CN104242746A - Six-phase direct-current brushless motor controller and control method thereof - Google Patents
Six-phase direct-current brushless motor controller and control method thereof Download PDFInfo
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- CN104242746A CN104242746A CN201410515799.8A CN201410515799A CN104242746A CN 104242746 A CN104242746 A CN 104242746A CN 201410515799 A CN201410515799 A CN 201410515799A CN 104242746 A CN104242746 A CN 104242746A
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Abstract
The invention discloses a six-phase direct-current brushless motor controller which comprises a digital signal processor, two photoelectric isolation driving circuits, two IPM circuits, two FO signal photoelectric isolation circuits, two overcurrent detection circuits, two voltage detection circuits, two Hall signal low-pass filter/photoelectric isolation modules, a speed presetting circuit, a motor rotating direction presetting circuit, a communication circuit and a sensor set. The invention further provides a control method of the six-phase direct-current brushless motor controller. By the six-phase direct-current brushless motor controller and the control method, torque pulsation generated during phase shifting of a motor can be weakened, running reliability of a system can be improved, and a favorable condition is provided for manufacturing of a high-power control system.
Description
Technical field
The invention belongs to Motor Control Field, be specifically related to a kind of Hexaphase brushless dc motor controller and control method thereof.
Background technology
Permanent-magnet brushless DC electric machine is the one of autocontrol permagnetic synchronous motor, and its opposite potential is trapezoidal wave, and phase current is square wave.Be widely used in the fields such as industrial drives, Aero-Space, household electrical appliance and automobile industry.The most frequently used three-phase permanent brshless DC motor, if its trapezoidal wave opposite potential flat-top width reaches 120 ° of desirable E(° of E represent electrical degree, lower same), phase current is and the synchronous square wave of trapezoidal wave opposite potential flat part, at this moment, electromagnetic torque is pulsation-free, and its power (torque) density is also the highest a kind of motor.
But traditional three phase electric machine, its belt span is 60 ° of E, and trapezoidal wave opposite potential flat-top width is difficult to accomplish 120 ° of E, and this will cause principle torque ripple and winding copper loss to increase.Torque ripple causes noise and vibration, limits the speed adjustable range of motor, also indirectly reduces the power density of motor.This has just become permanent-magnet brushless DC electric machine to the bottleneck of larger speed ratio, more high power development.
But the trapezoidal wave opposite potential flat-top width of the permanent-magnet brushless DC electric machine of six phases, 30 ° of E phase bandwidth but can reach 120 ° of more than E, so, the torque pulsation caused because of motor body has just been eliminated.In addition, owing to adopting two cover three-phase windings, export the prerequisite of same power at motor under, the electric current that six-phase motor often overlaps in winding decreases half, decreases the switching loss of power device; Meanwhile, when a set of winding goes wrong, another set of winding still can remain in operation, and adds the reliability of system.
As can be seen here, traditional three phase electric machine controller can not meet the requirement of six-phase motor, is therefore necessary to develop the Hexaphase brushless dc motor controller for Six-phase Permanent Magnet Brushless DC Motor.
Summary of the invention
For solving the technical problem of existing existence, the embodiment of the present invention provides a kind of Hexaphase brushless dc motor controller and control method thereof, the torque pulsation produced when can weaken motor commutation, elevator system reliability of operation, and provide favourable condition for manufacturing high-power control system.
For achieving the above object, the technical scheme of the embodiment of the present invention is achieved in that
The invention provides a kind of Hexaphase brushless dc motor controller, this controller comprises: digital signal processor, two-way photoelectric isolating driving circuit, two-way intelligent power module circuit, two-way FO flashlight electric isolating circuit, two-way over-current detection circuit, two-way voltage detecting circuit, two-way hall signal low-pass filtering/photoelectric isolation module, speed given circuit, direction of motor rotation given circuit, communicating circuit, transducer group, described speed given circuit, direction of motor rotation given circuit is connected with digital signal processor respectively, described digital signal processor is connected with two-way IPM circuit respectively through two-way photoelectric isolating driving circuit, described two-way IPM circuit on one side is connected with described digital signal processor through two-way FO flashlight electric isolating circuit, the other end is connected with Hexaphase brushless dc motor, described digital signal processor is connected with described digital signal processor through two-way voltage detecting circuit with between Hexaphase brushless dc motor, described transducer group comprises two motor position sensors be arranged in Hexaphase brushless dc motor, described two motor position sensors are connected with described digital signal processor through two-way hall signal low-pass filtering/photoelectric isolation module respectively, and described digital signal processor is connected with two-way voltage detecting circuit, communicating circuit respectively.
