CN104506101B - The operation method of permanent-magnet brushless DC electric machine permanent torque step motion control - Google Patents
The operation method of permanent-magnet brushless DC electric machine permanent torque step motion control Download PDFInfo
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Abstract
The operation method of permanent-magnet brushless DC electric machine permanent torque step motion control of the present invention, is related to a kind of electric machines control technology, and the DSP control module in the method equipment therefor is using set circulation umber of beats bH, advanced step number k, given electromagnetic torque T*And the corresponding current phasor i of different spatialsAmplitude, current phasor needed for calculating control, and current control method is utilized, be converted to logic level pulse-width signal, to control the conducting and shut-off of the switching tube of three-phase inverter bridge circuit in above-mentioned power circuit, so as to realize the permanent torque step motion control to permanent-magnet brushless DC electric machine.The inventive method is discrete by certain circulation umber of beats on electrical angle locus by the stator current vector synthesized to three-phase current, obtain the stray currents vector of controlled motor operation, by increasing circulation umber of beats, can obtain less stepping angle, position resolution is improved, so as to improve non-brush permanent-magnet DC motor positioning precision in the case where load capacity is ensured.
Description
Technical field
The present invention relates to a kind of electric machines control technology, the more particularly to fortune of permanent-magnet brushless DC electric machine permanent torque step motion control
Row method.
Background technology
Permanent-magnet brushless DC electric machine is made up of stator winding and PM rotor, does not have phase changer, its control characteristic
It is similar to brushed DC motor.Because it has the advantages that big torque, high efficiency, rotating speed high, control simply and easy care, and
With the development of Power Electronic Technique, permanent-magnet material, Digital Electronic Technique and New Control Theory, permanent-magnet brushless DC electric machine exists
High performance servo-drive field shows wide application prospect.But due to the particularity that it is constructed so that its air-gap field
Close to square wave, winding induced electromotive force is trapezoidal wave for distribution, although this is conducive to motor to produce a constant torque,
Motor detects commutation by Hall element, and conventional is two or two conductings or three or three conduction modes, and commutation angle is 60 °, motor
Step into angle larger, although and commutation angle is reduced half by two or three conductings, level of torque differs, this just have influence on permanent magnetism without
The load capacity of brushless motor；In addition, it is larger to operate above mode motor stepping angle, it is impossible to be more precisely located.
It is therefore proposed that a kind of control method for improving non-brush permanent-magnet DC motor positioning precision is very meaningful.
The content of the invention
The technical problems to be solved by the invention are：The operation side of permanent-magnet brushless DC electric machine permanent torque step motion control is provided
Method, the operation method is directed to conventional three-phase permanent brshless DC motor, by the stator current vector synthesized to three-phase current
It is discrete by certain circulation umber of beats on electrical angle locus, the stray currents vector of controlled motor operation is obtained, by increasing
Systemic circulation umber of beats, can obtain less stepping angle, improve position resolution, so as to be improved forever in the case where load capacity is ensured
Magnetic DC brushless motor positioning precision.
The present invention solves the technical scheme that is used of the technical problem：Permanent-magnet brushless DC electric machine permanent torque step motion control
Operation method, hereinafter referred to as operation method, its step is as follows：
A. operation method equipment therefor and operation：
The operation method equipment therefor of permanent-magnet brushless DC electric machine permanent torque step motion control, including DSP control module, power
Circuit, permanent-magnet brushless DC electric machine, encoder position detection module and input power module, wherein, input power module is DSP
Control module, power circuit and encoder position detection module are powered, and DSP control module, power circuit, brushless, permanently are straight
Stream motor and encoder position detection module are connected with wire successively, and encoder position detection module is used with DSP control module again
Wire is connected；Powered to DSP control module, power circuit and encoder position detection module by input power module first,
Detect the initial position of rotor of permanent-magnet brushless DC electric machine by encoder position detection module again, and by the rotor of motor position
Confidence number is given in DSP control module；
B. the step of operation method：
The first step, determines the position resolution of permanent-magnet brushless DC electric machine：
