CN104270047A - Method and system for achieving voltage reduction control in low-speed running process of motor - Google Patents
Method and system for achieving voltage reduction control in low-speed running process of motor Download PDFInfo
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- CN104270047A CN104270047A CN201410516112.2A CN201410516112A CN104270047A CN 104270047 A CN104270047 A CN 104270047A CN 201410516112 A CN201410516112 A CN 201410516112A CN 104270047 A CN104270047 A CN 104270047A
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- motor
- moment
- pwm
- rotating speed
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/06—Arrangements for speed regulation of a single motor wherein the motor speed is measured and compared with a given physical value so as to adjust the motor speed
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Electric Motors In General (AREA)
- Control Of Direct Current Motors (AREA)
Abstract
The invention discloses a method and system for achieving voltage reduction control in the low-speed running process of a motor. The system comprises a control unit, the motor, a rotor position detector, a chopper and a PWM. The rotor position detector is used for detecting the rotating speed of the motor. The control unit is used for estimating the rotating speed of the motor according to the detection result and controlling the chopper to adjust the duty ratio of the PWM according to the estimation result. By means of the method and system, the direct current voltage of a motor winding is adjusted according to the duty ratio of the PWM, the phase current waveform is improved through voltage reduction control, and thus the vibration noise generated when the motor runs at a low speed is reduced.
Description
Technical field
The present invention relates to Motor Control Field, particularly relate to a kind of method and system that step-down controls when realizing motor low cruise.
Background technology
Switched reluctance machines (being called for short SR motor), since appearance, has been superior to properity and the economic index of conventional motors, has been subject to academia and pays close attention to greatly with it.Compared with all kinds of governing system, SR motor driven systems (being called for short SRD system) all has suitable competitiveness at aspects such as cost, performance, applications.But owing to there is the shortcoming of vibration noise large (especially during low cruise), the promotion and application of SR motor are affected.
Therefore, be necessary to provide a kind of method and system that step-down controls when realizing motor low cruise, to solve the technical problem that above-mentioned prior art exists.
Summary of the invention
The object of this invention is to provide a kind of method and system that step-down controls when realizing motor low cruise, adopt step-down to control to improve phase current waveform, thus reduce the vibration noise of motor low cruise.
According to an aspect of the present invention, a kind of method that step-down controls when realizing motor low cruise is provided, comprises the following steps:
Step S1, measures the rotating speed of motor.
Step S2, according to the duty ratio of the adjustment of rotational speed PWM of motor.
Step S3, according to the direct voltage of the duty ratio adjustment motor winding of PWM.
Further, in step S1, the rotating speed of described measurement motor comprises:
Step S101, the pulse signal rotated by rotor position detector output motor.
Step S102, carries out described pulse signal
frequency division, and ensure within each sampling period, warp
waveform after frequency division has a complete cycle.
Step S103, to motor
the rotating speed in moment is estimated.
Further, in described step S103, to motor
the computing formula that the rotating speed in moment carries out estimating is:
，
Wherein,
for motor
the rotating speed in moment, the cycle is
, frequency
,
for the number of poles of rotor,
for the moment
to the moment
between distance,
for the moment
to the moment
between distance,
for the moment
to the moment
between distance, and,
,
,
.
Further, the duty ratio of the adjustment of rotational speed PWM according to motor in described step S2 comprises:
Step S201, judges the rotating speed of motor
whether be greater than the lower rotation speed limit that PWM stays out of work
, if so, then the value of PWM register is set
for
, and go to step S205.
Step S202, otherwise, arrange
, wherein
,
for constant.
Step S203, judges
whether be less than lower limit
, if so, arrange
, and go to step S205.
Step S204, judges
whether be greater than higher limit
, if so, arrange
, and go to step S205.
Step S205, judges
whether equal the front value of PWM register
if be not equal to, then arrange
.
According to a further aspect in the invention, a kind of system that step-down controls when realizing motor low cruise is provided, comprise control unit, motor, rotor position detector, chopper and PWM, the rotating speed of described rotor position detector to motor detects, control unit is estimated according to the rotating speed of testing result to motor, and adjusts according to the duty ratio of estimation output control chopper to PWM, according to the direct voltage of the duty ratio adjustment motor winding of PWM.