In such scheme, described every road photoelectric isolating driving circuit is made up of six isolation drive loops, each isolation drive loop comprises high speed photo coupling OP1, resistance R1, the ANODE pin of described high speed photo coupling OP1 is connected with described digital signal processor, the CATHODE pin of described high speed photo coupling OP1 is connected to GND, the VCC pin of described high speed photo coupling OP1 meets+15V, the VO pin of described high speed photo coupling OP1 connects pull-up resistor R1 to IPM and controls pin, the GND pin of described high speed photo coupling OP1 meets GND1, and GND1 is the ground of+15V.
In such scheme, described every road hall signal detects low-pass filtering/photoelectric isolating circuit and comprises operational amplifier IC1A, this schmitt trigger IC2A, this schmitt trigger IC2B, optocoupler OP2, resistance R2, resistance R3, resistance R4, resistance R5, resistance R6, resistance R7, R8, electric capacity C1, electric capacity C2, electric capacity C3, electric capacity C4, electric capacity C5, diode D1, LED 1; Described hall signal is connected to+12V by resistance R2, diode D1; Described resistance R3 mono-end is connected to hall signal, and the other end is connected to the inverting input of operational amplifier IC1 by electric capacity C1, and is connected to the in-phase input end of operational amplifier IC1 by resistance R4, electric capacity C2; Described electric capacity C3 is connected between+12V and COM; The output of described operational amplifier IC1A is connected to the reverse input end of IC1A and the 2nd pin of optocoupler OP2; Described optocoupler OP2 the 1st pin is connected to+12V by resistance R5; Described optocoupler OP2 the 1st pin is connected to GND; Described optocoupler OP2 the 4th pin is connected to+5V by resistance R6, LED 1, and is connected to this schmitt trigger IC2A input by resistance R7, electric capacity C4; The output of described this schmitt trigger IC2A is connected to the input of this schmitt trigger IC2B; The output of described this schmitt trigger IC2B is connected to digital signal processor through resistance R8; Described electric capacity C5 is connected between+5V and GND.
In such scheme, described current detection circuit of often passing by comprises operational amplifier IC6A, operational amplifier IC6B, operational amplifier IC7A, operational amplifier IC7B, resistance R159, resistance R163, resistance R164, resistance R169, resistance R172, resistance R174, resistance R181, resistance R183, resistance R186, resistance R188, electric capacity C71, electric capacity C73, electric capacity C75, electric capacity C78, electric capacity C83; The output of described operational amplifier IC6A, operational amplifier IC6B, operational amplifier IC7A, operational amplifier IC7B merges into a road respectively through resistance R163, resistance R174, resistance R181, resistance R188, and a road is connected to+5V through resistance R159, another road is connected to digital signal processor 1 through resistance R164; Described electric capacity C71, electric capacity C78 are connected between+5V and GND; Phase current A is connected to the reverse input end of operational amplifier IC6A and the in-phase input end of operational amplifier IC6B through resistance R172, resistance R169, electric capacity C75; Phase current C is connected to the reverse input end of operational amplifier IC7A and the input in the same way of operational amplifier IC7B through resistance R186, resistance R183, electric capacity C83; Forward maximum phase current reference voltage signal Vref2 is connected to the input in the same way of operational amplifier IC6A, operational amplifier IC7A; Reverse maximum phase current reference voltage signal Vref1 is connected to the reverse input end of operational amplifier IC6B, operational amplifier IC7B.
In such scheme, described direction of motor rotation given circuit comprises optocoupler OP4, optocoupler OP7, resistance R15, resistance R16, resistance R17, resistance R28, resistance R30, resistance R31, electric capacity C7, electric capacity C11; Described electric capacity C7, resistance R17 connect and forward is given and between COM; Described forward is given to be connected and optocoupler OP4 the 1st pin by resistance R16; Described optocoupler OP4 the 1st pin is connected to COM, and the 3rd pin is connected to GND; Described resistance R15 is connected between+5V and optocoupler OP4 the 4th pin; Described optocoupler OP4 the 4th pin is connected to digital signal processor; Described electric capacity C11, resistance R31 connect and oppositely between given and COM; Described oppositely given by resistance R30 connection and optocoupler OP7 the 1st pin; Described optocoupler OP7 the 1st pin is connected to ground COM, and the 3rd pin is connected to ground GND; Described resistance R28 is connected between+5V and optocoupler OP7 the 4th pin; Described optocoupler OP7 the 4th pin is connected to digital signal processor.
