CN104022699A - Direct torque control method for brushless direct current motor - Google Patents
Direct torque control method for brushless direct current motor Download PDFInfo
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- CN104022699A CN104022699A CN201410211601.7A CN201410211601A CN104022699A CN 104022699 A CN104022699 A CN 104022699A CN 201410211601 A CN201410211601 A CN 201410211601A CN 104022699 A CN104022699 A CN 104022699A
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Abstract
The invention discloses a direct torque control method for a brushless direct current motor. By speed and torque double closed loop control, a rotating speed loop is used as an outer loop, and a torque loop is used as an inner loop; motor speed is calculated according to an output signal of a Hall sensor of the brushless direct current motor, and the motor speed is compared with reference speed to obtain speed error; an output value obtained after fuzzy self-adaptation adjustment is used as a torque expectation value; torque error is obtained by subtracting actual torque from expectation torque, wherein the actual torque is calculated by multiplying back-EMF (Electromotive Force) and phase current; the torque error is inputted into a hysteresis comparator; the hysteresis comparator outputs a position signal of a rotor; and an appropriate voltage vector is selected from a formulated switch list to control an inverter bridge connected with a DC power supply so as to make the brushless direct current motor output stable torque. By the method, the defect that current hysteresis control has a poor effect of inhibiting electromagnetic torque is avoided, and the problem that a traditional PID control method has low precision and poor anti-jamming capability in control of BLDCM is overcome.
Description
Technical field
The present invention relates to a kind of brshless DC motor Direct Torque Control.
Background technology
Brshless DC motor is as a kind of permagnetic synchronous motor, both there is ac motor structure simple, reliable, advantage easy to maintenance, there is again direct current machine operational efficiency high, without excitation loss, the advantages such as good speed adjustment features, some drawbacks that direct current machine mechanical electric brush is come have also been overcome, therefore it is used in each field of national product more and more widely simultaneously.Brushless DC motor is that the non linear system of a multivariable, close coupling adopts classical control theory to be difficult to meet actual requirement.The distinct issues of brshless DC motor have torque pulsation exactly.Due to torque pulsation, bring the problems such as vibration, resonance, noise, reduced control characteristic and the reliability of electric drive system, therefore limited the application of brushless electric machine in many high accuracy field.
Mostly current brushless electric machine control strategy is that, by controlling the indirect controlling torque of method of electric current, the open loop that belongs to torque is controlled, and torque response is slow and torque pulsation is large.Direct torque control (DTC) is a kind of torque closed loop control method.It take the instantaneous torque of motor is control object, and torque pulsation is considered as to measurable disturbances, according to torque error, by torque controller, realizes the direct control to instantaneous torque, has the dynamic that torque is controlled.The basic principle of brshless DC motor is by these three values of electromagnetic torque error, stator magnetic linkage error and sector, stator magnetic linkage place, by looking into switch list, obtain the above-mentioned space voltage vector that should apply, stator magnetic linkage is rotated along circular trace, finally reach the object that reduces electromagnetic torque pulsation.When brshless DC motor adopts two or two conduction mode, owing to turn-offing the uncertainty of phase voltage, oneself cannot calculate space vector of voltage by inverter switching states.By real-time detection three-phase voltage, carry out calculating voltage vector, but increased hardware complexity, therefore adopt voltage computation model to calculate stator magnetic linkage just more difficult.And with locus is different, the moment changes due to stator magnetic linkage amplitude, the observation of stator magnetic linkage is also very difficult.
Summary of the invention
The problem existing in order to solve prior art, the present invention proposes a kind of Direct Torque Control of novel brshless DC motor, avoided Hysteresis Current to control the poor defect of electromagnetic torque inhibition, overcome traditional PID control method and when brshless DC motor is controlled, have that precision is low, poor anti jamming capability problem, save stator flux observer and controlling unit, there is again designs simplification, feature cheaply simultaneously.
In order to realize above object, technical scheme of the present invention is as follows:
A brshless DC motor Direct Torque Control,
Adopt the two closed-loop controls of rotating speed and torque, der Geschwindigkeitkreis is as outer shroud, and torque ring, as interior ring, calculates motor speed according to the Hall element output signal of brshless DC motor, with after reference rotation velocity, obtain speed error, the output after fuzzy self-adaption regulates is as torque desired value;
Expectation torque deducts actual torque and obtains torque error, and actual torque adopts the method that back-emf and phase current multiply each other to calculate;
Torque error input hysteresis comparator, hysteresis comparator output, in conjunction with the position signalling of rotor, selects suitable voltage vector to go to control the inverter bridge being connected with DC power supply from the switch list making, and makes the torque of brshless DC motor stable output.