Further, described rotor position detector comprises photo electric sensitive element and the rotating disk of middle fluting, and described rotating disk and rotor are coaxially installed, and are provided with 6 equally distributed teeth groove.
Further, describedly to the computing formula that the rotating speed of motor is estimated be:
，
Wherein,
for motor
the rotating speed in moment, the cycle is
, frequency
,
for the number of poles of rotor,
for the moment
to the moment
between distance,
for the moment
to the moment
between distance,
for the moment
to the moment
between distance, and,
,
,
.
Further, described according to estimating that output control chopper carries out adjustment to the duty ratio of PWM and comprises:
Judge the rotating speed of motor
whether be greater than the lower rotation speed limit that chopper is in pass-through state
, if so, then the value of PWM register is set
for
.
Otherwise, arrange
, wherein
,
for constant.
Judge
whether be less than lower limit
, if so, arrange
.
Judge
whether be greater than higher limit
, if so, arrange
.
Judge
whether equal the front value of PWM register
if be not equal to, then arrange
.
Preferably, described control unit is 80c196KC single-chip microcomputer, and described motor is switched reluctance machines.
According to of the present invention a kind of realize motor low cruise time the step-down method and system that control, adopt step-down to control to improve phase current waveform, thus reduce the vibration noise of motor low cruise.
Below by drawings and Examples, technical scheme of the present invention is described in further detail.
Accompanying drawing explanation
Fig. 1 is the flow chart of the method that step-down controls when realizing motor low cruise of the present invention;
Fig. 2 is the first sub-process figure of the method that step-down controls when realizing motor low cruise of the present invention;
Fig. 3 is the second sub-process figure of the method that step-down controls when realizing motor low cruise of the present invention;
Fig. 4 is the measuring principle figure of the method and system that step-down controls when realizing motor low cruise of the present invention;
Fig. 5 is the structural representation of the system that step-down controls when realizing motor low cruise of the present invention;
Fig. 6 is the process schematic diagram of the chopper of the system that step-down controls when realizing motor low cruise of the present invention;
Fig. 7 is the phase current waveform figure of the method and system that step-down controls when realizing motor low cruise of the present invention;
Fig. 8 is actual measurement speed curves figure when realizing motor low cruise during the electric motor starting of the method and system that step-down controls of the present invention;
Fig. 9 is rotary speed measure curve chart during the motor reversal of the method and system that step-down controls when realizing motor low cruise of the present invention;
Figure 10 is the impact of the method and system that step-down controls when realizing motor low cruise of the present invention, prominent rotary speed measure change curve when unloading load.
Embodiment
For making the object, technical solutions and advantages of the present invention clearly understand, below in conjunction with embodiment also with reference to accompanying drawing, the present invention is described in more detail.Should be appreciated that, these describe just exemplary, and do not really want to limit the scope of the invention.In addition, in the following description, the description to known features and technology is eliminated, to avoid unnecessarily obscuring concept of the present invention.
As shown in Figures 1 to 6, a kind of method that step-down controls when realizing motor low cruise of the present invention, comprises the following steps:
Step S1, measures the rotating speed of motor.
Step S2, according to the duty ratio of the adjustment of rotational speed PWM of motor.
Step S3, according to the direct voltage of the duty ratio adjustment motor winding of PWM.
Further, in step S1, the rotating speed of described measurement motor comprises:
Step S101, the pulse signal rotated by rotor position detector output motor.
Step S102, carries out described pulse signal
frequency division, and ensure within each sampling period, warp
waveform after frequency division has a complete cycle.
Step S103, to motor
the rotating speed in moment is estimated.
Further, in described step S103, to motor
the computing formula that the rotating speed in moment carries out estimating is:
，
Wherein,
for motor
the rotating speed in moment, the cycle is
, frequency
,
for the number of poles of rotor,
for the moment
to the moment
between distance,
for the moment
to the moment
between distance,
for the moment
to the moment
between distance, and,
,
,
.
