invention provides;
Fig. 3 be the embodiment of the present invention provide underloading time four or four conduction mode time a certain phase phase current figure;
Fig. 4 be the embodiment of the present invention provide underloading time three or four conduction mode time a certain phase phase current figure.
Embodiment
In order to make object of the present invention, principle and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
In the present invention, new running status is one by one inserted respectively before each former running status of the conduction mode of described five-phase brushless DC motor, and each former running status runs a period of time in advance than the running status of original conduction mode, not only can reduce motor pulsating current, reduce outside noise when underloading, its highest running speed can improve about 20%.
The present invention is achieved in that a kind of five-phase brushless DC motor control method, comprises the steps:
New running status is one by one inserted respectively before each former running status of the conduction mode of described five-phase brushless DC motor, and each former running status runs a period of time in advance than the running status of original conduction mode, described former running status is two upper running statuses that brachium pontis switch is opened, two lower brachium pontis switches are opened, and described new running status is the running status that four are opened one of them brachium pontis switch OFF of brachium pontis switch, other three brachium pontis switches are still opened of the former running status be arranged in thereafter.
As one embodiment of the invention, the former running status of described five-phase brushless DC motor totally ten, inserts ten new running statuses altogether.
As one embodiment of the invention, 20 running statuses of described five-phase brushless DC motor are followed successively by:
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ona
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ond
ona
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ona
underopen-minded;
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ona
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ona
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underopen-minded;
State 10 ': E
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State 10:A
one
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Described state 1, state 2, state 3, state 4, state 5, state 6, state 7, state 8, state 9, state 10 is former running status, described state 1 ', state 2 ', state 3 ', state 4 ', state 5 ', state 6 ', state 7 ', state 8 ', state 9 ', state 10 ' is the new running status inserted in advance, before described new running status inserts former running status respectively, described former running status all runs the time of a state in advance than the running status of former conduction mode, wherein, A, B, C, D, E is respectively five phase windings of described five-phase brushless DC motor, A
on, B
on, C
on, D
on, E
onbe respectively the upper brachium pontis switch in described five phase winding full-bridge switch loops, A
under, B
under, C
under, D
under, E
underbe respectively the lower brachium pontis switch in described five phase winding full-bridge switch loops.
As one embodiment of the invention, the defining method that described each former running status runs a period of time in a period of time in advance than the running status of original conduction mode is:
Adopt several to go test running time in advance, observe the size of winding current pulsation, obtaining current pulses the minimum time for best running time in advance.
Fig. 1 shows the flow process of the five-phase brushless DC motor control method that the embodiment of the present invention provides, and for convenience of explanation, illustrate only part related to the present invention, details are as follows.
Another object of the present invention is to provide a kind of five-phase brushless DC motor control method, described control method comprises the following steps:
In the step s 100, carry out Initialize installation, set On current threshold value and First Speed threshold value, second speed threshold value and the third speed threshold value of different conduction mode, described conduction mode comprises following four kinds: each running status opens four or four conduction modes of four brachium pontis switches at every turn; Each running status opens three or three conduction modes of three brachium pontis switches at every turn; Four or three conduction modes that one is only opened the new running status of three brachium pontis switches are increased after each former running status of described four or four conduction modes; And before each former running status of described four or four conduction modes, increase by one only open the new running status of three brachium pontis switches and each former running status runs three or four conduction modes of a period of time in advance than the running status of former four or four conduction modes;
In step s 200, when motor just starts, enter described four or four conduction modes;
In step S300, when motor On current is less than described On current threshold value, and motor speed is between described First Speed threshold value and second speed threshold value, then enter described four or three conduction modes;
In step S400, when motor On current is less than described On current threshold value, and motor speed is between described second speed threshold value and third speed threshold value, then enter described three or three conduction modes;
In step S500, when motor On current is less than described On current threshold value, and motor speed is greater than described third speed threshold value, then enter described three or four conduction modes;
In step S600, when motor On current is greater than described On current threshold value, then enter four or four conduction modes.