Further, the adjusting of the fuzzy self-adaption of rotating speed outer shroud is to the ratio of PID controller, integration, differential parameter K by fuzzy controller
p, K
i, K
dadjust online, obtain better control parameter.
Further, the fuzzy self-adaption of rotating speed outer shroud regulates and realizes by fuzzy self-adaption adjuster, in fuzzy self-adaption adjuster, and reference rotation velocity n
*through error comparator, obtain error with measuring rotation speed n, error produces error differential through a differentiation element, and error and error differential are input to fuzzy reasoning, and output is adjusted online to the parameter of pid adjuster, obtains better control parameter.
Further, the electromagnetic torque that utilizes back-emf, phase current calculating observation to arrive,
T
e＝K(e
a*i
a+e
b*i
b+e
c*i
c) (1)
Wherein,
k is back emf coefficient.
Further, in torque hysteresis comparator, as the given T of torque
*be greater than torque controller hysteresis band Δ T with actual torque T difference, torque hysteresis regulator output τ=1, at this moment should increase torque; As the given T of torque
*be less than torque controller hysteresis band Δ T with actual torque T difference, torque hysteresis regulator output τ=-1; Otherwise torque hysteresis regulator output τ=0.
Further, according to torque controller output τ and sector, rotor-position place selector switch table, switch list is as follows:
Further, the structure that realizes the method is: brshless DC motor is connected with position signalling output, rotating speed computing module is connected with position signalling output, reference rotation velocity and calculating rotating speed are input to rotary speed comparator, comparator is input to fuzzy self-adaption pid adjuster, back-emf, current phasor measurement module is connected with brshless DC motor, be input to torque observe module, the measurement torque of the torque reference of fuzzy self-adaption pid adjuster output and the output of torque observe module is input to torque comparator, the output of torque comparator is input to hysteresis comparator, the output of hysteresis comparator is input to switch list with position signalling and selects suitable switching signal to drive the inverter being connected with DC power supply, thereby control the torque output of brshless DC motor.
The invention has the beneficial effects as follows: the method avoided Hysteresis Current to control the poor defect of electromagnetic torque inhibition, overcome traditional PID control method has when BLDCM is controlled that precision is low, poor anti jamming capability problem, there is again designs simplification, feature cheaply simultaneously
Accompanying drawing explanation
Fig. 1 is principle explanation schematic diagram of the present invention;
Fig. 2 is the principle key diagram that the fuzzy self-adaption of embodiment medium speed ring employing regulates.
Embodiment
Below in conjunction with accompanying drawing, describe the preferred embodiments of the present invention in detail.
A kind of brshless DC motor Direct Torque Control of embodiment, adopts the two closed-loop controls of rotating speed and torque, and wherein der Geschwindigkeitkreis is as outer shroud, and torque ring is as interior ring.According to the Hall element output signal of brshless DC motor, calculate motor speed, and after reference rotation velocity, obtain speed error, the output after fuzzy self-adaption regulates is as torque desired value.Expectation torque deducts actual torque and obtains torque error, and wherein actual torque adopts the method that back-emf and phase current multiply each other to calculate.Torque error input hysteresis comparator, its output, in conjunction with the position signalling of rotor, is selected suitable voltage vector to go to control the inverter bridge being connected with DC power supply, thereby is made the torque of brshless DC motor stable output from the switch list making.
By Fig. 1, can find out, realize the structure of embodiment method: position signalling output 1 is connected with brshless DC motor 12, rotating speed computing module 2 is connected with position signalling output 1, reference rotation velocity and calculating rotating speed are input to rotary speed comparator 3, comparator is input to fuzzy self-adaption pid adjuster 4, back-emf, current phasor measurement module 7 is connected with brshless DC motor 12, its output is input to torque observe module 6, the measurement torque of the torque reference of fuzzy self-adaption pid adjuster 4 outputs and 6 outputs of torque observe module is input to torque comparator 5, the output of torque comparator 5 is input to hysteresis comparator 8, the output of hysteresis comparator 8 is input to switch list 9 with position signalling output 1 and selects suitable switching signal to drive the inverter 11 being connected with DC power supply 10, thereby control the torque output of brshless DC motor 12.For the precision and the flexibility that guarantee to control, controller can be selected the chips such as DSP and FPGA.