Position resolution refers to that motor rotates a circle the mechanical stepping angle θ for being includedbmNumber, according to positioning requirements determine
Circulation umber of beats b in one cycle periodHAnd stepping angle θb, stepping angle θ herebIt is that 360 ° of electrical angles press circulation umber of beats bHDecile
The angle for obtaining afterwards, i.e. θb=360 °/bH, because θbm=θb/ motor number of pole-pairs, then position resolution is 360 °/θbmIndividual machinery
Stepping angle/turn, again positioning points=circulation umber of beats × motor number of pole-pairs, then position resolution numerically with positioning point value
It is equal；
Second step, determines the spatial spreading position of current phasor：
The current phasor is that permanent-magnet brushless DC electric machine three-phase current is obtained into alpha-beta coordinate components institute by " 3-2 " conversion
The vector of composition, by 360 ° of circulation umber of beats b determined in pressing the first step of electrical angle one week under static alpha-beta coordinate systemHIt is divided into bHIt is individual
Spatial spreading position, thereby determines that the spatial spreading position of current phasor；
3rd step, calculates the corresponding current phasor i of different spatialsAmplitude and list：
The rotor-position and fortune of current time permanent-magnet brushless DC electric machine are detected by above-mentioned encoder position detection module
Line direction, then the rotor-position of permanent-magnet brushless DC electric machine is read by above-mentioned DSP control module, advanced step number k is set, give
Electromagnetic torque T*, the corresponding current phasor i of different spatial is calculated by formula (1)sAmplitude, accordingly by conversion
Corresponding three-phase stray currents is obtained as the current phasor set-point in above-mentioned DSP control module, and list,
In above formula, θdIt is the absolute angle closest to the electric current discrete location of rotor-position, k is advanced step number, θbIt is first
The stepping angle determined in step；
4th step, realizes the step run of permanent-magnet brushless DC electric machine：
Current permanent-magnet brushless DC electric machine rotor position is detected by above-mentioned encoder position detection module, according to formula
(2) current phasor sequence number x is calculated, i.e. stray currents vector position is numbered counterclockwise, further according to DC permanent-magnetic brushless
The direction of motion of rotor, look into the 3rd step obtained in list, obtain current desired current phasor isx, finally return to foregoing
Encoder position detection module detects current permanent-magnet brushless DC electric machine rotor position, repeats this process,
In above formula, % represents complementation, and round is round computing；
Above-mentioned DSP control module is using set circulation umber of beats bH, advanced step number k, given electromagnetic torque T*And it is different
The corresponding current phasor i in locussAmplitude, the current phasor needed for being controlled, and utilize current control method changes
Conducting and the pass of the switching tube of three-phase inverter bridge circuit in above-mentioned power circuit are controlled for logic level pulse-width signal
It is disconnected, so as to realize the permanent torque step motion control to permanent-magnet brushless DC electric machine.
The operation method of above-mentioned permanent-magnet brushless DC electric machine permanent torque step motion control, the circulation umber of beats bHIt is 6 integer
Times.
The operation method of above-mentioned permanent-magnet brushless DC electric machine permanent torque step motion control, the DSP controls in the DSP control module
Coremaking piece is Texas Instruments TMS320LF2812, and encoder position detection module is compiled using 12bit precision individual pens absolute value
Code device, model BE122HS58.
The beneficial effects of the invention are as follows：The substantive distinguishing features of the protrusion that the present invention has are as follows compared with prior art：
(1) the inventive method is based on permanent-magnet brushless DC electric machine model formation, by being closed by threephase stator electric current
Into stator current vector it is discrete on locus by circulation umber of beats, correspondingly, each mutually continuous electric current then becomes in time
It is changed to stair-stepping stray currents.And according to the computing formula of electromagnetic torque, it is calculated the stray currents vector under permanent torque
Amplitude, you can three-phase stray currents is obtained, so as to realize permanent-magnet brushless DC electric machine permanent torque step motion control.Wherein, electromagnetism
In the computing formula of torque, the ratio that synthesized counter electromotive force vector E and electric angle speed Ω is converted by " 3-2 " be one only with
The intrinsic relating to parameters of motor and regular hexagon unrelated with motor operating state variable, being distributed by the electrical angle of rotor-position is empty
Between phasor function Φ (θ), finally give the computing formula (referring to formula (1)) of current phasor amplitude, it is further using the formula
Simplify operation method of the invention.