As one embodiment of the invention, former four or four conduction modes in described three or four conduction modes have ten running statuses, insert ten new running statuses in described three or four conduction modes altogether.
As one embodiment of the invention, 20 running statuses of described three or four conduction modes are followed successively by:
State 1 ': A
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State 10 ': E
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State 10:A
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Described state 1, state 2, state 3, state 4, state 5, state 6, state 7, state 8, state 9, state 10 is the former running status of described four or four conduction modes, described state 1 ', state 2 ', state 3 ', state 4 ', state 5 ', state 6 ', state 7 ', state 8 ', state 9 ', state 10 ' is the new running status inserted in advance in three or four conduction modes, before described new running status inserts former running status respectively, described former running status all runs the time of a state in advance than the running status of former four or four conduction modes, wherein, A, B, C, D, E is respectively five phase windings of described five-phase brushless DC motor, A
on, B
on, C
on, D
on, E
onbe respectively the upper brachium pontis switch in described five phase winding full-bridge switch loops, A
under, B
under, C
under, D
under, E
underbe respectively the lower brachium pontis switch in described five phase winding full-bridge switch loops.
Be described in detail as follows:
Five phase control modes generally have 10 running statuses, table 1 is the truth table of four or four conduction modes, can find out, each state opens two upper pipes, pipe under two, so motor has the parallel energising between two of four windings in each state, be energized one by one compared to 6 running statuses in three phase controls and two windings, it is meticulousr that five-phase induction motor has control, noise is less, can the larger advantage of operate power.But when motor is in light running, the impact because of back electromotive force makes running current have comparatively significantly to pulse, as Fig. 3, this pulsation can increase along with the increase of motor speed, and therefore motor produces obvious noise and pulsating torque, reduces the operational efficiency of motor.
Table 1
Table 2 is most important three or four conducting running status truth tables in the present invention, three or four conduction modes are on the basis of former four or four conduction modes 10 states, add 10 new states 1 ', 2 ', 3 ', 4 ', 5 ', 6 ', 7 ', 8 ', 9 ', 10 ', each new state is before previous status, and each previous status opens a period of time in advance, the power switch pipe opened as state 1, state 2 in four or four conduction modes is respectively A
one
onb
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under, A
one
onc
underd
under, and the power switch pipe that in three or four conduction modes, state 1, state 2 are opened is respectively A
one
onc
underd
under, A
onb
onc
underd
under, opened a period of time in advance than previous status.Utilize three or four modes alternately opened like this, make within the time of a former state, t only has 3 power switch pipes open-minded for some time, to reduce the impact of back electromotive force, thus reduction pulsating current, as Fig. 4, reduce noise, although the torque under this mode is less than the torque of four or four conduction modes, meet torque request during underloading completely.Because open next state a period of time in advance, the highest running speed under this mode can improve about 20%.
Table 2
Table 3
Described three or three conduction modes, each running status opens three power switch pipes at every turn, and as table 3, this kind of mode motor pulsating current is little, runs torque little compared with above-mentioned several mode, the requirement of low noise low power consuming when meeting underloading low speed completely.
As one embodiment of the invention, the defining method that in described three or four conduction modes, each former running status runs a period of time in a period of time in advance than the running status of former four or four conduction modes is:
Adopt several to go test running time in advance, observe the size of winding current pulsation, obtaining current pulses the minimum time for best running time in advance.
Fig. 2 shows the structure of the motor control module that the embodiment of the present invention provides, and for convenience of explanation, illustrate only part related to the present invention, details are as follows.