The structure of the fuzzy self-adaption adjuster of der Geschwindigkeitkreis as seen in Figure 2.Reference rotation velocity n
*turn n speed error comparator 100 with measurement, error produces error differential through a differentiation element 101, error and error differential are input to fuzzy reasoning 102, its output is adjusted online to the parameter of pid adjuster 103, thereby obtain better control parameter, accelerate motor speed response, reduce overshoot.
The electromagnetic torque that utilizes back-emf, phase current calculating observation to arrive.
T
e＝K(e
a*i
a+e
b*i
b+e
c*i
c) (1)
Wherein,
this torque equation only comprises the shape function of counter current and back-emf, does not comprise rotating speed item.
In torque hysteresis comparator, as the given T of torque
*be greater than torque controller hysteresis band Δ T with actual torque T difference, torque hysteresis regulator output τ=1, at this moment should increase torque; As the given T of torque
*be less than torque controller hysteresis band Δ T with actual torque T difference, torque hysteresis regulator output τ=-1; Otherwise torque hysteresis regulator output τ=0.
According to torque controller output τ and sector, rotor-position place, select suitable switch list.
The switch list that table 1 is optimized
Claims (7)
1. a brshless DC motor Direct Torque Control, is characterized in that:
Adopt the two closed-loop controls of rotating speed and torque, der Geschwindigkeitkreis is as outer shroud, and torque ring, as interior ring, calculates motor speed according to the Hall element output signal of brshless DC motor, with after reference rotation velocity, obtain speed error, the output after fuzzy self-adaption regulates is as torque desired value;
Expectation torque deducts actual torque and obtains torque error, and actual torque adopts the method that back-emf and phase current multiply each other to calculate;
Torque error input hysteresis comparator, hysteresis comparator output, in conjunction with the position signalling of rotor, selects suitable voltage vector to go to control the inverter bridge being connected with DC power supply from the switch list making, and makes the torque of brshless DC motor stable output.
2. brshless DC motor Direct Torque Control as claimed in claim 1, is characterized in that: it is to the ratio of PID controller, integration, differential parameter K by fuzzy controller that the fuzzy self-adaption of rotating speed outer shroud regulates
p, K
i, K
dadjust online, obtain better control parameter.
3. brshless DC motor Direct Torque Control as claimed in claim 2, is characterized in that: the fuzzy self-adaption of rotating speed outer shroud regulates and realizes by fuzzy self-adaption adjuster, in fuzzy self-adaption adjuster, and reference rotation velocity n
*through error comparator, obtain error with measuring rotation speed n, error produces error differential through a differentiation element, and error and error differential are input to fuzzy reasoning, and output is adjusted online to the parameter of pid adjuster, obtains better control parameter.
4. the brshless DC motor Direct Torque Control as described in claim 1-3 any one, is characterized in that: the electromagnetic torque that utilizes back-emf, phase current calculating observation to arrive,
T
e＝K(e
a*i
a+e
b*i
b+e
c*i
c) (1)
Wherein,
k is back emf coefficient.
5. brshless DC motor Direct Torque Control as claimed in claim 4, is characterized in that:
In torque hysteresis comparator, as the given T of torque
*be greater than torque controller hysteresis band Δ T with actual torque T difference, torque hysteresis regulator output τ=1, at this moment should increase torque; As the given T of torque
*be less than torque controller hysteresis band Δ T with actual torque T difference, torque hysteresis regulator output τ=-1; Otherwise torque hysteresis regulator output τ=0.
6. brshless DC motor Direct Torque Control as claimed in claim 5, is characterized in that, according to torque controller output τ and sector, rotor-position place selector switch table, switch list is as follows:
7. brshless DC motor Direct Torque Control as claimed in claim 6, it is characterized in that, the structure that realizes the method is: brshless DC motor is connected with position signalling output, rotating speed computing module is connected with position signalling output, reference rotation velocity and calculating rotating speed are input to rotary speed comparator, comparator is input to fuzzy self-adaption pid adjuster, back-emf, current phasor measurement module is connected with brshless DC motor, be input to torque observe module, the measurement torque of the torque reference of fuzzy self-adaption pid adjuster output and the output of torque observe module is input to torque comparator, the output of torque comparator is input to hysteresis comparator, the output of hysteresis comparator is input to switch list with position signalling and selects suitable switching signal to drive the inverter being connected with DC power supply, thereby control the torque output of brshless DC motor.