(2) the inventive method is accomplished that the motor of control this continuous rotation of DC permanent-magnetic brushless, is transported by step-by-step system
Dynamic, permanent torque is referred in step motion, and when motor will step further, the electromagnetic torque of motor is constant, at motor
In a kind of low speed, discontinuous running status.Permanent torque mentioned here refers to electromagnetic torque motor in experiment with emulation
Operation phase when being controlled by certain advanced step number k, when rotor-position and the discrete position of certain current phasor are anchor point weight
Close, and current phasor Advancing Rotor k θbDuring angle, the electromagnetic torque of motor output is certain value, that is, give electromagnetic torque T*.And
After this, motor output torque presses the change of motor electromagnetic torque rule, until rotor overlaps with next anchor point and given
Current phasor take a step forward, when its leading angle again be k θbWhen, output electromagnetic torque is definite value T*.Therefore, in the present invention
Permanent torque not implied that and keep constant in all of time of running, is constant only on the position of the integral multiple of stepping angle, but
Its torque ripple is smaller, can maintain motor load capacity stabilization.
The marked improvement that the present invention has compared with prior art is as follows：
The inventive method simplifies permanent-magnet brushless DC electric machine permanent torque and walks using regular hexagon space vector function phi (θ)
Enter the calculating of the operation method of control, three-phase current is carried out into spatial spreading, obtain three-phase stray currents, realize that brushless, permanently is straight
Stream motor permanent torque step motion control.The inventive method is control device to adjust stray currents vector, keeps Step rotation constant
So as to maintain its load capacity, and the position separate division for passing through Space current vector, reduce the step angle of motor, so that
The precision of permanent-magnet brushless DC electric machine position control is improve in the case where load capacity is ensured, is permanent-magnet brushless DC electric machine
Feasible method is provided in the application of high precision position control occasion.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the locus figure of intrinsic regular hexagon space vector function phi (θ) end points of permanent-magnet brushless DC electric machine.
Fig. 2 (1) is the operation method b of permanent-magnet brushless DC electric machine permanent torque step motion control of the present inventionHIn the case of=24 from
Dissipate during current phasor motor makees step motion, stray currents vector motor when leading angle is 15 ° of stepping angle
Make the schematic diagram of step motion.
Fig. 2 (2) is the operation method b of permanent-magnet brushless DC electric machine permanent torque step motion control of the present inventionHIn the case of=24 from
Scattered current phasor motor is made in step motion, and stray currents vector motor makees step motion when advanced step number is 6
Schematic diagram.
Fig. 3 is one stepping angle of given Advancing Rotor, and when rotor reaches first position, encoder position detection module is read
The deviation schematic diagram of the rotor physical location shown in rotor-position shown in solid and dotted line for taking.
Fig. 4 is the control flow chart of the operation method of permanent-magnet brushless DC electric machine permanent torque step motion control of the present invention.
Fig. 5 is that the composition of the operation method equipment therefor of permanent-magnet brushless DC electric machine permanent torque step motion control of the present invention is illustrated
Block diagram.
Fig. 6 (1) is in one cycle period of the inventive method, to circulate umber of beats bH=24, A phases electricity when advanced step number is 1
Flow graph.
Fig. 6 (2) is in one cycle period of the inventive method, to circulate umber of beats bH=24, rotor step when advanced step number is 1
Enter run location figure.
Fig. 6 (3) is in one cycle period of the inventive method, to circulate umber of beats bH=24, output electricity when advanced step number is 1
Magnetic torque figure.
Fig. 7 (1) circulates umber of beats b in one cycle period of the inventive methodH=24, A phases electricity when advanced step number is 6
Flow graph.
Fig. 7 (2) circulates umber of beats b in one cycle period of the inventive methodH=24, rotor step when advanced step number is 6
Enter run location figure.
Fig. 7 (3) circulates umber of beats b in one cycle period of the inventive methodH=24, output electricity when advanced step number is 6
Magnetic torque figure.
In figure, 1.DSP control modules, 2. power circuit, 3. permanent-magnet brushless DC electric machine, 4. encoder position detection mould
Block, 5. input power module.
Specific embodiment
Ω is electric angle speed in Fig. 1, represents rotor rotation direction.Embodiment illustrated in fig. 1 shows, due to initial position of rotor not
Initial zero position necessarily is parked in, the certain position of initial zero position can be deviateed, θ represents the space size for deviateing initial zero position.Sat in alpha-beta
Under mark system, when rotor rotates counterclockwise, 1. rotor-position is located in being located at figure, and corresponding Φ (θ) falls and 2. locating, should
Curve can be tried to achieve according to the intrinsic parameter of motor.