Another object of the present invention is to provide a kind of electric motor car, comprise motor control module, described motor control module comprises:
Initialization unit 100, for carrying out Initialize installation, set On current threshold value and First Speed threshold value, second speed threshold value and the third speed threshold value of different conduction mode, described conduction mode comprises following four kinds: each running status opens four or four conduction modes of four brachium pontis switches at every turn; Each running status opens three or three conduction modes of three brachium pontis switches at every turn; Four or three conduction modes that one is only opened the new running status of three brachium pontis switches are increased after each former running status of described four or four conduction modes; And before each former running status of described four or four conduction modes, increase by one only open the new running status of three brachium pontis switches and each former running status runs three or four conduction modes of a period of time in advance than the running status of former four or four conduction modes;
Start unit 200, when just starting for motor, enters described four or four conduction modes;
First control unit 300, for being less than described On current threshold value when motor On current, and motor speed is between described First Speed threshold value and second speed threshold value, then enter described four or three conduction modes;
Second control unit 400, for being less than described On current threshold value when motor On current, and motor speed is between described second speed threshold value and third speed threshold value, then enter described three or three conduction modes;
3rd control unit 500, for being less than described On current threshold value when motor On current, and motor speed is greater than described third speed threshold value, then enter described three or four conduction modes;
4th control unit 600, for being greater than described On current threshold value when motor On current, then enters four or four conduction modes.
In the present invention, when electric motor car just starts, enter start unit 200, namely enter four or four conduction modes, strong to provide larger torque to make electric motor car start to walk.
When electric motor car drive current is less than On current threshold value, when speed reaches First Speed threshold value and remains between First Speed threshold value and second speed threshold value, electric motor car enters the first control unit 300, namely four or three conduction modes are entered, because electric motor car in the process of underloading low speed driving with three or three conduction modes, here use four or three conduction modes as the transition of four or four conduction modes to three or three conduction modes, cause electric motor car to occur Caton phenomenon to prevent the sudden change of motor speed.
When electric motor car drive current is less than On current threshold value, speed is in second speed threshold value and when remaining between second speed threshold value and third speed threshold value, electric motor car enters the second control unit 400, namely three or three conduction modes are entered, because now electric motor car is underloading low speed driving, when this stage, minimum, most effective with three or three conduction mode electro-mobile noises.
When electric motor car drive current is less than On current threshold value, when speed reaches third speed threshold value, electric motor car enters the 3rd control unit 500, namely three or four conduction modes are entered, now electric motor car is that underloading is run at high speed, motor pulsating current can be reduced by this kind of control mode, reduce noise, and operational efficiency be also the highest.
When electric motor car drive current is greater than On current threshold value, electric motor car enters the 4th control unit 600, namely enters four or four conduction modes, and now electric motor car is that heavy duty travels, need larger torque actuated motor, and the efficiency that efficiency ratio now controls by other modes is high.
Four kinds of control modes respectively have pluses and minuses in torque, efficiency, minimizing current pulsation, speed, the present invention changes its control mode according to electric motor car real time execution operating mode, the dominating part of four kinds of control modes is combined, to reach the optimal operational condition of five-phase induction motor electric motor car.
In the present invention, the running status that increase by 10 is new on 10 running status bases of original four or four conductings, be different from four or three conduction modes, before these 10 new running statuses are placed in former running status respectively, and open original running status a period of time in advance, this kind of mode not only can reduce motor pulsating current, reduces outside noise when underloading, its highest running speed can improve about 20%, can meet the requirement of portions of client to speed.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (5)
1. a five-phase brushless DC motor control method, is characterized in that, described control method comprises the following steps:
Carry out Initialize installation, set On current threshold value and First Speed threshold value, second speed threshold value and the third speed threshold value of different conduction mode, described conduction mode comprises following four kinds: each running status opens four or four conduction modes of four brachium pontis switches at every turn; Each running status opens three or three conduction modes of three brachium pontis switches at every turn; Four or three conduction modes that one is only opened the new running status of three brachium pontis switches are increased after each former running status of described four or four conduction modes; And before each former running status of described four or four conduction modes, increase by one only open the new running status of three brachium pontis switches and each former running status runs three or four conduction modes of a period of time in advance than the running status of former four or four conduction modes;
When motor just starts, enter described four or four conduction modes;
When motor On current is less than described On current threshold value, and motor speed is between described First Speed threshold value and second speed threshold value, then enter described four or three conduction modes;
When motor On current is less than described On current threshold value, and motor speed is between described second speed threshold value and third speed threshold value, then enter described three or three conduction modes;
When motor On current is less than described On current threshold value, and motor speed is greater than described third speed threshold value, then enter described three or four conduction modes;
When motor On current is greater than described On current threshold value, then enter four or four conduction modes.