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105406775A (en) * | 2015-12-02 | 2016-03-16 | 江苏科技大学 | Identification method for electromagnetic torque of permanent-magnet synchronous motor |
| CN105584886A (en) * | 2015-11-23 | 2016-05-18 | 国家电网公司 | Controlling method of ship cable winch driving system |
| CN106208880A (en) * | 2016-07-06 | 2016-12-07 | 浙江大学 | Direct Torque Control for the monolateral matrix converter of DC brushless motor |
| CN106787988A (en) * | 2016-12-22 | 2017-05-31 | 东南大学 | A kind of full speed adjustable range internal torque pulsation suppressing method of brshless DC motor |
| CN106788043A (en) * | 2017-01-18 | 2017-05-31 | 华北电力大学（保定） | Permagnetic synchronous motor is counter in MEES pushes away self adaptation Direct Torque Control |
| CN107093971A (en) * | 2017-06-14 | 2017-08-25 | 安徽工业大学 | The moment controlling system and control method of a kind of permagnetic synchronous motor |
| CN108170151A (en) * | 2017-07-24 | 2018-06-15 | 西北工业大学 | The adaptive motion control device and its method of a kind of underwater robot |
| CN109217760A (en) * | 2017-07-05 | 2019-01-15 | 茂达电子股份有限公司 | Rotor position detection device and detection method for three-phase motor |
| CN109327168A (en) * | 2018-10-08 | 2019-02-12 | 长安大学 | A kind of fuzzy hysteretic loop current control system and method for permanent magnet synchronous motor |
| CN112550546A (en) * | 2020-11-23 | 2021-03-26 | 江苏科技大学 | Electric vehicle power-assisted operation control system and control method thereof |
| CN113872470A (en) * | 2021-09-01 | 2021-12-31 | 河北汉光重工有限责任公司 | Dual-mode composite control method of brushless direct current motor |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105584886A (en) * | 2015-11-23 | 2016-05-18 | 国家电网公司 | Controlling method of ship cable winch driving system |
| CN105584886B (en) * | 2015-11-23 | 2018-11-23 | 国网河北省电力有限公司沧州供电分公司 | A kind of control method of shipboard cable winch drive system |
| CN105406775A (en) * | 2015-12-02 | 2016-03-16 | 江苏科技大学 | Identification method for electromagnetic torque of permanent-magnet synchronous motor |
| CN106208880A (en) * | 2016-07-06 | 2016-12-07 | 浙江大学 | Direct Torque Control for the monolateral matrix converter of DC brushless motor |
| CN106787988A (en) * | 2016-12-22 | 2017-05-31 | 东南大学 | A kind of full speed adjustable range internal torque pulsation suppressing method of brshless DC motor |
| CN106788043B (en) * | 2017-01-18 | 2019-01-08 | 华北电力大学（保定） | Permanent magnet synchronous motor is counter in MEES pushes away adaptive Direct Torque Control |
| CN106788043A (en) * | 2017-01-18 | 2017-05-31 | 华北电力大学（保定） | Permagnetic synchronous motor is counter in MEES pushes away self adaptation Direct Torque Control |
| CN107093971A (en) * | 2017-06-14 | 2017-08-25 | 安徽工业大学 | The moment controlling system and control method of a kind of permagnetic synchronous motor |
| CN109217760A (en) * | 2017-07-05 | 2019-01-15 | 茂达电子股份有限公司 | Rotor position detection device and detection method for three-phase motor |
| CN109217760B (en) * | 2017-07-05 | 2020-06-12 | 茂达电子股份有限公司 | Rotor position detection device and detection method for three-phase motor |
| CN108170151A (en) * | 2017-07-24 | 2018-06-15 | 西北工业大学 | The adaptive motion control device and its method of a kind of underwater robot |
| CN109327168A (en) * | 2018-10-08 | 2019-02-12 | 长安大学 | A kind of fuzzy hysteretic loop current control system and method for permanent magnet synchronous motor |
| CN112550546A (en) * | 2020-11-23 | 2021-03-26 | 江苏科技大学 | Electric vehicle power-assisted operation control system and control method thereof |
| CN112550546B (en) * | 2020-11-23 | 2022-04-15 | 江苏科技大学 | Electric vehicle power-assisted operation control system and control method thereof |
| CN113872470A (en) * | 2021-09-01 | 2021-12-31 | 河北汉光重工有限责任公司 | Dual-mode composite control method of brushless direct current motor |
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