Fig. 2 (1) illustrated embodiment shows, under alpha-beta coordinate system, a cycle period is divided into 24 parts, i.e. circulation is clapped
Number is bH=24, every portion is numbered in figure, along α positive axis number consecutively clockwise be 0,1,2,3,4,5 ..., x, x
+ 1 ... 3., 23 position, corresponding stepping angle is 15 °, ψfIt is rotor-position, gives electromagnetic torque T*, then current phasor isWidth
Value is then calculated by formula (1) formula.Rotor-position applies the current phasor i of 1 position since α (i.e. 0 position) axles14.,
Advanced step number k=1 steps, the amplitude of the current phasor is determined by formula (1) formula.Motor by under the driving of Step rotation, forward
Run a step.As rotor-position and current phasor is14. after overlapping, leading angle is now 0, and electromagnetic torque is 0, and motor is parked in
On the position, the operation of a step is completed.Apply the current phasor of 2 positions, advanced step number k=1 again, then phase is determined by formula (1)
The amplitude of induced current vector, is repeated in the step, and motor will run length by length under constant current switching frequency.Figure
Middle dotted line is represented, and rotor gives the line of the current phasor end points of jump ahead, the width of current phasor in any discrete location
Value is calculated by formula (1).
Fig. 2 (2) illustrated embodiment shows, under alpha-beta coordinate system, a cycle period is divided into 24 parts, i.e. circulation is clapped
Number is bH=24, every portion is numbered in figure, along α positive axis number consecutively clockwise be 0,1,2,3,4,5 ..., 8,
9th ... 3., 23 position, corresponding stepping angle is 15 °, ψfIt is rotor-position, gives electromagnetic torque T*, then current phasor isAmplitude
Then it is calculated by formula (1) formula.Since 2 positions, (i.e. leading angle is rotor-position to draft advanced step number k=6
90 °), give current phasor i according to 8 positionss8, the amplitude of current phasor presses formula (1) calculating, motor output electromagnetic torque T's
Under dragging, position detection is carried out by encoder position detection module 4, when rotor-position one stepping angle of advance is detected, i.e.,
When being overlapped with 3 positions, current phasor jumps forward further, that is, apply the corresponding current phasor i in 9 positionss9.It is repeated in the step
Suddenly, the continuous operation that the permanent-magnet brushless DC electric machine with position feedback is driven with permanent torque step-by-step system is realized, in Fig. 2 (2)
Driving during, electromagnetic torque is consistently greater than 0, and motor can continuously run.Dotted line is represented in figure, and rotor is in any discrete location
When, the line of the current phasor end points of advanced 6 step is given, the amplitude of current phasor is calculated by formula (1).
For Fig. 2 (1) Suo Shi, there is the anchor point that motor output electromagnetic torque T is zero in the operation of jump ahead, in perseverance
Motor will run length by length under fixed current switching frequency；During the driving of Fig. 2 (2), electromagnetic torque T is consistently greater than
0, motor continuously runs.Advanced step number drafts relevant with motor speed in the present invention, different by setting according to actual conditions
Advanced step number can be with regulation motor according to operation length by length or continuous operation.Due to can be to current phasor isCarry out
Subdivision, compared with existing conduction mode, current switching process is more smoothed, and transient process is more steady.
Embodiment illustrated in fig. 3 shows that give advanced step number k=1, it is electric to calculate motor according to progress control method of the present invention
Stream, 24 parts are divided into figure by a cycle period, are taken first four parts and are illustrated the shown in solid of encoder position detection module reading
Rotor-position and dotted line shown in rotor physical location deviation, every portion is numbered in figure, it is clockwise along α positive axis
Number consecutively is 0,1,2,3,4.For encoder, each mechanical stepping angle θbm=7.5 ° of corresponding digital increments should be
(4096/48=85.333), and actual coding device reading is integer value, there is the accuracy error of encoder in test position,
In addition to this measured deviation, it is considered to trueness error of encoder itself, the count value 1 that error is limited to encoder is taken.Encoder position
The initial position that detection module is installed is 0 ± 1, and is overlapped with θ=0 position of motor rotor position, from 0 position, is applied
The current phasor of advanced 1 step, i.e., to the current phasor of 1 position, motor operation, during encoder output 85 ± 1, it is believed that rotor
Position overlaps with 1 position, and at this moment the current phasor to next step is the current phasor of 2 positions, when encoder output 170 ± 1,
Again to the current phasor of 3 positions, the total jump ahead of current phasor is incremented by with this, realizes the brush DC electricity with position feedback
The continuous operation that machine is driven with permanent torque step-by-step system.