In such scheme, described speed given circuit comprises operational amplifier IC15A, resistance R73, electric capacity C30, electric capacity C29; Described electric capacity C30 is connected to input in the same way and the GND of operational amplifier IC15A; Electric capacity C29 is connected between+5V and GND; Speed preset is connected to the input in the same way of operational amplifier IC15A through resistance R73, and the reverse input end of operational amplifier IC15A is connected with output, and the rate signal of output send described digital signal processor.
In such scheme, described every road FO flashlight electric isolating circuit comprises optocoupler OP22, resistance R20, electric capacity C33; Described resistance R20 mono-end is connected to+5V, and an end is connected to the 4th pin of optocoupler OP22; Electric capacity C33 mono-end is connected to GND, and an end is connected to the 4th pin of optocoupler OP22; The 2nd pin IPMFO of described optocoupler OP22 is connected with the FO output pin of described IPM circuit 3, and the 4th pin of described optocoupler OP22 is connected with described digital signal processor.
In such scheme, described communicating circuit comprises 485 communication module IC10, resistance R177, resistance R192, resistance R193, electric capacity C76, electric capacity C93, electric capacity C94, and the B signal of described 485 communication module IC10 is connected to GND through resistance R192, electric capacity C93; The a-signal of described 485 communication module IC10 is connected to+5V through resistance R193, electric capacity C94; Between the a-signal that described resistance R177 is connected to described 485 communication module IC10 and B signal; Electric capacity C76 is connected between+5V and GND.
The present invention also provides a kind of control method of Hexaphase brushless dc motor, this control method is: the motor stator winding of control is two three-phase Y connection, when often overlapping winding three-phase symmetry, when there being rate signal to input, described rate signal is input to digital signal processor through speed input given circuit, two-way hall signal detects low-pass filtering/photoelectric isolating circuit detects the first winding and the second winding position signalling respectively by two motor position sensors 10 simultaneously, and determine the hall signal true value that position signalling is corresponding, the hall signal true value determined is output a control signal to two-way photoelectric isolating driving circuit by described digital signal processor, power tube corresponding to two-way IPM circuit is made to open or turn off, voltage is added on corresponding winding, motor starts to rotate.
Compared with prior art, beneficial effect of the present invention:
1, by IPM circuit of the present invention, drive current can reach hundreds of ampere, and controller power output is large, simultaneously electric machine controller also have that volume is little, lightweight, simplicity of design and the remarkable advantage such as reliability is high.
2, IPM circuit is driven by photoelectric isolating circuit, forceful electric power and weak current part are isolated, prevent the high pressure interference digital signal processor on IPM circuit, if simultaneously an IPM circuit breaks down and can not affect the normal operation of another IPM circuit, improve the stability of system.
3, provide hall signal to detect the position hall signal of low-pass filtering/photoelectric isolating circuit to Hexaphase brushless dc motor and carry out low-pass filtering treatment, the high-frequency signal on the hall signal of elimination position; Phototube Coupling prevents the position hall signal interference digital signal processor of motor simultaneously.
4, adopt Phototube Coupling by direction of motor rotation given circuit, prevent external signal from disturbing digital signal processor.
Accompanying drawing explanation
Fig. 1 is the general frame of Hexaphase brushless dc motor controller of the present invention;
Fig. 2 is Hexaphase brushless dc motor controller switching circuitry line map of the present invention;
Fig. 3 is a drive circuit circuit diagram of the photoelectric isolating driving circuit of Hexaphase brushless dc motor controller of the present invention;
Fig. 4 is a road circuit diagram of the hall signal detection low-pass filtering/photoelectric isolating circuit of Hexaphase brushless dc motor controller of the present invention;
Fig. 5 is a road circuit diagram of the over-current detection circuit of Hexaphase brushless dc motor controller of the present invention;
Fig. 6 is the circuit diagram of the direction of motor rotation given circuit of Hexaphase brushless dc motor controller of the present invention;
Fig. 7 is the circuit diagram of the speed input given circuit of Hexaphase brushless dc motor controller of the present invention;
Fig. 8 is a road circuit diagram of the FO flashlight electric isolating circuit of Hexaphase brushless dc motor controller of the present invention;
Fig. 9 is the circuit diagram of the communicating circuit of Hexaphase brushless dc motor controller of the present invention.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
The embodiment of the present invention provides a kind of Hexaphase brushless dc motor controller, and this controller comprises: digital signal processor 1, two-way photoelectric isolating driving circuit 2, two-way intelligent power module circuit 3, two-way FO flashlight electric isolating circuit 4, two-way over-current detection circuit 5, two-way voltage detecting circuit 6, two-way hall signal low-pass filtering/photoelectric isolation module 7, speed given circuit 8, direction of motor rotation given circuit 9, communicating circuit 10, transducer group, described speed given circuit 8, direction of motor rotation given circuit 9 is connected with digital signal processor 1 respectively, described digital signal processor 1 is connected with two-way IPM circuit 3 respectively through two-way photoelectric isolating driving circuit 2, described two-way IPM circuit 3 one end is connected with described digital signal processor 1 through two-way FO flashlight electric isolating circuit 4, the other end is connected with Hexaphase brushless dc motor 12, and described digital signal processor 1 is connected with described digital signal processor 1 through two-way voltage detecting circuit 6 with between Hexaphase brushless dc motor 12, described transducer group comprises two motor position sensors 11 be arranged in Hexaphase brushless dc motor 12, described two motor position sensors 11 are connected with described digital signal processor 1 through two-way hall signal low-pass filtering/photoelectric isolation module 7 respectively, and described digital signal processor 1 is connected with two-way voltage detecting circuit 6, communicating circuit 10 respectively.
