CN104734580A - Dual-redundancy control method and system of brushless motor - Google Patents
Dual-redundancy control method and system of brushless motor Download PDFInfo
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- CN104734580A CN104734580A CN201510009415.XA CN201510009415A CN104734580A CN 104734580 A CN104734580 A CN 104734580A CN 201510009415 A CN201510009415 A CN 201510009415A CN 104734580 A CN104734580 A CN 104734580A
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- motor
- position signalling
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- transducer
- control method
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
-
- 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
-
- 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
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention discloses a dual-redundancy control method and system of a brushless motor. A Hall position sensor position signal and a Hall position sensorless position detection signal of the motor are fused to achieve reversing control cover the motor, and the reliability of the motor is improved. Different from the existing dual-redundancy motor technology, the dual-redundancy control method and system achieve dual redundancy of the motor only in an electronic control mode without changing an original motor mechanism. The method can improve the reliability of the motor and meanwhile cannot increase the weight of the motor or change the motor structure, so the requirements for high reliability, light weight and lower cost of the motor in the aviation field can be well met.
Description
Technical field
The present invention relates to a kind of two redundant control system and method for brushless electric machine.
Background technology
Along with the progress of electronic technology and engine technology, how electric aero-engine becomes the direction of future development.As the requisite important auxiliary device of aero-engine: motor, must meet lightweight and high reliability request.
For the motor of aviation field, in order to improve its reliability, generally adopt brshless DC motor at present, and brshless DC motor is divided into position sensor and position-sensor-free two type.Wherein the commutation of position sensor brshless DC motor controls simple, but can increase motor volume due to the installation of position transducer, and under engine dither and hot environment, position transducer easily breaks down and reduces the reliability of motor.And brushless DC motor without position sensor is owing to eliminating position transducer, design volume can reduce, reliability improves greatly, but obtain phase place because its motor phase detects the general mode detecting back electromotive force that adopts, therefore be difficult to accurately phase place be detected under slow-speed of revolution condition, which also limits its application at aviation field.
In order to improve motor reliability, aviation field motor all needs to carry out two redundancy design, generally comprises birotor assembly remaining motor and single rotor assembly remaining motor.These two kinds of designs can improve the reliability of motor, but need to carry out large change to existing electric machine structure, and can increase the volume and weight of motor, this contradicts with light-weight design simultaneously.
Summary of the invention
For problem set forth above, the object of the present invention is to provide on a kind of basis not changing existing brushless DC motor structure, realize the system and method for two remainings of brushless electric machine, to improve reliability.
For achieving the above object, two remaining control methods of a kind of position sensor of the present invention brushless electric machine, described method at least comprises the steps:
The position signalling that each phase position transducer gathering brushless electric machine exports;
The each phase coil position signalling of state computation of each phase coil of brushless electric machine is gathered according to the control method of position-sensor-free;
The position signalling exported according to position transducer and each phase coil position signalling calculated are by the output with conditions position signalling preset.
Preferably, described method at least comprises the steps: that the described condition preset is:
Whether the position signalling that Real-Time Monitoring position transducer exports exceedes predetermined threshold;
Exceed position signalling that predetermined threshold then adopts the control method of position-sensor-free to calculate to export as the position signalling of the transducer of this phase;
Do not exceed the position signalling output that predetermined threshold then adopts position transducer to export.
Preferably, the described condition preset is:
(1) whether the position signalling that Real-Time Monitoring position transducer exports exceeds predetermined threshold; If do not exceed predetermined threshold, then the position signalling adopting position transducer to export exports;
(2) if exceed predetermined threshold, then timing;
(3) monitor, in the given time, whether the position signalling that position transducer exports still continues to exceed predetermined threshold;
(4) if exceed the scheduled time, the position signalling that position transducer exports still continues to exceed predetermined threshold, the position signalling then adopting the control method of position-sensor-free to calculate exports as the position signalling of the transducer of this phase, returns step (1);
If within the position signalling that position transducer exports in the given time returns to predetermined threshold, then the position signalling adopting position transducer to export exports, and returns step (1).