Embodiment illustrated in fig. 4 shows the control of the operation method of permanent-magnet brushless DC electric machine permanent torque step motion control of the present invention
Flow is：Start → give Φ (θ), position resolution, nominal torque → calculating circulation umber of beats bHAnd discrete location and surpassed
Preceding step number k → by formula (1) calculates the current amplitude of each position and list → detection motor rotor position θ → calculatings give it is electric
Flow vector sequence number→ provide corresponding current phasor isx→ home position detects → returns to inspection
Measured motor rotor position.
Position detection is finally returned to, motor rotor position θ is detected, this process is repeated, the step run of motor is realized.
Embodiment illustrated in fig. 5 shows, used by the operation method of permanent-magnet brushless DC electric machine permanent torque step motion control of the present invention
The composition of device includes DSP control module 1, power circuit 2, permanent-magnet brushless DC electric machine 3, the and of encoder position detection module 4
Input power module 5, wherein, input power module 5 is DSP control module 1, power circuit 2 and encoder position detection module 4
It is powered, DSP control module 1, power circuit 2, permanent-magnet brushless DC electric machine 3 and encoder position detection module 4 are used successively
Wire is connected, and encoder position detection module 4 is connected with DSP control module 1 with wire again；Given by input power module 5 first
DSP control module 1, power circuit 2 and encoder position detection module 4 are powered, then are examined by encoder position detection module 4
The initial position of rotor of permanent-magnet brushless DC electric machine 3 is surveyed, and the rotor-position signal of permanent-magnet brushless DC electric machine 3 is given to DSP
In control module 1.
Fig. 6 (1) shown in one cycle period of the inventive method, circulation umber of beats bH=24, A when advanced step number is 1
Phase current-time graph.Figure explanation is presented asymmetrical ladder according to operation method of the present invention, A phase currents-time graph
Shape, B, C phase current waveform is identical with A phase current waveforms, 120 ° of each mutual deviation of phase.
Fig. 6 (2) shown in one cycle period of the inventive method, circulation umber of beats bH=24, turning when advanced step number is 1
Sub-step enters run location-time graph.The figure illustrates that according to operation method of the present invention rotor-position follows the position of current phasor
Put, rotor step run position curve by equidistantly stepping up, motor step run.
Fig. 6 (3) shown in one cycle period of the inventive method, circulation umber of beats bH=24, it is defeated when advanced step number is 1
Go out electromagnetic torque-time graph.The figure is illustrated according to operation method of the present invention, total yield during current phasor 1 step of Advancing Rotor Position
The torque of raw constant size, to drive rotor；When rotor-position follows upper current phasor, electromagnetic torque is 0.
Fig. 7 (1) shown in one cycle period of the inventive method, circulation umber of beats bH=24, A when advanced step number is 6
Phase current-time graph.According to operation method of the present invention, A phase currents-time graph is presented symmetrical stepped for figure explanation,
B, C phase current waveform are identical with A phase current waveforms, 120 ° of phase mutual deviation.
Fig. 7 (2) shown in one cycle period of the inventive method, circulation umber of beats bH=24, turning when advanced step number is 6
Sub-step enters run location-time graph.The figure illustrates that according to operation method of the present invention motor constant speed is continuously run, rotor stepping
Run location curve rises so that constant-slope is smooth.
Fig. 7 (3) shown in one cycle period of the inventive method, circulation umber of beats bH=24, it is defeated when advanced step number is 6
Go out electromagnetic torque-time graph.The figure is illustrated according to operation method of the present invention, total yield during current phasor 6 step of Advancing Rotor Position
The electromagnetic torque of raw constant size, within the step of rotor operation one, electromagnetic torque is slightly changed.
