CN104579045B - A kind of phase change method of the brshless DC motor based on angular transducer - Google Patents
A kind of phase change method of the brshless DC motor based on angular transducer Download PDFInfo
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- CN104579045B CN104579045B CN201410827893.7A CN201410827893A CN104579045B CN 104579045 B CN104579045 B CN 104579045B CN 201410827893 A CN201410827893 A CN 201410827893A CN 104579045 B CN104579045 B CN 104579045B
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- angular transducer
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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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- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
A kind of phase change method of the brshless DC motor based on angular transducer, the commutation for photoelectric nacelle brushless D. C. torque motor are controlled.First the rotor coaxial of angular transducer and brshless DC motor is installed, then the three-phase in brshless DC motor is powered, the value of recording angular sensor, apply external force again, rotor rotates and re-records when stopping to another location the value of angular transducer, determines the zero-bit of brshless DC motor according to decision method.It is last using the zero-bit of brshless DC motor it is delayed or advanced 30 degree operate as commutation point, the position establishment motor commutation table being located according to each commutation point, and the commutation for carrying out brshless DC motor according to motor commutation table.The inventive method can effectively and rapidly detect relative position, the lasting accuracy for suppressing the motor commutation torque pulsation for causing, improving system that brshless DC motor is installed with angular transducer.
Description
Technical field
The present invention relates to a kind of Fast Calibration phase change method of permanent-magnet brushless DC torque motor, can be used for photoelectric nacelle power
The accurate commutation control of torque motor, is suitable for all of brushless D. C. torque motor equipped with angular transducer.
Background technology
Photoelectric nacelle is made up of stabilized platform and payload, and stabilized platform is by gyro, motor, angular transducer and structure
Part etc. is constituted.Wherein, the control accuracy of stabilized platform directly determines the lasting accuracy of photoelectric nacelle, and then determines load
Shoot precision, image quality etc., it is therefore necessary to realize the high-precision control of stabilized platform.Permanent-magnet brushless DC torque motor has
Power density is big, the advantages of electric torque coefficient is high, is ideal chose that Stable Platform System drives.Permanent-magnet brushless DC torque
Motor is general all to carry out commutation by the internal Hall element installed, and Hall element is typically mounted at 30 degree of advanced counter electromotive force
Position, due to Hall element exist alignment error and motor processing etc. reason, cause permanent-magnet brushless DC torque motor
There is commutation torque ripple, the presence of commutation torque ripple limits its application in low speed, high-precision servo control, therefore
Research in this respect just seems extremely important and is of practical significance very much.
Most basic method is to find correct commutation point to solve this problem, has many methods at present, such as adopts
Current detecting the method such as is corrected using interference observer, Kalman filtering etc. to commutation point.Although these methods gram
There is certain effect in terms of taking torque pulsation, but there is detection circuit complexity, need the accurate model of controlled device, it is impossible to be fast
Fast accurate determination commutation point, workload is big to wait not enough, is unsuitable for engineer applied.
The content of the invention
Present invention solves the technical problem that being：Overcome the deficiencies in the prior art, there is provided a kind of based on angular transducer
The phase change method of permanent-magnet brushless DC torque motor, can quickly and efficiently be detected brushless electric machine and be installed with angular transducer
Accurate relative position so that find optimal commutation point, suppress torque pulsation that motor commutation causes, improve system and stablize
Precision.
The present invention technical solution be：A kind of phase change method of the brshless DC motor based on angular transducer, bag
Include following steps：
(1) rotor coaxial of angular transducer and brshless DC motor is installed；
(2) three-phase in brshless DC motor is powered so that electric current is from wherein any one opposite two phase flow in addition
It is dynamic, value Pn-1 of angular transducer is recorded after stationary rotor, n is positive integer；
(3) different external force are applied twice successively to the rotor of brshless DC motor so that rotor rotation is simultaneously successively static
In two different resting positions, value Pn and Pn+1 of angular transducer two resting positions corresponding to are recorded respectively；
(4) judge that whether the absolute value of (Pn+1-Pn)-(Pn-Pn-1) is less than μ, if less than then will corresponding with Pn turn
Sub- position is designated as the zero-bit of brshless DC motor, if repeat step (2) and (3) not less than if, until determining brushless direct-current
The zero-bit of 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 it is delayed or it is advanced 30 degree as commutation point, be located according to each commutation point
Motor commutation table is worked out in position, and the commutation operation of brshless DC motor is carried out according to motor commutation table.
Described motor commutation table is：
Numbers of pole-pairs of the wherein m for motor, motor rotate a circle angle for 2nElectric current is flowed into ,+represent ,-represent that electric current flows out,
A, B, C represent the three-phase of brshless DC motor respectively.