If
the moment angular speed of estimation is
, estimation angular acceleration is
, then any time
estimation angular speed
, integration is carried out to this formula, obtains:
.
If
the angular displacement of moment motor is 0, and the number of poles of the rotor of motor is
, because the teeth groove of the rotating disk of rotor position detector 3 is equally distributed, so
,
the angular displacement of moment motor is respectively:
with
, can calculate according to above-mentioned formula
with
, can calculate according to the two
the estimation angular speed in moment
with estimation rotating speed
.
When motor travels at the uniform speed,
,
, now motor
the rotating speed in moment
computing formula be:
。
The duty ratio of the adjustment of rotational speed PWM according to motor in step S2 comprises:
Step S201, judges the rotating speed of motor
whether be greater than the lower rotation speed limit that PWM stays out of work
, if so, then the value of PWM register is set
for
, and go to step S205.
Step S202, otherwise, arrange
, wherein
,
for constant.
Step S203, judges
whether be less than lower limit
, if so, arrange
, and go to step S205.
Step S204, judges
whether be greater than higher limit
, if so, arrange
, and go to step S205.
Step S205, judges
whether equal the front value of PWM register
if be not equal to, then arrange
.
A kind of system that step-down controls when realizing motor low cruise provided by the invention, comprise control unit 1, motor 2, rotor position detector 3, chopper 4 and PWM5, the rotating speed of rotor position detector 3 pairs of motors 2 detects, and control unit 1 is estimated according to the rotating speed of testing result to motor 2, and adjust according to the duty ratio of estimation output control chopper 4 couples of PWM5, according to the direct voltage of the duty ratio adjustment motor winding of PWM5.
Wherein, rotor position detector 3 comprises photo electric sensitive element and the rotating disk of middle fluting, and rotating disk and rotor are coaxially installed, and are provided with 6 equally distributed teeth groove, and control unit 1 is 80c196KC single-chip microcomputer, and motor 2 is switched reluctance machines.
For different rotating speeds, the frequency division of position signalling is realized by programmable timer 8253, and the signal after frequency division is as the input signal of 80c196KC single-chip microcomputer HSI.HSI adopts interrupt mode, and the positive and negative saltus step of detection signal, the value of HSI register when at every turn interrupting under meter, the difference of twice interrupting value is accordingly
value, stores up-to-date 3
value, namely
,
with
, interrupt by up-to-date these 3 at every turn
value is according to formulae discovery rotating speed.Therefore, for the position signalling after frequency division, in fact every half period calculates a rotating speed, in the moment of electric motor starting, because not full 3 of sampling
during value, so do not carry out turn count, initial speed value is adopted to the control of motor 2.
Wherein, to the computing formula that the rotating speed of motor 2 is estimated be:
，
Wherein,
for motor
the rotating speed in moment, the cycle is
, frequency
,
for the number of poles of rotor,
for the moment
to the moment
between distance,
for the moment
to the moment
between distance,
for the moment
to the moment
between distance, and,
,
,
.
Carry out adjustment according to the duty ratio of estimation output control chopper 4 couples of PWM5 to comprise:
Judge the rotating speed of motor
whether be greater than the lower rotation speed limit that chopper is in pass-through state
, if so, then the value of PWM register is set
for
.
Otherwise, arrange
, wherein
,
for constant.
Judge
whether be less than lower limit
, if so, arrange
.
Judge
whether be greater than higher limit
, if so, arrange
.
Judge
whether equal the front value of PWM register
if be not equal to, then arrange
.
Experimental result:
With the SR motor of four phase 8/6 pole 0.75KW for control object is tested, Fig. 7 is the phase current waveform of motor when rotating speed n=1000r/min.Wherein, a is not for adopting the phase current waveform (CCC controls generation effect) time low speed step-down control (chopper leads directly to, i.e. PWM register value X=255); B is the phase current waveform (bottom of figure is divided into the phased signal of a phase winding) adopting low speed step-down to control.Relatively a and b, the phase current after adopting low speed step-down to control not only rate of change reduces, and waveform is approximate square waves.Result shows, after this system adopts low speed step-down to control, phase current waveform is improved, and not only ensure that the torque of motor and exerts oneself, and the low speed vibration noise of motor also decreases, and reaches Expected Results.