Embodiment 1
A. operation method equipment therefor and operation：
The operation method equipment therefor of permanent-magnet brushless DC electric machine permanent torque step motion control, including DSP control module 1, work(
Rate circuit 2, permanent-magnet brushless DC electric machine 3, encoder position detection module 4 and input power module 5, wherein, input power mould
Block 5 is powered for DSP control module 1, power circuit 2 and encoder position detection module 4, DSP control module 1, power electricity
Road 2, permanent-magnet brushless DC electric machine 3 and encoder position detection module 4 are connected with wire successively, encoder position detection module 4
It is connected with wire with DSP control module 1 again；First by input power module 5 is to DSP control module 1, power circuit 2 and compiles
Code device position detecting module 4 is powered, then at the beginning of detecting the rotor of permanent-magnet brushless DC electric machine 3 by encoder position detection module 4
Beginning position, and the rotor-position signal of the motor is given in DSP control module 1；DSP controls in the DSP control module 1
Chip is Texas Instruments TMS320LF2812, and encoder position detection module 4 uses 12bit precision individual pen absolute encoders
Device, model BE122HS58, i.e. motor rotate a circle and produce 4096 P-pulses；Encoder position detection module 4 and DSP
DSP control chips in control module 1 carry out position signalling communication, recording impulse number, real-time detection permanent-magnet brushless DC electric machine 3
Rotor-position, the rotor position of current time permanent-magnet brushless DC electric machine 3 is read through the DSP control chips in DSP control module 1
After putting θ, the three-phase stray currents size that advanced step number obtains corresponding position is given, so as to realize that permanent-magnet brushless DC electric machine is permanent
Torque step motion control；
B. the step of operation method：
The first step, determines the position resolution of permanent-magnet brushless DC electric machine：
Position resolution refers to that motor rotates a circle the mechanical stepping angle θ for being includedbmNumber, according to positioning requirements determine
Circulation umber of beats b in one cycle periodHAnd stepping angle θb, stepping angle θ herebIt is that 360 ° of electrical angles press circulation umber of beats bHDecile
The angle for obtaining afterwards, i.e. θb=360 °/bH, because θbm=θb/ motor number of pole-pairs, then position resolution is 360 °/θbmIndividual machinery
Stepping angle/turn, again positioning points=circulation umber of beats × motor number of pole-pairs, then position resolution numerically with positioning point value
It is equal；
Second step, determines the spatial spreading position of current phasor：
Current phasor is that the three-phase current of permanent-magnet brushless DC electric machine 3 is obtained into alpha-beta coordinate components by " 3-2 " conversion to be constituted
Vector, the spatial spreading position of current phasor be under static alpha-beta coordinate system by 360 ° of electrical angle one week by the first step in really
Fixed circulation umber of beats bHIt is divided into 24 spatial spreading positions；
3rd step, calculates the corresponding current phasor i of different spatialsAmplitude and list：
By above-mentioned encoder position detection module 4 detect current time permanent-magnet brushless DC electric machine 3 rotor-position and
Traffic direction, then the rotor-position of permanent-magnet brushless DC electric machine 3 is read by above-mentioned DSP control module 1, advanced step number k is set,
Given electromagnetic torque T*, the corresponding current phasor i of different spatial is calculated by formula (1)sAmplitude, accordingly by
Conversion obtains corresponding three-phase stray currents as the current phasor set-point in above-mentioned DSP control module 1, and list,
In above formula, θdIt is the absolute angle closest to the electric current discrete location of rotor-position, k is advanced step number, θbIt is first
The stepping angle determined in step；In the present embodiment, advanced step number k=6, it is T to give electromagnetic torque*=3N.m
4th step, realizes the step run of permanent-magnet brushless DC electric machine：
Current permanent-magnet brushless DC electric machine rotor position is detected by above-mentioned encoder position detection module 4, according to formula
(2) current phasor sequence number x is calculated, i.e. stray currents vector position is numbered counterclockwise, further according to DC permanent-magnetic brushless
The direction of motion of the rotor of motor 3, look into the 3rd step obtained in list, obtain current desired current phasor isx, before finally returning to
The encoder position detection module 4 stated detects the rotor position of current permanent-magnet brushless DC electric machine 3, repeats this process,
In above formula, % represents complementation, and round is round computing；
Above-mentioned DSP control module 1 is using set circulation umber of beats bH, advanced step number k, given electromagnetic torque T*And not
The corresponding current phasor i in isospace positionsAmplitude, the current phasor needed for being controlled, and utilize current control method turns
Logic level pulse-width signal is changed to control the conducting of the switching tube of three-phase inverter bridge circuit in above-mentioned power circuit 2
With shut-off, so as to realize the permanent torque step motion control to permanent-magnet brushless DC electric machine 3.
