CN104579045A - Angle sensor based phase change method of brushless DC (direct current) motor - Google Patents
Angle sensor based phase change method of brushless DC (direct current) motor Download PDFInfo
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- CN104579045A CN104579045A CN201410827893.7A CN201410827893A CN104579045A CN 104579045 A CN104579045 A CN 104579045A CN 201410827893 A CN201410827893 A CN 201410827893A CN 104579045 A CN104579045 A CN 104579045A
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- motor
- brshless
- phase change
- brushless
- commutation
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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
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
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Abstract
The invention discloses an angle sensor based phase change method of a brushless DC (direct current) motor. The method is applied to phase change control on the brushless DC torque motor of a photoelectric pod and comprises steps as follows: firstly, coaxially mounting an angle sensor and a rotor of the brushless DC motor; then energizing three phases of the brushless DC motor, recording the value of the angle sensor, exerting external forces, recording the values of the angle sensor again when the rotor rotates and stops in another positions, and determining the zero position of the brushless DC motor with a determination method; finally, taking positions which lag behind or are ahead of the zero position of the brushless DC motor by 30 degrees as phase change points, compiling a motor phase change table according to positions of all the phase change points, and performing phase change operation on the brushless DC motor according to the motor phase change table. With the adoption of the method, relative mounting positions of the brushless DC motor and the angle sensor can be detected effectively and quickly, torque ripples caused by motor phase change can be inhibited, and the stabilization precision of a system can be improved.
Description
Technical field
The present invention relates to a kind of Fast Calibration phase change method of permanent-magnet brushless DC torque motor, the accurate commutation that can be used for photoelectric nacelle torque motor controls, and is suitable for all brushless D. C. torque motors that angular transducer is housed.
Background technology
Photoelectric nacelle is made up of stabilized platform and payload, and stabilized platform is made up of gyro, motor, angular transducer and structural member etc.Wherein, the control precision of stabilized platform directly determines the lasting accuracy of photoelectric nacelle, and then determines the shooting precision, image quality etc. of load, and the high accuracy that therefore must realize stabilized platform controls.It is large that permanent-magnet brushless DC torque motor has power density, electric torque coefficient advantages of higher, is the ideal chose that Stable Platform System drives.The Hall element that permanent-magnet brushless DC torque motor is generally all installed by inside carries out commutation, Hall element is generally arranged on the position of advanced back electromotive force 30 degree, because Hall element exists the reason such as alignment error and motor processing, cause permanent-magnet brushless DC torque motor and there is commutation torque ripple, the existence of commutation torque ripple limits its application in low speed, high-precision servo control, and therefore research in this respect just seems extremely important and is of practical significance very much.
Address this problem the most basic method and be to locate correct commutation point, have a lot of method at present, such as adopt current detecting or adopt interference observer, Kalman filtering etc. to carry out the method such as correcting to commutation point.Although these methods have certain effect overcoming in torque pulsation, all there is testing circuit complexity, need the accurate model of controlled device, can not determine commutation point accurately fast, workload is large to be waited not enough, is unsuitable for engineer applied.
Summary of the invention
The technical problem that the present invention solves is: overcome the deficiencies in the prior art, provide a kind of phase change method of the permanent-magnet brushless DC torque motor based on angular transducer, the accurate relative position that brushless electric machine and angular transducer are installed can be detected quickly and efficiently and then find best commutation point, the torque pulsation suppressing motor commutation to cause, the lasting accuracy improving system.
Technical solution of the present invention is: a kind of phase change method of the brshless DC motor based on angular transducer, comprises the steps:
(1) rotor coaxial of angular transducer and brshless DC motor is installed;
(2) be energized to the three-phase in brshless DC motor, make electric current from wherein any one other two-phase flow in opposite directions, after stationary rotor, record the value Pn-1 of angular transducer, n is positive integer;
(3) different to successively twice applying of the rotor of brshless DC motor external force, makes rotor rotate and is successively still in two different resting positions, respectively the value Pn of the angular transducer of record corresponding to two resting positions and Pn+1;
(4) judge whether the absolute value of (Pn+1-Pn)-(Pn-Pn-1) is less than μ, if be less than, the rotor-position corresponding with Pn is designated as the zero-bit of brshless DC motor, if be not less than, repeat step (2) and (3), until determine the zero-bit of brshless DC motor; Described μ is Error subtraction scheme threshold value, and it is higher that the less zero-bit of value searches precision; Described μ≤10;
(5) using the zero-bit of brshless DC motor delayed or advanced 30 degree as commutation point, according to the position establishment motor commutation table at each commutation point place, and carry out the commutation operation of brshless DC motor according to motor commutation table.
Described motor commutation table is:
Wherein m is the number of pole-pairs of motor, and the motor angle that rotates a circle is 2
n,+represent, electric current flowed into ,-representing outflow of bus current, A, B, C represent the three-phase of brshless DC motor respectively.
