CN104410341A - Low-speed torque ripple restraining device and restraining method based on direct current voltage adjustment - Google Patents
Low-speed torque ripple restraining device and restraining method based on direct current voltage adjustment Download PDFInfo
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- CN104410341A CN104410341A CN201410710265.0A CN201410710265A CN104410341A CN 104410341 A CN104410341 A CN 104410341A CN 201410710265 A CN201410710265 A CN 201410710265A CN 104410341 A CN104410341 A CN 104410341A
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- torque ripple
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- voltage source
- buck converter
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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
- H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
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Abstract
The invention discloses a low-speed torque ripple restraining device based on direct current voltage adjustment. The low-speed torque ripple restraining device comprises a Buck converter, a voltage type inverter and a controller, wherein the output end of the voltage type inverter is connected with a three-phase winding of a brushless direct current motor; the output end of the controller is connected with a Hall signal output end of the brushless direct current motor; the output end of the controller is connected with each of the voltage type inverter and the Buck converter and is used for controlling working states of the voltage type inverter and the Buck converter; the output end of the Buck converter is connected with the input end of the voltage type inverter. According to the low-speed torque ripple restraining device, torque ripple can be restrained by a mode of adjusting bus voltage. The invention also discloses a restraining method for the low-speed torque ripple restraining device based on the direct current voltage adjustment.
Description
Technical field
The present invention relates to a kind of electronic control method and control device, particularly a kind of brshless DC motor low-speed torque ripple restraining device based on DC voltage regulation and suppressing method.
Background technology
Brshless DC motor has the advantages such as volume is little, performance good, structure is simple, reliability is high, Driving Torque is large, but the commutation torque ripple produced during brshless DC motor commutation, motor vibrating, noise can be caused, limit the range of application of such motor.Current most brshless DC motor all adopts the constant principle of direct current to realize the operation of motor, the generation of torque pulsation when this just brings brshless DC motor low cruise, but good effect can be played by the size of input voltage during reduction brshless DC motor low cruise, this case produces thus.
Summary of the invention
Object of the present invention, is to provide a kind of low-speed torque ripple restraining device based on DC voltage regulation and suppressing method, and it is by regulating the mode of busbar voltage torque pulsation inhibited.
In order to reach above-mentioned purpose, solution of the present invention is:
A kind of low-speed torque ripple restraining device based on DC voltage regulation, comprise Buck converter, voltage source inverter and controller, wherein, the output of voltage source inverter connects the three-phase windings of brshless DC motor, the input of controller connects the hall signal output of brshless DC motor, and the output of described controller connects voltage source inverter and Buck converter respectively, its operating state is controlled; The output of described Buck converter connects the input of voltage source inverter.
Above-mentioned Buck converter comprises direct voltage source, inductance, IGBT, resistance and diode, wherein, the collector electrode of IGBT connects the positive pole of direct voltage source, the emitter of IGBT connects the negative electrode of diode and one end of inductance respectively, and the other end of inductance connects the anode of diode via resistance, the anode of described diode also connects the negative pole of direct voltage source; The control pole connection control device of described IGBT, regulates ON time under the control of the controller, thus duty ratio is opened in adjustment; And output voltage between the negative electrode of described diode, anode.
Above-mentioned inductance adopts large inductance.
Above-mentioned voltage source inverter adopts three-phase bridge type converter, three-phase bridge type converter is by 6 power tubes, one group of in parallel formation of first connecting again between two, the input of described three-phase bridge type converter connects the output of Buck converter, and three of three-phase bridge type converter outputs are as the output of voltage source inverter, be connected respectively the three-phase windings of brshless DC motor.
Based on a suppressing method for the foregoing low-speed torque ripple restraining device based on DC voltage regulation, comprise the steps:
(1) controller gathers the hall signal of brshless DC motor, and calculates the commutation conducting phase of brshless DC motor according to the hall signal collected;
(2) controller is according to the commutation conducting phase in step (1), for Buck converter provides signal, control Buck converter regulates to be opened duty ratio thus changes output voltage, make the terminal voltage of commutation conducting phase close to 4 times of back electromotive force amplitude, namely numerical value float back electromotive force amplitude ± 10% within.