In the present embodiment, circulation umber of beats bH=24, motor number of pole-pairs is 2, then positioning points are 48, now to encoder
For position detecting module 4, each mechanical stepping angle θbm=7.5 ° of corresponding digital increments should be (4096/48=85.333),
And the reading of actual coding device position detecting module 4 is integer value, there is the essence of encoder position detection module 4 in test position
Degree deviation, in addition to this measured deviation, it is considered to trueness error of encoder position detection module 4 itself, takes error and is limited to encoder
The count value 1 of position detecting module 4.Advanced step number k=1 is given, brushless, permanently is calculated according to the present embodiment progress control method
The electric current of direct current generator 3, encoder position detection module 4 install initial position be 0, and with permanent-magnet brushless DC electric machine 3
Rotor-position θ=0 position overlap (referring to Fig. 3), give Fig. 3 in show the 1st step current phasor, then when encoder position
When putting detection module 4 and being output as 85 ± 1, rotor-position overlaps with 1 position, gives the current phasor of the 2nd step shown in Fig. 3,
When encoder position detection module 4 is output as 170 ± 1, the 3rd step current phasor shown in Fig. 3 is provided, be incremented by with this, it is real
The continuous operation that DC brushless motor now with position feedback is driven with permanent torque step-by-step system.
Embodiment 2
The present embodiment is discrete by three-phase current according to operation method of the present invention in a cycle period, circulation umber of beats bH
When=24, control motor step enters operation during current phasor advanced 1 step, is taken a step forward every the given current phasors of 0.1s, observation electricity
Machine A phase currents-time graph (referring to Fig. 6 (1)), rotor step run position-time graph (referring to Fig. 6 (2)) and output
Electromagnetic torque-time graph (referring to Fig. 6 (3)), from the results, it was seen that the present embodiment is according to the B operation methods of embodiment 1
The current phasor that the step of first step is to three steps is calculated is controlling the initial moment electromagnetic torque corresponding to each step
0.8Nm steady state values, the rotor of permanent-magnet brushless DC electric machine 3 often advances a mechanical stepping angle θbm=7.5 ° of process is uniform change
Change.After the rotor-position of permanent-magnet brushless DC electric machine 3 overlaps with current phasor position, permanent-magnet brushless DC electric machine 3 it is defeated
Go out electromagnetic torque T*It is 0, the rotor of permanent-magnet brushless DC electric machine 3 is parked on the anchor point of setting, realizes step run, and
Position resolution is increased, and positioning precision is also improved.In addition to above-mentioned difference, other are with embodiment 1.
Embodiment 3
The present embodiment, according under above-mentioned permanent torque step motion control that three-phase current is discrete, is circulated in a cycle period
Umber of beats bH=24, electromechanics rotating speed 125r/min is set, it is T to give electromagnetic torque*=3Nm, is entered using advanced step number k=6
Row control, according to embodiment 1 B operation methods the first step to three steps the step of be calculated corresponding current phasor, count
Calculate the A for obtaining phase currents-time graph ((referring to Fig. 7 (1)), rotor the step run position under observation motor constant-speed operation state
Put-time graph ((referring to Fig. 7 (2)) and output electromagnetic torque-time graph (referring to Fig. 7 (3)).When current phasor switches
Initial electromagnetic torque it is consistent, because the change of position brings the down or up of electromagnetic torque, it then follows certain rule ±
Change within 0.4Nm, its change procedure is gentle, and the electromagnetic torque for being provided provides metastable load capacity in practice,
Motor even running can be maintained, and is easily achieved location control.In addition to above-mentioned difference, other are with embodiment 1.