Present invention advantage compared with prior art is：
(1) present invention carries out commutation using angular transducer, carries out commutation, commutation point essence relative to using Hall element
Really, torque pulsation is little；
(2) the inventive method can be conducive to quick determination electricity with Fast Calibration motor and the relative position of angular transducer
The commutation point of machine, so as to carry out accurate commutation；
(3) what the inventive method did not needed angular transducer and motor is accurately positioned installation, to angular transducer and motor
Machining needs it is not high；
(4) the inventive method is applied to the brushless D. C. torque motor of all setting angle sensors, it is not necessary to Ren He electricity
Parameter is calculated, and is greatly simplified the work of commissioning staff, is saved substantial amounts of manpower and materials, it is adaptable to engineer applied；
(5) the inventive method need not additionally increase control circuit, and transplantation is strong, commutation dependable performance.
Description of the drawings
FB(flow block)s of the Fig. 1 for 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 using the inventive method.
Specific embodiment
Below by taking the azimuth axis of photoelectric nacelle as an example, the method for the present invention is described in detail, flow process is as shown in Figure 1.
The azimuth-drive motor of photoelectric nacelle and orientation angles sensor are co-axially mounted, here, angular transducer is selected
Rotary transformer, only selects rough passage, and resolution is 16, and angle measurement accuracy is 1 jiao point, and motor is from DC brushless torque electricity
Machine, 10 pairs of poles, 120 degree of installations of three-phase, output torque is 20000g.cm.Brshless DC motor, angular transducer and institute during installation
Must clean up before having component assembly, be forbidden with jagged and fifth wheel.Before assembling, a small amount of grease is added, and ensure to rub
Wipe torque and be not more than 200g.cm.
After the completion of assembling, as shown in Fig. 2 brshless DC motor is driven using three phase full bridge, PWM1, PWM2 are A phases
Full-bridge drive, PWM3, PWM4 for B phases full-bridge drive, PWM5, PWM6 for C phases full-bridge drive.To in brshless DC motor
Three-phase be powered so that upper half-bridge conducting of the electric current from A opposite two-phase flow, i.e. A phases in addition, the lower half-bridge conducting of B, C,
Namely PWM1, PWM4 and PWM6 conducting, dutycycle PWM is 90%, because of moment of friction very little, can be ignored, after stationary rotor
Brshless DC motor is parked in the position that the position that electromagnetism magnetic field is overlapped with permanent magnetic field, i.e. output torque T are 0,That is eA=eB+eC, wherein, eA、eB、eCFor counter electromotive force of motor, ω is motor speed, and i is motor
Electric current, because of the 120 degree of installations of brshless DC motor three-phase, so three phase back-emf of brshless DC motor homogeneously differs from 120 degree, which is anti-
EMF waveform as shown in figure 3, wherein, eA、eB、eCFor counter electromotive force of motor, electrical angles of the θ for brshless DC motor.According to electricity
Machine commutation principle, the position that thus brshless DC motor stops is forward or 30 degree of pusher is commutation point.
Value Pn-1 of record rotary transformer, n is positive integer；Apply external force to azimuth axis, orientation spindle motor can export one
Determine resistance.After removing external force, azimuth axis can vibrate, and eventually stop at certain position.Record value Pn of now rotary transformer.So
After continue to external force rotational orientation axle, record the rotation variate of continuous n diverse location, and calculate the difference of adjacent two value.If
Pn+1-Pn and Pn-Pn-1 difference absolute value be μ, (μ≤10), then Pn be chosen as motor commutation zero-bit.After the completion of test, should
Power cutoff at once.The torque that the principle of the method foundation is exported when being and powering up to brshless DC motor is 0, so finding nothing
During brushless motor commutation zero-bit, the necessary trim of azimuth axis reduces the interference of the disturbance torque to the method such as moment of friction as far as possible.
The value 2 of rotary transformern360 degree of mechanical angle of correspondence, the number of pole-pairs of motor is m, then 360 degree of electrical angles pair of motor
The mechanical angle answered is 2n/ m, 2nThe electrical angle of/6m correspondence motors is 60 degree, motor rotation electrical angle commutation in a week 6 times, i.e., often
Every 2n/ 6m commutations are once.Below by taking rotating forward as an example determine motor zero-bit near commutation phase sequence.
During to electrical power, output torque is the zero-bit that 0 position is motor, i.e. position of the electrical angle for 180 degree, is such as schemed
Shown in 3.According to the relation between brushless direct-current machine counter electromotive, motor in the point of intersection commutation of counter electromotive force, so with
The zero-bit of brshless DC motor it is delayed or it is advanced 30 degree as commutation point, then the commutation phase sequence of the neighbouring motor of motor zero-bit is B+
C-, i.e. electric current from A phase flow direction B phases, now electrical angle be 150 degree to 210 degree, deduct after zero point corresponding mechanical angle for 0～
2n/ 12m and 11 × 2n/ 12m～2n/m。
Obtain commutation table below by that analogy, as shown in table 1.Reversion is as the same.Numbers of pole-pairs of the wherein m for motor, motor rotation
The angle that circles is 2nElectric current is flowed into ,+represent ,-representing that electric current flows out, A, B, C represent the three-phase of brshless DC motor respectively.