Under Fig. 8 gives several different loads and given rotating speed, rotary speed measure curve when model machine starts.A, b, c, d corresponding 800r/m, 0.5Nm, 1000r/m, 0.5Nm, 800r/m, 1.0Nm and 1000r/m respectively in Fig. 8, the measured curve of 1.0Nm.
Fig. 9 gives the process rotary speed measure curve of motor reversal.A, b corresponding 1000r/m, 0.5Nm and 1000r/m respectively in Fig. 9, the rotary speed measure curve of 1.0Nm.
Figure 10 give to motor impact and prominent unload a fixed load time, rotary speed measure change curve.A, b corresponding 1000r/m, impact 1.0Nm and 1000r/m respectively in Figure 10, the prominent rotary speed measure change curve unloading 1.0Nm.
In sum, a kind of method and system that step-down controls when realizing motor low cruise of the present invention, adopt step-down to control to improve phase current waveform, thus reduce the vibration noise of motor low cruise.
Should be understood that, above-mentioned embodiment of the present invention only for exemplary illustration or explain principle of the present invention, and is not construed as limiting the invention.Therefore, any amendment made when without departing from the spirit and scope of the present invention, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.In addition, claims of the present invention be intended to contain fall into claims scope and border or this scope and border equivalents in whole change and modification.
Claims (10)
1. the method that when realizing motor low cruise, step-down controls, is characterized in that, comprise step:
Step S1, measures the rotating speed of motor;
Step S2, according to the duty ratio of the adjustment of rotational speed PWM of motor;
Step S3, according to the direct voltage of the duty ratio adjustment motor winding of PWM.
2. safety cabinet according to claim 1, is characterized in that, described radio-frequency (RF) identification induced key is by having the contactor control device touch-control input password of specific key.
3. the method that step-down controls when realizing motor low cruise according to claim 1, it is characterized in that, the rotating speed of described measurement motor comprises:
Step S101, the pulse signal rotated by rotor position detector output motor;
Step S102, carries out described pulse signal
frequency division, and ensure within each sampling period, the waveform after Fractional-N frequency has a complete cycle;
Step S103, to motor
the rotating speed in moment is estimated.
4. the method that step-down controls when realizing motor low cruise according to claim 3, is characterized in that, in described step S103, to motor
the computing formula that the rotating speed in moment carries out estimating is:
，
Wherein,
for motor
the rotating speed in moment, the cycle is
, frequency
,
for the number of poles of rotor,
for the moment
to the moment
between distance,
for the moment
to the moment
between distance,
for the moment
to the moment
between distance, and,
,
,
.
5. the method that step-down controls when realizing motor low cruise according to claim 4, it is characterized in that, the duty ratio of the adjustment of rotational speed PWM according to motor in described step S2 comprises:
Step S201, judges the rotating speed of motor
whether be greater than the lower rotation speed limit that PWM stays out of work
, if so, then the value of PWM register is set
for
, and go to step S205;
Step S202, otherwise, arrange
, wherein
,
for constant;
Step S203, judges
whether be less than lower limit
, if so, arrange
, and go to step S205;
Step S204, judges
whether be greater than higher limit
, if so, arrange
, and go to step S205;
Step S205, judges
whether equal the front value of PWM register
if be not equal to, then arrange
.
6. the system that controls of step-down when realizing motor low cruise, it is characterized in that, comprise control unit, motor, rotor position detector, chopper and PWM, the rotating speed of described rotor position detector to motor detects, control unit is estimated according to the rotating speed of testing result to motor, and adjusts according to the duty ratio of estimation output control chopper to PWM, according to the direct voltage of the duty ratio adjustment motor winding of PWM.