The present invention's advantage is compared with prior art:
(1) the present invention adopts angular transducer to carry out commutation, and carry out commutation relative to employing Hall element, commutation point is accurate, and torque pulsation is little;
(2) the inventive method can the relative position of Fast Calibration motor and angular transducer, is conducive to the commutation point determining motor fast, thus carries out accurate commutation;
(3) the inventive method does not need the accurate location and installation of angular transducer and motor, not high to the machining needs of angular transducer and motor;
(4) the inventive method is applicable to the brushless D. C. torque motor of all setting angle transducers, calculates, greatly simplifie the work of commissioning staff, save a large amount of manpower and materials, be applicable to engineer applied without any need for electrical quantity;
(5) the inventive method is without the need to additionally increasing control circuit, and portable is strong, commutation dependable performance.
Accompanying drawing explanation
Fig. 1 is the FB(flow block) of the inventive method;
Fig. 2 is three-phase bridge circuit schematic diagram of the present invention;
Fig. 3 is back emf waveform schematic diagram of the present invention;
Fig. 4 is the hardware system composition frame chart adopting the inventive method.
Embodiment
Below for the azimuth axis of photoelectric nacelle, describe method of the present invention in detail, flow process as shown in Figure 1.
The azimuth-drive motor of photoelectric nacelle and orientation angles transducer are coaxially installed, at this, resolver selected by angular transducer, only select and know a little about, resolution is 16, and angle measurement accuracy is 1 jiao point, brushless D. C. torque motor selected by motor, 10 pairs of poles, three-phase 120 degree installation, output torque is 20000g.cm.Must clean up before brshless DC motor, angular transducer and all Assembly of the parts during installation, the jagged and fifth wheel of inaccurate band.Before assembling, add a small amount of lubricating grease, and ensure that moment of friction is not more than 200g.cm.
After having assembled, as shown in Figure 2, brshless DC motor adopts three phase full bridge to drive, and PWM1, PWM2 are that the full-bridge of A phase drives, and PWM3, PWM4 are that the full-bridge of B phase drives, and PWM5, PWM6 are that the full-bridge of C phase drives.Three-phase in brshless DC motor is energized, make electric current from the other in opposite directions two-phase flow of A, the i.e. upper half-bridge conducting of A phase, the lower half-bridge conducting of B, C, also i.e. PWM1, PWM4 and PWM6 conducting, duty ratio PWM is 90%, because moment of friction is very little, can ignore, after stationary rotor, brshless DC motor is parked in the position that electromagnetism magnetic field overlaps with permanent magnetic field, namely output torque T is the position of 0
i.e. e
a=e
b+ e
c, wherein, e
a, e
b, e
cfor counter electromotive force of motor, ω is motor speed, and i is current of electric, because of brshless DC motor three-phase 120 degree installation, so brshless DC motor three phase back-emf homogeneous phase differs from 120 degree, its back emf waveform as shown in Figure 3, wherein, e
a, e
b, e
cfor counter electromotive force of motor, θ is the electrical degree of brshless DC motor.According to motor commutation principle, thus brshless DC motor stop position forward or pusher 30 degree be commutation point.
The value Pn-1 of record resolver, n is positive integer; Apply external force to azimuth axis, azimuth axis motor can export certain resistance.After removing external force, azimuth axis can vibrate, and is finally parked in certain position.Record the value Pn of now resolver.Then continue to apply external force rotational orientation axle, that records a continuous n diverse location revolves variate, and calculates the difference of adjacent two values.If the absolute value of Pn+1-Pn and Pn-Pn-1 difference is μ, (μ≤10), then namely Pn is chosen as motor commutation zero-bit.After having tested, should power cutoff at once.The moment that the principle of the method foundation exports when being and powering up to brshless DC motor is 0, so when finding brshless DC motor commutation zero-bit, the necessary trim of azimuth axis, reduces the disturbance torques such as moment of friction to the interference of the method as far as possible.
The value 2 of resolver
ncorresponding mechanical angle 360 degree, the number of pole-pairs of motor is m, then the mechanical angle that motor 360 degree of electrical degrees are corresponding is 2
n/ m, 2
nthe electrical degree of the corresponding motor of/6m is 60 degree, and motor electric rotating angle commutation in a week 6 times, namely every 2
n/ 6m commutation once.Below just to transfer the commutation phase sequence that example is determined near motor zero-bit to.
During to electrical power, output torque be 0 position be the zero-bit of motor, namely electrical degree is the position of 180 degree, as shown in Figure 3.According to the relation between brushless direct-current machine counter electromotive, motor is all in the point of intersection commutation of back electromotive force, so using the zero-bit of brshless DC motor delayed or advanced 30 degree as commutation point, then near motor zero-bit, the commutation phase sequence of motor is B+C-, namely electric current is from A phase flow direction B phase, now electrical degree is 150 degree to 210 degree, and mechanical angle corresponding after deducting zero point is 0 ~ 2
n/ 12m and 11 × 2
n/ 12m ~ 2
n/ m.
Obtain commutation table by that analogy below, as shown in table 1.Reverse as the same.Wherein m is the number of pole-pairs of motor, and the motor angle that rotates a circle is 2
n,+represent, electric current flowed into ,-representing outflow of bus current, A, B, C represent the three-phase of brshless DC motor respectively.