Described digital signal processor 1 is dsPIC30F digital signal processor.
The present invention is two threephase switch loops, comprises two-way IPM circuit, Support Capacitor C, motor first winding, motor second winding.
As shown in Figure 2, described every road IPM circuit by 12 IGBTTA+, TA-, TB+, TB-, TC+, TC-, TX+, TX-, TY+, TY-, TZ+, TZ-, and 12 fly-wheel diode DA+, DA-, DB+, DB-, DC+, DC-, DX+, DX-, DY+, DY-, DZ+, DZ-form.The source electrode of TA+ is just connected with bus, drains to be connected with the source electrode of motor A phase winding and TA-, and TA-and bus negative connect; The source electrode of TB+ is just connected with bus, drains to be connected with the source electrode of motor B phase winding and TB-, and TB-and bus negative connect; The source electrode of TC+ is just connected with bus, drains to be connected with the source electrode of motor C phase winding and TC-, and TC-and bus negative connect; The source electrode of TX+ is just connected with bus, drains to be connected with the source electrode of motor X phase winding and TX-, and TX-and bus negative connect; The source electrode of TY+ is just connected with bus, drains to be connected with the source electrode of motor Y phase winding and TY-, and TY-and bus negative connect; The source electrode of TZ+ is just connected with bus, drains to be connected with the source electrode of motor Z phase winding and TZ-, and TZ-and bus negative connect.
As shown in Figure 3, described every road photoelectric isolating driving circuit 2 is made up of six isolation drive loops, each isolation drive loop comprises high speed photo coupling OP1, resistance R1, the ANODE pin of described high speed photo coupling OP1 is connected with described digital signal processor 1, the CATHODE pin of described high speed photo coupling OP1 is connected to GND, the VCC pin of described high speed photo coupling OP1 meets+15V, the VO pin of described high speed photo coupling OP1 connects pull-up resistor R1 to IPM and controls pin, the GND pin of described high speed photo coupling OP1 meets GND1, and GND1 is the ground of+15V.
As shown in Figure 4, described every road hall signal detects low-pass filtering/photoelectric isolating circuit 7 and comprises operational amplifier IC1A, this schmitt trigger IC2A, this schmitt trigger IC2B, optocoupler OP2, resistance R2, resistance R3, resistance R4, resistance R5, resistance R6, resistance R7, R8, electric capacity C1, electric capacity C2, electric capacity C3, electric capacity C4, electric capacity C5, diode D1, LED 1; Described R3, R4, C1, C2, IC1A form second order active low-pass filter circuit; Described hall signal is connected to+12V by resistance R2, diode D1; Described resistance R3 mono-end is connected to hall signal, and the other end is connected to the inverting input of operational amplifier IC1 by electric capacity C1, and is connected to the in-phase input end of operational amplifier IC1 by resistance R4, electric capacity C2; Described electric capacity C3 is connected between+12V and COM; The output of described operational amplifier IC1A is connected to the reverse input end of IC1A and the 2nd pin of optocoupler OP2; Described optocoupler OP2 the 1st pin is connected to+12V by resistance R5; Described optocoupler OP2 the 1st pin is connected to GND; Described optocoupler OP2 the 4th pin is connected to+5V by resistance R6, LED 1, and is connected to this schmitt trigger IC2A input by resistance R7, electric capacity C4; The output of described this schmitt trigger IC2A is connected to the input of this schmitt trigger IC2B; The output of described this schmitt trigger IC2B is connected to digital signal processor 1 through resistance R8; Described electric capacity C5 is connected between+5V and GND.Described R5, OP2, R6, R7, C4 form photoelectric isolating circuit; Described IC2A, IC2B are shaping circuit, and the hall signal of described Hexaphase brushless dc motor 12 send described digital signal processor 1 after low-pass filtering, isolation, shaping.