Claims (3)
1. the operation method of permanent-magnet brushless DC electric machine permanent torque step motion control, hereinafter referred to as operation method, it is characterised in that：
A. operation method equipment therefor and operation：
The operation method equipment therefor of permanent-magnet brushless DC electric machine permanent torque step motion control, including DSP control module, power electricity
Road, permanent-magnet brushless DC electric machine, encoder position detection module and input power module, wherein, input power module is controlled for DSP
Molding block, power circuit and encoder position detection module are powered, DSP control module, power circuit, DC permanent-magnetic brushless
Motor and encoder position detection module are connected with wire successively, and encoder position detection module is again with DSP control module with leading
Line is connected；Powered to DSP control module, power circuit and encoder position detection module by input power module first, then
The initial position of rotor of permanent-magnet brushless DC electric machine is detected by encoder position detection module, and by the rotor-position of the motor
Signal is given in DSP control module；
B. the step of operation method：
The first step, determines the position resolution of permanent-magnet brushless DC electric machine：
Position resolution refers to that motor rotates a circle the mechanical stepping angle θ for being includedbmNumber, determine one according to positioning requirements
Circulation umber of beats b in cycle periodHAnd stepping angle θb, stepping angle θ herebIt is that 360 ° of electrical angles press circulation umber of beats bHAfter decile
The angle for arriving, i.e. θb=360 °/bH, because θbm=θb/ motor number of pole-pairs, then position resolution is 360 °/θbmIndividual mechanical stepping
Angle/turn, again positioning points=circulation umber of beats × motor number of pole-pairs, then position resolution numerically with positioning point value phase
Deng；
Second step, determines the spatial spreading position of current phasor：
The current phasor is that permanent-magnet brushless DC electric machine three-phase current is obtained into alpha-beta coordinate components by " 3-2 " conversion to be constituted
Vector, by 360 ° of electrical angle one week by the circulation umber of beats b determined in the first step under the static alpha-beta coordinate systemHIt is divided into bHIndividual space
Discrete location, thereby determines that the spatial spreading position of current phasor；
3rd step, calculates the corresponding current phasor i of different spatialsAmplitude and list：
Rotor-position and the operation side of current time permanent-magnet brushless DC electric machine are detected by above-mentioned encoder position detection module
To, then by the rotor-position of above-mentioned DSP control module reading permanent-magnet brushless DC electric machine, advanced step number k is set, give electromagnetism
Torque T*, the corresponding current phasor i of different spatial is calculated by formula (1)sAmplitude, obtained accordingly by conversion
Corresponding three-phase stray currents as the current phasor set-point in above-mentioned DSP control module, and list,
In above formula, θdIt is the absolute angle closest to the electric current discrete location of rotor-position, k is advanced step number, θbFor in the first step
The stepping angle of determination；Φ (θ) is regular hexagon space vector function；
4th step, realizes the step run of permanent-magnet brushless DC electric machine：
Current permanent-magnet brushless DC electric machine rotor position is detected by above-mentioned encoder position detection module, is counted according to formula (2)
Current phasor sequence number x is calculated, i.e. stray currents vector position is numbered counterclockwise, turned further according to permanent-magnet brushless DC electric machine
Son the direction of motion, look into the 3rd step obtained in list, obtain current desired current phasor isx, finally return to foregoing encoder
Position detecting module detects current permanent-magnet brushless DC electric machine rotor position, repeats this process,
In above formula, % represents complementation, and round is round computing；
Above-mentioned DSP control module is using set circulation umber of beats bH, advanced step number k, given electromagnetic torque T*And different spaces
The corresponding current phasor i in positionsAmplitude, the current phasor needed for being controlled, and utilize current control method is converted to and patrols
Level pulse width is collected to control the conducting and shut-off of the switching tube of three-phase inverter bridge circuit in above-mentioned power circuit,
So as to realize the permanent torque step motion control to permanent-magnet brushless DC electric machine.
2. the operation method of permanent-magnet brushless DC electric machine permanent torque step motion control according to claim 1, it is characterised in that：
The circulation umber of beats bHIt is 6 integral multiple.
3. the operation method of permanent-magnet brushless DC electric machine permanent torque step motion control according to claim 1, it is characterised in that：
DSP control chips in the DSP control module are Texas Instruments TMS320LF2812, and encoder position detection module is adopted
With 12bit precision individual pen absolute value encoders, model BE122HS58.
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| CN106685277A (en) * | 2017-03-22 | 2017-05-17 | 江南大学 | Method for driving brushless motor in auto-enhanced stability control system |
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| CN111106765A (en) * | 2019-12-30 | 2020-05-05 | 中国科学院长春光学精密机械与物理研究所 | Brushless motor driving system and method |
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