Preferably, the control method of described position-sensor-free comprises: one or more in state observer method, third harmonic component method, third phase conducting method, inductance method, back electromotive force method.
Preferably, the control method of described position-sensor-free is, adopts the back-emf signal of corresponding phase to export as the hall sensor signal of this phase.
Preferably, the computational methods of described predetermined threshold are:
Calculate each position sensor output signal periodic quantity;
Calculate each phase back-emf signal periodic quantity;
Calculate the mean value of each position sensor output signal periodic quantity and each phase back-emf signal periodic quantity;
This mean value is predetermined threshold.
For achieving the above object, the two redundant control system of brushless electric machine of the present invention, comprising:
Sensor signal detection module, for detecting the position signalling that in brshless DC motor, transducer exports;
Without sensor signal detection module, for detecting the state computation outgoing position signal of each phase coil in brshless DC motor according to the control method of position-sensor-free;
Reply logic module, each phase coil position signalling that the position signalling exported according to position transducer and the control method of position-sensor-free calculate is by the drive singal of the output with conditions brushless electric machine preset.
For achieving the above object, the two redundant control system of brushless electric machine of the present invention, comprising:
Sensor signal detection module, for detecting the position signalling that in brshless DC motor, transducer exports;
Without sensor signal detection module, for detecting the State-output position signalling of each phase coil in brshless DC motor;
Position signalling tracking module, evaluates each sensor position signal in real time, for fault detection module provides error,
Fault detection module, judges whether transducer breaks down and export indication information;
Fault reply logic module, carries out decision-making according to the indication information that fault detection module exports, provides effective motor rotor position signal.
Preferably, a stabilization computing module is also comprised; Receive fault detection module export indication information, and carry out stabilization calculate backward fault reply logic module export indication information.
The present invention is by Hall position sensor of motor position signalling and merge the commutation control getting up to realize to motor without sensing station detection signal, to improve motor reliability.Comprise electronic control system, hall sensor signal detection, back electromotive force zero-crossing position probing, position signalling tracking, fault detect, fault handling logic.Wherein back electromotive force zero-crossing position probing have employed the terminal voltage method of constructing analog neutral point.Fault detect have employed instead trembles operation, and proposes a set of fault recognition mechanism, to prevent erroneous judgement.
Different from existing pair of remaining motor technology, the present invention does not change original motor mechanism, and is just realized two remainings of motor by electronically controlled mode.This method can improve motor reliability, can't increase motor weight simultaneously, change electric machine structure, and this can be good at meeting the requirement of aviation field to the high reliability of motor, lightweight and low cost.
Accompanying drawing explanation
Fig. 1 is electronic control system schematic diagram of the present invention.
Fig. 2 is brshless DC motor schematic diagram.
Fig. 3 is simulation neutral point method schematic diagram.
Fig. 4 is that square wave obtains principle schematic.
Fig. 5 is the two remaining control method system block diagram of the present invention.
Fig. 6 is position signalling following principle block diagram.
Fig. 7 instead trembles operating principle schematic diagram.
Fig. 8 is fault recognition mechanism.
Fig. 9 is troubleshooting process figure.
Embodiment
Below in conjunction with drawings and Examples, the present invention is further illustrated.
As shown in Figures 1 to 9, two remaining control methods of a kind of position sensor of the present invention brushless electric machine, described method at least comprises the steps:
The position signalling that each phase position transducer gathering brushless electric machine exports;
The each phase coil position signalling of state computation of each phase coil of brushless electric machine is gathered according to the control method of position-sensor-free;
The position signalling exported according to position transducer and each phase coil position signalling calculated are by the output with conditions position signalling preset.
Wherein, above-mentioned position transducer can be Hall element, photoelectrical position sensor, electromagnetic position sensor etc.The control method of above-mentioned position-sensor-free comprises: one or more in state observer method, third harmonic component method, third phase conducting method, inductance method, back electromotive force method, and these methods obtaining the position of coils are prior art.