Described two-way hall signal detects low-pass filtering/photoelectric isolating circuit 7 and uses six hall position sensor collection signals, Hall element and HCPL181 light-coupled isolation amplifying circuit integrate, outlet side connects corresponding pull-up resistor, hall device is powered by+5V, the signal that described motor position sensor 11 exports is input to digital signal processor input state change input pin CN0 ~ CN5 respectively after capacitor filtering, when the signal generation rising edge that six Hall elements export and the saltus step of trailing edge level being detected, just for motor provides phase change logic.Now read the level logic state that six pin CN0 ~ CN5 form respectively, just can obtain the position residing for rotor.Because the output signal of rotor-position sensor is usually with some interference signals, so need its filter shape when sending into DSP, therefore adopt 74HC14 as filter shape device.
As shown in Figure 5, described current detection circuit 5 of often passing by comprises operational amplifier IC6A, operational amplifier IC6B, operational amplifier IC7A, operational amplifier IC7B, resistance R159, resistance R163, resistance R164, resistance R169, resistance R172, resistance R174, resistance R181, resistance R183, resistance R186, resistance R188, electric capacity C71, electric capacity C73, electric capacity C75, electric capacity C78, electric capacity C83; The output of described operational amplifier IC6A, operational amplifier IC6B, operational amplifier IC7A, operational amplifier IC7B merges into a road respectively through resistance R163, resistance R174, resistance R181, resistance R188, and a road is connected to+5V through resistance R159, another road is connected to digital signal processor 1 through resistance R164; Described electric capacity C71, electric capacity C78 are connected between+5V and GND; Phase current A is connected to the reverse input end of operational amplifier IC6A and the in-phase input end of operational amplifier IC6B through resistance R172, resistance R169, electric capacity C75; Phase current C is connected to the reverse input end of operational amplifier IC7A and the input in the same way of operational amplifier IC7B through resistance R186, resistance R183, electric capacity C83; Forward maximum phase current reference voltage signal Vref2 is connected to the input in the same way of operational amplifier IC6A, operational amplifier IC7A; Reverse maximum phase current reference voltage signal Vref1 be connected to operational amplifier IC6B, operational amplifier IC7B reverse to input.The size determination controller of the magnitude of voltage of Vref1 and Vref2 exports the threshold values of maximum current, and Vref2 is greater than Vref1; When phase current is greater than Vref1, when being less than Vref2, over-current signal OC is high level, now overcurrent does not occur; When phase current is less than Vref1, or when being greater than Vref2, over-current signal OC is low level, now overcurrent occurs;
As shown in Figure 6, described direction of motor rotation given circuit 9 comprises optocoupler OP4, optocoupler OP7, resistance R15, resistance R16, resistance R17, resistance R28, resistance R30, resistance R31, electric capacity C7, electric capacity C11; Described electric capacity C7, resistance R17 connect and forward is given and between COM; Described forward is given to be connected and optocoupler OP4 the 1st pin by resistance R16; Described optocoupler OP4 the 1st pin is connected to COM, and the 3rd pin is connected to GND; Described resistance R15 is connected between+5V and optocoupler OP4 the 4th pin; Described optocoupler OP4 the 4th pin is connected to digital signal processor 1; Described electric capacity C11, resistance R31 connect and oppositely between given and COM; Described oppositely given by resistance R30 connection and optocoupler OP7 the 1st pin; Described optocoupler OP7 the 1st pin is connected to ground COM, and the 3rd pin is connected to ground GND; Described resistance R28 is connected between+5V and optocoupler OP7 the 4th pin; Described optocoupler OP7 the 4th pin is connected to digital signal processor 1; Forward is given send digital signal processor 1 through optocoupler OP4 output forward signal, when this signal is effective, requires that motor rotates forward; Oppositely given through optocoupler OP7 export reverse signal send digital signal processor 1, when this signal is effective, require motor reverse rotation.