7. the system that step-down controls when realizing motor low cruise according to claim 6, it is characterized in that, described rotor position detector comprises photo electric sensitive element and the rotating disk of middle fluting, and described rotating disk and rotor are coaxially installed, and are provided with 6 equally distributed teeth groove.
8. the system that step-down controls when realizing motor low cruise according to claim 6, is characterized in that, describedly to the computing formula that the rotating speed of motor is estimated is:
，
Wherein,
for motor
the rotating speed in moment, the cycle is
, frequency
,
for the number of poles of rotor,
for the moment
to the moment
between distance,
for the moment
to the moment
between distance,
for the moment
to the moment
between distance, and,
,
,
.
9. the system that step-down controls when realizing motor low cruise according to claim 6, is characterized in that, describedly carries out adjustment according to estimation output control chopper to the duty ratio of PWM and comprises:
Judge the rotating speed of motor
whether be greater than the lower rotation speed limit that chopper is in pass-through state
, if so, then the value of PWM register is set
for
;
Otherwise, arrange
, wherein
,
for constant;
Judge
whether be less than lower limit
, if so, arrange
;
Judge
whether be greater than higher limit
, if so, arrange
;
Judge
whether equal the front value of PWM register
if be not equal to, then arrange
.
10. according to any one of claim 6 to 9 realize motor low cruise time the step-down system that controls, it is characterized in that, described control unit is 80c196KC single-chip microcomputer, and described motor is switched reluctance machines.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410516112.2A CN104270047A (en) | 2014-09-30 | 2014-09-30 | Method and system for achieving voltage reduction control in low-speed running process of motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410516112.2A CN104270047A (en) | 2014-09-30 | 2014-09-30 | Method and system for achieving voltage reduction control in low-speed running process of motor |
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|---|---|
| CN104270047A true CN104270047A (en) | 2015-01-07 |
Family
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|---|---|---|---|
| CN201410516112.2A Pending CN104270047A (en) | 2014-09-30 | 2014-09-30 | Method and system for achieving voltage reduction control in low-speed running process of motor |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104767344A (en) * | 2015-04-14 | 2015-07-08 | 上海电机系统节能工程技术研究中心有限公司 | Method for eliminating vibration of PWM powered brushless direct current motor through frequency calculation |
| CN107947673A (en) * | 2016-10-12 | 2018-04-20 | 丰田自动车株式会社 | Control device for switched reluctance motor |
| CN109617495A (en) * | 2019-01-28 | 2019-04-12 | 先勒动力控制技术(上海)有限公司 | A kind of method and device reducing converter noise by dynamic regulation busbar voltage |
| CN109997493A (en) * | 2019-04-15 | 2019-07-12 | 杭州晶一智能科技有限公司 | Grass-removing robot is based on motor load and carries out careless condition recognition methods |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104767344A (en) * | 2015-04-14 | 2015-07-08 | 上海电机系统节能工程技术研究中心有限公司 | Method for eliminating vibration of PWM powered brushless direct current motor through frequency calculation |
| CN104767344B (en) * | 2015-04-14 | 2017-04-19 | 上海电机系统节能工程技术研究中心有限公司 | Method for eliminating vibration of PWM powered brushless direct current motor through frequency calculation |
| CN107947673A (en) * | 2016-10-12 | 2018-04-20 | 丰田自动车株式会社 | Control device for switched reluctance motor |
| CN107947673B (en) * | 2016-10-12 | 2020-06-05 | 丰田自动车株式会社 | Control device for switched reluctance motor |
| US10910980B2 (en) | 2016-10-12 | 2021-02-02 | Toyota Jidosha Kabushiki Kaisha | Control device for switched reluctance motor |
| CN109617495A (en) * | 2019-01-28 | 2019-04-12 | 先勒动力控制技术(上海)有限公司 | A kind of method and device reducing converter noise by dynamic regulation busbar voltage |
| CN109997493A (en) * | 2019-04-15 | 2019-07-12 | 杭州晶一智能科技有限公司 | Grass-removing robot is based on motor load and carries out careless condition recognition methods |
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Application publication date: 20150107 |