In above-mentioned steps (1), controller judges commutation conducting phase according to following table:
| State | 1-2 | 2-3 | 3-4 | 4-5 | 5-6 | 6-1 |
| Hall device state | 110-100 | 100-101 | 101-001 | 001-011 | 011-010 | 010-110 |
| Commutation conducting phase X | A | C | B | A | C | B |
Wherein, A, B, C refer to the three-phase windings of brshless DC motor respectively.
After adopting such scheme, the present invention utilizes the principle based on DC voltage regulation to reduce the size of direct voltage, thus torque pulsation inhibited, and structure is simple.
Accompanying drawing explanation
Fig. 1 is the integrated stand composition of restraining device of the present invention;
Fig. 2 is induced potential and the input current figure of each phase winding of brshless DC motor;
Wherein, (a), (b), (c) represent the induced potential of A, B, C three-phase windings respectively, and (d), (e), (f) represent the input current of A, B, C three-phase windings respectively;
Fig. 3 is the flow chart of suppressing method of the present invention.
Embodiment
Below with reference to accompanying drawing, technical scheme of the present invention is described in detail.
As shown in Figure 1, the invention provides a kind of low-speed torque ripple restraining device based on DC voltage regulation, for controlling the brshless DC motor in Fig. 1, described restraining device comprises Buck converter, voltage source inverter and controller (adopting single-chip microcomputer in the present embodiment), wherein, the output of voltage source inverter connects the three-phase windings of brshless DC motor, the input of controller connects the hall signal output of brshless DC motor, and the output of described controller connects voltage source inverter and Buck converter respectively, its operating state is controlled, the output of described Buck converter connects the input of voltage source inverter.To introduce respectively each comprising modules below.
Described Buck converter comprises direct voltage source Ud, inductance L, IGBT, resistance R and diode VD, wherein, the collector electrode of IGBT connects the positive pole of direct voltage source Ud, the emitter of IGBT connects the negative electrode of diode VD and one end of inductance L respectively, and the other end of inductance L connects the anode of diode VD via resistance R, the anode of described diode VD also connects the negative pole of direct voltage source Ud; The control pole connection control device of described IGBT, regulates ON time under the control of the controller, thus duty ratio is opened in adjustment.Output voltage Uo between the negative electrode of described diode VD, anode.In the present embodiment, inductance L adopts the large inductance of more than 30mh, thus avoids Buck converter to occur the situation of discontinuous current.
Described voltage source inverter adopts three-phase bridge type converter, and three-phase bridge type converter is by 6 power tube MOS1-MOS6, one group of in parallel formation of first connecting again between two, and the control end connection control device respectively of each power tube, opens under the control of the controller or cut out; The input of described three-phase bridge type converter connects the output of Buck converter, and three of three-phase bridge type converter outputs are as the output of voltage source inverter, the output of described voltage source inverter is connected respectively the three-phase windings of brshless DC motor.
As shown in Figure 2, induced potential and the input current figure of each phase winding of brshless DC motor, three phase back-emf are trapezoidal wave, trapezoidal wave flat-top width is 120 ° of electric angles, three-phase symmetrical, and control electric current is ideal square wave, wide with trapezoidal wave back electromotive force flat-top, electric current and back electromotive force are with positive and negative, and in a certain running status, electromagnetic torque is proportional to each phase induced electromotive force and the input current sum of products.