As shown in Figure 7, described speed given circuit 8 comprises operational amplifier IC15A, resistance R73, electric capacity C30, electric capacity C29; Described electric capacity C30 is connected to input in the same way and the GND of operational amplifier IC15A; Electric capacity C29 is connected between+5V and GND; Speed preset is connected to the input in the same way of operational amplifier IC15A through resistance R73, and the reverse input end of described operational amplifier IC15A is connected with output, and the rate signal of output send described digital signal processor 1;
As shown in Figure 8, described every road FO flashlight electric isolating circuit 4 comprises optocoupler OP22, resistance R20, electric capacity C33; Described resistance R20 mono-end is connected to+5V, and an end is connected to the 4th pin of optocoupler OP22; Electric capacity C33 mono-end is connected to GND, and an end is connected to the 4th pin of optocoupler OP22; The crus secunda IPMFO of described optocoupler OP22 is connected with the FO output pin of described IPM circuit 3, and the 4th pin of described optocoupler OP22 is connected with described digital signal processor 1.When there is overcurrent or short circuit in described IPM circuit 3, the signal of the FO output pin of described IPM circuit is low level, now, the output signal FO of described optocoupler OP22 is also low level, and digital signal processor 1 judges whether overcurrent or the short circuit of IPM module according to FO level signal.
As shown in Figure 9, described communicating circuit 10 comprises 485 communication module IC10, resistance R177, resistance R192, resistance R193, electric capacity C76, electric capacity C93, electric capacity C94.The B signal of described 485 communication module IC10 is connected to GND through resistance R192, electric capacity C93; The a-signal of described 485 communication module IC10 is connected to+5V through resistance R193, electric capacity C94; Between the a-signal that described resistance R177 is connected to described 485 communication module IC10 and B signal; Electric capacity C76 is connected between+5V and GND.
The present invention also provides a kind of control method of Hexaphase brushless dc motor, this control method is: the motor stator winding of control is two three-phase Y connection, when often overlapping winding three-phase symmetry, when there being rate signal to input, described rate signal is input to digital signal processor 1 through speed input given circuit 8, two-way hall signal detects low-pass filtering/photoelectric isolating circuit 7 detects the first winding and the second winding position signalling respectively by two motor position sensors 10 simultaneously, and determine the hall signal true value that position signalling is corresponding, the hall signal true value determined is output a control signal to two-way photoelectric isolating driving circuit 2 by described digital signal processor 1, the power tube of two-way IPM circuit 3 correspondence is made to open or turn off, voltage is added on corresponding winding, motor starts to rotate.
Suppose that the hall signal true value that the first winding of detecting is corresponding is 101, when the hall signal true value that the second winding is corresponding is 001, corresponding power tube TA+, TB-and TZ+, TY-, conducting, corresponding A, B winding, Z, Y winding is energized;
Suppose that the hall signal true value that the first winding of detecting is corresponding is 101, when the hall signal true value that the second winding is corresponding is 101, corresponding power tube TA+, TB-and TX+, TY-, conducting, corresponding A, B winding, X, Y winding is energized;
Suppose that the hall signal true value that the first winding of detecting is corresponding is 100, when the hall signal true value that the second winding is corresponding is 101, corresponding power tube TA+, TC-and TX+, TY-, conducting, corresponding A, C winding, X, Y winding is energized;
Suppose that the hall signal true value that the first winding of detecting is corresponding is 100, when the hall signal true value that the second winding is corresponding is 100, corresponding power tube TA+, TC-and TX+, TZ-, conducting, corresponding A, C winding, X, Z winding is energized;
Suppose that the hall signal true value that the first winding of detecting is corresponding is 110, when the hall signal true value that the second winding is corresponding is 100, corresponding power tube TB+, TC-and TX+, TZ-, conducting, corresponding B, C winding, X, Z winding is energized;
Suppose that the hall signal true value that the first winding of detecting is corresponding is 110, when the hall signal true value that the second winding is corresponding is 110, corresponding power tube TB+, TC-and TY+, TZ-, conducting, corresponding B, C winding, Y, Z winding is energized;
Suppose that the hall signal true value that the first winding of detecting is corresponding is 010, when the hall signal true value that the second winding is corresponding is 110, corresponding power tube TB+, TA-and TY+, TZ-, conducting, corresponding B, A winding, Y, Z winding is energized;
Suppose that the hall signal true value that the first winding of detecting is corresponding is 010, when the hall signal true value that the second winding is corresponding is 010, corresponding power tube TB+, TA-and TY+, TX-, conducting, corresponding B, A winding, Y, X winding is energized;
Suppose that the hall signal true value that the first winding of detecting is corresponding is 011, when the hall signal true value that the second winding is corresponding is 010, corresponding power tube TC+, TA-and TY+, TX-, conducting, corresponding C, A winding, Y, X winding is energized;
Suppose that the hall signal true value that the first winding of detecting is corresponding is 011, when the hall signal true value that the second winding is corresponding is 011, corresponding power tube TC+, TA-and TZ+, TX-, conducting, corresponding C, A winding, Z, X winding is energized;
Suppose that the hall signal true value that the first winding of detecting is corresponding is 001, when the hall signal true value that the second winding is corresponding is 011, corresponding power tube TC+, TB-and TZ+, TX-, conducting, corresponding C, B winding, Z, X winding is energized;
Suppose that the hall signal true value that the first winding of detecting is corresponding is 001, when the hall signal true value that the second winding is corresponding is 001, corresponding power tube TC+, TB-and TZ+, TY-, conducting, corresponding C, B winding, Z, Y winding is energized.