Table 1 m is to pole motor commutation table
Motor commutation zero-bit is made to be Pn, if now resolver current angular is P, resolver resolution is 16, rotating a circle is 65535, and motor is 10 to pole, and the angle of revolving change corresponding to motor 360 degree of electrical degrees is 6553, make Q=(P-Pn)/10, according to the position establishment motor commutation table at each commutation point place, namely obtain following phase change logic, as shown in table 2.
Table 2 10 is to pole motor commutation table
Commutation program is write according to table 2, FPGA is given by commutation signal, FPGA module will generate 6 tunnel commutation pwm signals after inputting information operation combination, and commutation pwm signal is used for commutation and the control of three-phase permanent brshless DC motor by isolation module, drive circuit, as shown in Figure 4.
The content be not described in detail in specification of the present invention belongs to the known technology of those skilled in the art.
Claims (3)
1., based on a phase change method for the brshless DC motor of angular transducer, it is characterized in that comprising the steps:
(1) rotor coaxial of angular transducer and brshless DC motor is installed;
(2) be energized to the three-phase in brshless DC motor, make electric current from wherein any one other two-phase flow in opposite directions, after stationary rotor, record the value Pn-1 of angular transducer, n is positive integer;
(3) different to successively twice applying of the rotor of brshless DC motor external force, makes rotor rotate and is successively still in two different resting positions, respectively the value Pn of the angular transducer of record corresponding to two resting positions and Pn+1;
(4) judge whether the absolute value of (Pn+1-Pn)-(Pn-Pn-1) is less than μ, if be less than, the rotor-position corresponding with Pn is designated as the zero-bit of brshless DC motor, if be not less than, repeat step (2) and (3), until determine the zero-bit of brshless DC motor; Described μ is Error subtraction scheme threshold value, and it is higher that the less zero-bit of value searches precision;
(5) using the zero-bit of brshless DC motor delayed or advanced 30 degree as commutation point, according to the position establishment motor commutation table at each commutation point place, and carry out the commutation operation of brshless DC motor according to motor commutation table.
2. the phase change method of a kind of brshless DC motor based on angular transducer according to claim 1, is characterized in that: described motor commutation table is:
Wherein m is the number of pole-pairs of motor, and the motor angle that rotates a circle is 2
n,+represent, electric current flowed into ,-representing outflow of bus current, A, B, C represent the three-phase of brshless DC motor respectively.
3. the phase change method of a kind of brshless DC motor based on angular transducer according to claim 1 and 2, is characterized in that: described μ≤10.
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Cited By (7)
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| CN105373047A (en) * | 2015-12-05 | 2016-03-02 | 中国航空工业集团公司洛阳电光设备研究所 | Photoelectric pod gyroscope stabilization control platform |
| WO2017036303A1 (en) * | 2015-09-02 | 2017-03-09 | 南京德朔实业有限公公司 | Electric tool and drive method of brushless motor thereof |
| CN106559014A (en) * | 2016-11-22 | 2017-04-05 | 西北工业大学 | A kind of control method for brushless direct current motor based on rotary transformer |
| CN106887937A (en) * | 2017-03-31 | 2017-06-23 | 北京理工大学 | A kind of new low commutation torque ripple brshless DC motor |
| CN107834911A (en) * | 2017-11-13 | 2018-03-23 | 北方电子研究院安徽有限公司 | Three-phase brushless dc motor speed stabilizing control method |
| CN109254597A (en) * | 2018-09-28 | 2019-01-22 | 中国科学院长春光学精密机械与物理研究所 | A kind of control system and its method of ground large aperture telescope |
| CN111953243A (en) * | 2020-08-11 | 2020-11-17 | 贵州航天林泉电机有限公司 | Method for accurately determining zero position of brushless torque motor |
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Cited By (12)
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| CN106559014B (en) * | 2016-11-22 | 2019-03-22 | 西北工业大学 | A kind of control method for brushless direct current motor based on rotary transformer |
| CN106887937A (en) * | 2017-03-31 | 2017-06-23 | 北京理工大学 | A kind of new low commutation torque ripple brshless DC motor |
| CN106887937B (en) * | 2017-03-31 | 2019-02-19 | 北京理工大学 | A kind of low commutation torque ripple brshless DC motor |
| CN107834911A (en) * | 2017-11-13 | 2018-03-23 | 北方电子研究院安徽有限公司 | Three-phase brushless dc motor speed stabilizing control method |
| CN109254597A (en) * | 2018-09-28 | 2019-01-22 | 中国科学院长春光学精密机械与物理研究所 | A kind of control system and its method of ground large aperture telescope |
| CN109254597B (en) * | 2018-09-28 | 2021-03-19 | 中国科学院长春光学精密机械与物理研究所 | Control system and method for foundation large-caliber telescope |
| CN111953243A (en) * | 2020-08-11 | 2020-11-17 | 贵州航天林泉电机有限公司 | Method for accurately determining zero position of brushless torque motor |
| CN111953243B (en) * | 2020-08-11 | 2023-09-22 | 贵州航天林泉电机有限公司 | Method for precisely determining zero position of brushless torque motor |
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