Coordinate shown in Fig. 3, the present invention also provides a kind of suppressing method based on the aforementioned low-speed torque ripple restraining device based on DC voltage regulation, comprises the steps:
(1) controller gathers the hall signal of brshless DC motor, and calculates the commutation conducting phase X of brshless DC motor and not covert Y according to the hall signal collected; Wherein, X, Y all refer to three-phase windings A, B, C, and there is corresponding states as shown in table 1, and the phase X of commutation conducting herein refers to now from that phase turning off conducting, instead of maintains that phase of conducting always;
Table 1
| State | 1-2 | 2-3 | 3-4 | 4-5 | 5-6 | 6-1 |
| Hall device state | 110-100 | 100-101 | 101-001 | 001-011 | 011-010 | 010-110 |
| Commutation conducting phase X | A | C | B | A | C | B |
(2) controller is according to the commutation conducting phase X in step (1), for the IGBT in Buck converter provides signal, control IGBT regulates and opens duty ratio thus change output voltage Uo, make the terminal voltage Uxo of commutation conducting phase X close to 4 times of back electromotive force amplitude, set in the present embodiment numerical value float back electromotive force amplitude ± 10% within be and satisfy condition, now commutation torque ripple
close to 0, wherein, U
xofor the terminal voltage of commutation conducting phase X, E
mfor back electromotive force amplitude, ω
mfor angular speed, L is the self-induction of every phase winding, and M is the mutual inductance between every two phase windings, and t is time variable; Wherein, back electromotive force amplitude E
mcomputing formula be:
E
m＝C
eφn
In formula, C
efor the power coefficient of brshless DC motor, φ is the rotor flux of brshless DC motor, and n is the rotating speed of brshless DC motor.
To sum up, a kind of low-speed torque ripple restraining device based on DC voltage regulation of the present invention and suppressing method, according to the running status of brshless DC motor, by the IGBT ON time in Single-chip Controlling Buck converter, commutation torque ripple is reduced, the requirement that when reaching brshless DC motor low cruise, torque pulsation is little.
Above embodiment is only and technological thought of the present invention is described, can not limit protection scope of the present invention with this, and every technological thought proposed according to the present invention, any change that technical scheme basis is done, all falls within scope.
Claims (6)
1. the low-speed torque ripple restraining device based on DC voltage regulation, it is characterized in that: comprise Buck converter, voltage source inverter and controller, wherein, the output of voltage source inverter connects the three-phase windings of brshless DC motor, the input of controller connects the hall signal output of brshless DC motor, and the output of described controller connects voltage source inverter and Buck converter respectively, its operating state is controlled; The output of described Buck converter connects the input of voltage source inverter.
2. as claimed in claim 1 based on the low-speed torque ripple restraining device of DC voltage regulation, it is characterized in that: described Buck converter comprises direct voltage source, inductance, IGBT, resistance and diode, wherein, the collector electrode of IGBT connects the positive pole of direct voltage source, the emitter of IGBT connects the negative electrode of diode and one end of inductance respectively, and the other end of inductance connects the anode of diode via resistance, the anode of described diode also connects the negative pole of direct voltage source; The control pole connection control device of described IGBT, regulates ON time under the control of the controller, thus duty ratio is opened in adjustment; And output voltage between the negative electrode of described diode, anode.
3. as claimed in claim 2 based on the low-speed torque ripple restraining device of DC voltage regulation, it is characterized in that: described inductance adopts the large inductance of more than 30mh.
4. as claimed in claim 1 based on the low-speed torque ripple restraining device of DC voltage regulation, it is characterized in that: described voltage source inverter adopts three-phase bridge type converter, three-phase bridge type converter is by 6 power tubes, one group of in parallel formation of first connecting again between two, the input of described three-phase bridge type converter connects the output of Buck converter, and three of three-phase bridge type converter outputs are as the output of voltage source inverter, be connected respectively the three-phase windings of brshless DC motor.
5., based on a suppressing method for the low-speed torque ripple restraining device based on DC voltage regulation as claimed in claim 1, it is characterized in that comprising the steps:
(1) controller gathers the hall signal of brshless DC motor, and calculates the commutation conducting phase of brshless DC motor according to the hall signal collected;
(2) controller is according to the commutation conducting phase in step (1), for Buck converter provides signal, control Buck converter regulates to be opened duty ratio thus changes output voltage, make the terminal voltage of commutation conducting phase close to 4 times of back electromotive force amplitude, namely numerical value float back electromotive force amplitude ± 10% within.