Clap circulation by above 12, motor, by detecting hall sensor signal, changes the energising phase sequence of winding in real time, for motor provides corresponding torque, makes motor continue to rotate.
Above-mentioned 12 kinds of estimate of situations can be described by table 1:
Claims (9)
1. a Hexaphase brushless dc motor controller, it is characterized in that, this controller comprises: digital signal processor (1), two-way photoelectric isolating driving circuit (2), two-way intelligent power module circuit (3), two-way FO flashlight electric isolating circuit (4), two-way over-current detection circuit (5), two-way voltage detecting circuit (6), two-way hall signal low-pass filtering/photoelectric isolation module (7), speed given circuit (8), direction of motor rotation given circuit (9), communicating circuit (10), transducer group, described speed given circuit (8), direction of motor rotation given circuit (9) is connected with digital signal processor (1) respectively, described digital signal processor (1) is connected with two-way IPM circuit (3) respectively through two-way photoelectric isolating driving circuit (2), described two-way IPM circuit (3) one end is connected with described digital signal processor (1) through two-way FO flashlight electric isolating circuit (4), the other end is connected with Hexaphase brushless dc motor (12), be connected with described digital signal processor (1) through two-way voltage detecting circuit (6) between described digital signal processor (1) with Hexaphase brushless dc motor (12), described transducer group comprises two motor position sensors (11) be arranged in Hexaphase brushless dc motor (12), described two motor position sensors (11) are connected with described digital signal processor (1) through two-way hall signal low-pass filtering/photoelectric isolation module (7) respectively, and described digital signal processor (1) is connected with two-way voltage detecting circuit (6), communicating circuit (10) respectively.
2. Hexaphase brushless dc motor controller according to claim 1 and 2, it is characterized in that, described every road photoelectric isolating driving circuit (2) is made up of six isolation drive loops, each isolation drive loop comprises high speed photo coupling OP1, resistance R1, the ANODE pin of described high speed photo coupling OP1 is connected with described digital signal processor (1), the CATHODE pin of described high speed photo coupling OP1 is connected to GND, the VCC pin of described high speed photo coupling OP1 meets+15V, the VO pin of described high speed photo coupling OP1 connects pull-up resistor R1 to IPM and controls pin, the GND pin of described high speed photo coupling OP1 meets GND1, GND1 is the ground of+15V.
3. Hexaphase brushless dc motor controller according to claim 2, it is characterized in that: described every road hall signal detects low-pass filtering/photoelectric isolating circuit (7) and comprises operational amplifier IC1A, this schmitt trigger IC2A, this schmitt trigger IC2B, optocoupler OP2, resistance R2, resistance R3, resistance R4, resistance R5, resistance R6, resistance R7, R8, electric capacity C1, electric capacity C2, electric capacity C3, electric capacity C4, electric capacity C5, diode D1, LED 1; Described hall signal is connected to+12V by resistance R2, diode D1; Described resistance R3 mono-end is connected to hall signal, and the other end is connected to the inverting input of operational amplifier IC1 by electric capacity C1, and is connected to the in-phase input end of operational amplifier IC1 by resistance R4, electric capacity C2; Described electric capacity C3 is connected between+12V and COM; The output of described operational amplifier IC1A is connected to the reverse input end of IC1A and the 2nd pin of optocoupler OP2; Described optocoupler OP2 the 1st pin is connected to+12V by resistance R5; Described optocoupler OP2 the 1st pin is connected to GND; Described optocoupler OP2 the 4th pin is connected to+5V by resistance R6, LED 1, and is connected to this schmitt trigger IC2A input by resistance R7, electric capacity C4; The output of described this schmitt trigger IC2A is connected to the input of this schmitt trigger IC2B; The output of described this schmitt trigger IC2B is connected to digital signal processor (1) through resistance R8; Described electric capacity C5 is connected between+5V and GND.