2. five-phase brushless DC motor control method as claimed in claim 1, it is characterized in that, former four or four conduction modes in described three or four conduction modes have ten running statuses, insert ten new running statuses in described three or four conduction modes altogether.
3. five-phase brushless DC motor control method as claimed in claim 2, it is characterized in that, 20 running statuses of described three or four conduction modes are followed successively by:
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ona
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State 10:A
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Described state 1, state 2, state 3, state 4, state 5, state 6, state 7, state 8, state 9, state 10 is the former running status of described four or four conduction modes, described state 1 ', state 2 ', state 3 ', state 4 ', state 5 ', state 6 ', state 7 ', state 8 ', state 9 ', state 10 ' is the new running status inserted in advance in three or four conduction modes, before described new running status inserts former running status respectively, described former running status all runs the time of a state in advance than the running status of former four or four conduction modes, wherein, A, B, C, D, E is respectively five phase windings of described five-phase brushless DC motor, A
on, B
on, C
on, D
on, E
onbe respectively the upper brachium pontis switch in described five phase winding full-bridge switch loops, A
under, B
under, C
under, D
under, E
underbe respectively the lower brachium pontis switch in described five phase winding full-bridge switch loops.
4. five-phase brushless DC motor control method as claimed in claim 1, it is characterized in that, the defining method that in described three or four conduction modes, each former running status runs a period of time in a period of time in advance than the running status of former four or four conduction modes is:
Adopt several to go test running time in advance, observe the size of winding current pulsation, obtaining current pulses the minimum time for best running time in advance.
5. an electric motor car, comprises motor control module, it is characterized in that, described motor control module comprises:
Initialization unit, for carrying out Initialize installation, set On current threshold value and First Speed threshold value, second speed threshold value and the third speed threshold value of different conduction mode, described conduction mode comprises following four kinds: each running status opens four or four conduction modes of four brachium pontis switches at every turn; Each running status opens three or three conduction modes of three brachium pontis switches at every turn; Four or three conduction modes that one is only opened the new running status of three brachium pontis switches are increased after each former running status of described four or four conduction modes; And before each former running status of described four or four conduction modes, increase by one only open the new running status of three brachium pontis switches and each former running status runs three or four conduction modes of a period of time in advance than the running status of former four or four conduction modes;
Start unit, when just starting for motor, enters described four or four conduction modes;
First control unit, for being less than described On current threshold value when motor On current, and motor speed is between described First Speed threshold value and second speed threshold value, then enter described four or three conduction modes;
Second control unit, for being less than described On current threshold value when motor On current, and motor speed is between described second speed threshold value and third speed threshold value, then enter described three or three conduction modes;
3rd control unit, for being less than described On current threshold value when motor On current, and motor speed is greater than described third speed threshold value, then enter described three or four conduction modes;
4th control unit, for being greater than described On current threshold value when motor On current, then enters four or four conduction modes.
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| CN201210450274.1A CN103812400B (en) | 2012-11-12 | 2012-11-12 | A kind of five-phase brushless DC motor control method and electric motor car |
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| CN201210450274.1A CN103812400B (en) | 2012-11-12 | 2012-11-12 | A kind of five-phase brushless DC motor control method and electric motor car |
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| CN103812400A CN103812400A (en) | 2014-05-21 |
| CN103812400B true CN103812400B (en) | 2016-04-13 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH08182290A (en) * | 1994-12-27 | 1996-07-12 | Nippon Seiko Kk | Five-phase brushless motor |
| JP2000228890A (en) * | 1998-12-02 | 2000-08-15 | Denso Corp | Brushless motor |
| CN101420198A (en) * | 2008-12-05 | 2009-04-29 | 广州华南智信微系统有限公司 | Five phase DC brushless motor controller |
| CN101986548B (en) * | 2010-10-29 | 2012-09-19 | 中国电器科学研究院 | Control method for reducing pulsating current of five-phase brushless direct current motor |
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