6., as claimed in claim 5 based on the suppressing method of the low-speed torque ripple restraining device of DC voltage regulation, it is characterized in that: in described step (1), controller judges commutation conducting phase according to following table:
Wherein, A, B, C refer to the three-phase windings of brshless DC motor respectively.
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| CN105429525A (en) * | 2015-12-20 | 2016-03-23 | 中国科学院西安光学精密机械研究所 | Method for reducing torque fluctuation of brushless DC motor |
| CN107528506A (en) * | 2017-08-15 | 2017-12-29 | 西安电子科技大学 | The device and method that brshless DC motor commutation torque ripple suppresses |
| CN109067267A (en) * | 2018-08-15 | 2018-12-21 | 天津大学 | One kind being used for brshless DC motor commutation torque ripple minimization method |
| CN109600078A (en) * | 2018-11-21 | 2019-04-09 | 东华大学 | Permanent-magnet brushless DC electric machine torque fluctuations suppressing method based on tandem type converter |
| CN109842340A (en) * | 2019-02-21 | 2019-06-04 | 哈尔滨工程大学 | Brushless DC motor without position sensor starting control and low speed operation method |
| CN111313795A (en) * | 2020-03-12 | 2020-06-19 | 蚌埠学院 | Torque ripple suppression system and method for switched reluctance motor |
| CN113395021A (en) * | 2021-07-13 | 2021-09-14 | 北京航空航天大学 | Buck converter-based brushless direct current motor low-power-consumption driving system and method |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105429525A (en) * | 2015-12-20 | 2016-03-23 | 中国科学院西安光学精密机械研究所 | Method for reducing torque fluctuation of brushless DC motor |
| CN105429525B (en) * | 2015-12-20 | 2017-10-31 | 中国科学院西安光学精密机械研究所 | A kind of method for reducing brshless DC motor torque fluctuations |
| CN107528506A (en) * | 2017-08-15 | 2017-12-29 | 西安电子科技大学 | The device and method that brshless DC motor commutation torque ripple suppresses |
| CN109067267B (en) * | 2018-08-15 | 2021-10-22 | 天津大学 | Commutation torque fluctuation suppression method for brushless direct current motor |
| CN109067267A (en) * | 2018-08-15 | 2018-12-21 | 天津大学 | One kind being used for brshless DC motor commutation torque ripple minimization method |
| CN109600078A (en) * | 2018-11-21 | 2019-04-09 | 东华大学 | Permanent-magnet brushless DC electric machine torque fluctuations suppressing method based on tandem type converter |
| CN109600078B (en) * | 2018-11-21 | 2022-01-11 | 东华大学 | Permanent magnet brushless direct current motor torque fluctuation suppression method based on cascade converter |
| CN109842340A (en) * | 2019-02-21 | 2019-06-04 | 哈尔滨工程大学 | Brushless DC motor without position sensor starting control and low speed operation method |
| CN109842340B (en) * | 2019-02-21 | 2021-04-02 | 哈尔滨工程大学 | Starting control and low-speed running method of brushless direct current motor without position sensor |
| CN111313795A (en) * | 2020-03-12 | 2020-06-19 | 蚌埠学院 | Torque ripple suppression system and method for switched reluctance motor |
| CN111313795B (en) * | 2020-03-12 | 2021-12-14 | 蚌埠学院 | Torque ripple suppression method for switched reluctance motor |
| CN113395021A (en) * | 2021-07-13 | 2021-09-14 | 北京航空航天大学 | Buck converter-based brushless direct current motor low-power-consumption driving system and method |
| CN113395021B (en) * | 2021-07-13 | 2022-06-10 | 北京航空航天大学 | Buck converter-based brushless direct current motor low-power-consumption driving system and method |
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