4. Hexaphase brushless dc motor controller according to claim 3, is characterized in that: described current detection circuit (5) of often passing by comprises operational amplifier IC6A, operational amplifier IC6B, operational amplifier IC7A, operational amplifier IC7B, resistance R159, resistance R163, resistance R164, resistance R169, resistance R172, resistance R174, resistance R181, resistance R183, resistance R186, resistance R188, electric capacity C71, electric capacity C73, electric capacity C75, electric capacity C78, electric capacity C83; The output of described operational amplifier IC6A, operational amplifier IC6B, operational amplifier IC7A, operational amplifier IC7B merges into a road respectively through resistance R163, resistance R174, resistance R181, resistance R188, and a road is connected to+5V through resistance R159, another road is connected to digital signal processor (1) through resistance R164; Described electric capacity C71, electric capacity C78 are connected between+5V and GND; Phase current A is connected to the reverse input end of operational amplifier IC6A and the in-phase input end of operational amplifier IC6B through resistance R172, resistance R169, electric capacity C75; Phase current C is connected to the reverse input end of operational amplifier IC7A and the input in the same way of operational amplifier IC7B through resistance R186, resistance R183, electric capacity C83; Forward maximum phase current reference voltage signal Vref2 is connected to the input in the same way of operational amplifier IC6A, operational amplifier IC7A; Reverse maximum phase current reference voltage signal Vref1 is connected to the reverse input end of operational amplifier IC6B, operational amplifier IC7B.
5. Hexaphase brushless dc motor controller according to claim 4, is characterized in that: described direction of motor rotation given circuit (9) comprises optocoupler OP4, optocoupler OP7, resistance R15, resistance R16, resistance R17, resistance R28, resistance R30, resistance R31, electric capacity C7, electric capacity C11; Described electric capacity C7, resistance R17 connect and forward is given and between COM; Described forward is given to be connected and optocoupler OP4 the 1st pin by resistance R16; Described optocoupler OP4 the 1st pin is connected to COM, and the 3rd pin is connected to GND; Described resistance R15 is connected between+5V and optocoupler OP4 the 4th pin; Described optocoupler OP4 the 4th pin is connected to digital signal processor 1; Described electric capacity C11, resistance R31 connect and oppositely between given and COM; Described oppositely given by resistance R30 connection and optocoupler OP7 the 1st pin; Described optocoupler OP7 the 1st pin is connected to ground COM, and the 3rd pin is connected to ground GND; Described resistance R28 is connected between+5V and optocoupler OP7 the 4th pin; Described optocoupler OP7 the 4th pin is connected to digital signal processor (1).
6. Hexaphase brushless dc motor controller according to claim 5, is characterized in that: described speed given circuit (8) comprises operational amplifier IC15A, resistance R73, electric capacity C30, electric capacity C29; Described electric capacity C30 is connected to input in the same way and the GND of operational amplifier IC15A; Electric capacity C29 is connected between+5V and GND; Speed preset is connected to the input in the same way of operational amplifier IC15A through resistance R73, and the reverse input end of operational amplifier IC15A is connected with output, and the rate signal of output send described digital signal processor (1).
7. Hexaphase brushless dc motor controller according to claim 6, is characterized in that: described every road FO flashlight electric isolating circuit (4) comprises optocoupler OP22, resistance R20, electric capacity C33; Described resistance R20 mono-end is connected to+5V, and an end is connected to the 4th pin of optocoupler OP22; Electric capacity C33 mono-end is connected to GND, and an end is connected to the 4th pin of optocoupler OP22; The 2nd pin IPMFO of described optocoupler OP22 is connected with the FO output pin of described IPM circuit 3, and the 4th pin of described optocoupler OP22 is connected with described digital signal processor (1).
8. Hexaphase brushless dc motor controller according to claim 7, it is characterized in that: described communicating circuit (10) comprises 485 communication module IC10, resistance R177, resistance R192, resistance R193, electric capacity C76, electric capacity C93, electric capacity C94, the B signal of described 485 communication module IC10 is connected to GND through resistance R192, electric capacity C93; The a-signal of described 485 communication module IC10 is connected to+5V through resistance R193, electric capacity C94; Between the a-signal that described resistance R177 is connected to described 485 communication module IC10 and B signal; Electric capacity C76 is connected between+5V and GND.
9. the control method of a Hexaphase brushless dc motor, it is characterized in that: this control method is: the motor stator winding of control is two three-phase Y connection, when often overlapping winding three-phase symmetry, when there being rate signal to input, described rate signal inputs given circuit (8) through speed and is input to digital signal processor (1), two-way hall signal detects low-pass filtering/photoelectric isolating circuit (7) detects the first winding and the second winding position signalling respectively by two motor position sensors (10) simultaneously, and determine the hall signal true value that position signalling is corresponding, the hall signal true value determined is output a control signal to two-way photoelectric isolating driving circuit (2) by described digital signal processor (1), power tube corresponding to two-way IPM circuit (3) is made to open or turn off, voltage is added on corresponding winding, motor starts to rotate.
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