1 m of table is to pole motor commutation table
Motor commutation zero-bit is made to be Pn, if now rotary transformer current angular is P, rotary transformer resolution is 16
Position, rotates a circle as 65535, and motor is 10 pairs of poles, and the angle of the rotation change corresponding to 360 degree electrical angles of motor makes Q=into 6553
(P-Pn)/10, the position establishment motor commutation table being located according to each commutation point obtains following phase change logic, as shown in table 2.
2 10 pairs of pole motor commutation tables of table
Commutation program being write according to table 2, FPGA being given by commutation signal, FPGA module will be raw after input information computing combination
Into 6 tunnel commutation pwm signals, commutation pwm signal is used for changing for three-phase permanent brshless DC motor by isolation module, drive circuit
Phase and control, as shown in Figure 4.
The content not being described in detail in description of the invention belongs to the known technology of those skilled in the art.
Claims (2)
1. a kind of phase change method of the brshless DC motor based on angular transducer, it is characterised in that comprise the steps：
(1) rotor coaxial of angular transducer and brshless DC motor is installed；
(2) three-phase in brshless DC motor is powered so that electric current is treated from wherein any one opposite two-phase flow in addition
Value Pn-1 of angular transducer is recorded after stationary rotor, n is positive integer；
(3) different external force are applied twice successively to the rotor of brshless DC motor so that rotor rotates and is successively still in two
Individual different resting position, respectively record two resting positions corresponding to angular transducer value Pn and Pn+1；
(4) judge that whether the absolute value of (Pn+1-Pn)-(Pn-Pn-1) is less than μ, if less than then will rotor position corresponding with Pn
The zero-bit for being designated as brshless DC motor is put, if repeat step (2) and (3) not less than if, until determining brshless DC motor
Zero-bit；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 it is delayed or it is advanced 30 degree as commutation point, according to the position that each commutation point is located
Establishment motor commutation table, and the commutation operation of brshless DC motor is carried out according to motor commutation table；
Described motor commutation table is：
Numbers of pole-pairs of the wherein m for motor, motor rotate a circle angle for 2nElectric current is flowed into ,+represent ,-represent that electric current flows out, A, B, C
The three-phase of brshless DC motor is represented respectively.
2. the phase change method of a kind of brshless DC motor based on angular transducer according to claim 1, its feature exist
In：Described μ≤10.
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| CN201410827893.7A CN104579045B (en) | 2014-12-26 | 2014-12-26 | A kind of phase change method of the brshless DC motor based on angular transducer |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE112016003094T5 (en) | 2015-09-02 | 2018-04-12 | Chervon (Hk) Limited | Electric tool and method for driving a brushless motor of the power tool |
| 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 |
| 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 |
| CN106887937B (en) * | 2017-03-31 | 2019-02-19 | 北京理工大学 | A kind of low commutation torque ripple brshless DC motor |
| CN107834911B (en) * | 2017-11-13 | 2019-12-03 | 北方电子研究院安徽有限公司 | Three-phase brushless dc motor speed stabilizing control method |
| 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 |
| 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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| CN103368476A (en) * | 2012-04-11 | 2013-10-23 | 广东高标电子科技有限公司 | Motor driving method and detection circuit for electric means of transportation |
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| CN101242154B (en) * | 2008-03-14 | 2010-04-14 | 重庆大学 | A built-in permanent magnetic brushless DC motor control system for no position sensor |
| CN101340169A (en) * | 2008-08-07 | 2009-01-07 | 北京航天控制仪器研究所 | Phase changing method and apparatus of 3 phase salient brushless DC motor |
| JP2011135641A (en) * | 2009-12-22 | 2011-07-07 | Denso Corp | Motor control device |
| JP2013017349A (en) * | 2011-07-06 | 2013-01-24 | Akebono Brake Ind Co Ltd | Adjusting device of brushless dc motor control circuit, adjusting method, adjusting program, and brushless dc motor control circuit |
| CN103391034B (en) * | 2013-07-31 | 2016-04-20 | 天津大学 | The electric automobile hub control method of disk type coreless Permanent Magnet Synchronous Motor Controller |
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| CN103368476A (en) * | 2012-04-11 | 2013-10-23 | 广东高标电子科技有限公司 | Motor driving method and detection circuit for electric means of transportation |
| CN103647484A (en) * | 2013-12-24 | 2014-03-19 | 南京航空航天大学 | Full-speed position-less sensor technology for aviation starting power generation system |
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