The present invention does not change original motor mechanism, and is just realized two remainings of motor by electronically controlled mode.This method can improve motor reliability, can't increase motor weight simultaneously, change electric machine structure, and this can be good at meeting the requirement of aviation field to the high reliability of motor, lightweight and low cost.
Embodiment 1
Two remainings of the brushless electric machine of the present embodiment control control system, and as shown in Figure 1, hall signal module and back EMF zero-crossing point detection module obtain motor phase to principle, and by three-phase brushless dc motor driver module to realize the commutation control of motor.When hall position sensor is working properly, system adopts position signal of hall sensor to carry out motor commutation control; When hall signal occurs abnormal, system can find at once and adopt counter electromotive position signal to replace, and ensures that it remains in operation, to improve motor reliability.
Above-mentioned back EMF zero-crossing point detection, can adopt the terminal voltage method of constructing analog neutral point to detect back electromotive force zero-crossing.Fig. 2 terminal voltage method counter electromotive force detection circuit principle, detects voltage by obtaining after terminal voltage dividing potential drop, filtering:.Comparative voltage when can obtain back electromotive force zero-crossing according to back EMF zero-crossing point detection equation is:
In order to construct comparative voltage, the present invention adopts the method for simulation neutral point to obtain comparative voltage, as shown in Figure 3.Through low-pass filtering and relatively after obtain standard block, as shown in Figure 4, wherein CH2 is back emf waveform, and CH3 is comparative voltage, CH1 be obtain square-wave signal.This signal just may be used for the determination of motor commutation position.
The two remaining control principle of the motor being backup with back electromotive force zero-crossing position signalling as shown in Figure 5.Brshless DC motor obtains motor rotor position by Hall element and back electromotive force module, position signalling tracking module is evaluated each sensor position signal in real time, for fault detection module provides error, then judging whether transducer breaks down and tackle logic module for fault by fault detection module provides indication information; Fault reply logic module carries out decision-making according to indication information, finally provides effective motor rotor position signal.
Because the every phase position signal of motor is all by two sensor measurements: Hall element and back-emf signal.From motor symmetry, under normal circumstances, the cycle of three groups of signals should be consistent, if be respectively: T
1, T
2, T
3, T
4, T
5, T
6, then its mean value is:
Fig. 6 is pole rotor position signalling following principle block diagram, wherein T
1t
6be respectively Hall element and counter electromotive position signal period, obtain the filtered cycle through digital filtering
respectively with T
avask deviation:
Because motor respectively has symmetry mutually, therefore the periodic deviation of six signals should all can be smaller, if certain signal occurs that significantly deviation just can judge this abnormal signal.Around this principle, setting fault threshold is ε
0, work as ε
i> ε
0time, represent this abnormal signal.
Embodiment 2
Because motor is in running, sensor signal may be interfered and occur deviation, but this does not represent this sensor experiences failure, if just simple thresholding judges to be easy to occur erroneous judgement.
Therefore, on embodiment 1 basis, be further improved:
(1) whether the position signalling that Real-Time Monitoring position transducer exports exceeds predetermined threshold; If do not exceed predetermined threshold, then the position signalling adopting position transducer to export exports;
(2) if exceed predetermined threshold, then timing;
(3) monitor, in the given time, whether the position signalling that position transducer exports still continues to exceed predetermined threshold;
(4) if exceed the scheduled time, the position signalling that position transducer exports still continues to exceed predetermined threshold, the position signalling then adopting the control method of position-sensor-free to calculate exports as the position signalling of the transducer of this phase, returns step (1);
If within the position signalling that position transducer exports in the given time returns to predetermined threshold, then the position signalling adopting position transducer to export exports, and returns step (1).
Embodiment 3
In order to ensure the Stability and veracity of breakdown judge, a set of fault recognition mechanism must be adopted on embodiment 2 basis, as shown in Figure 8.Whole fault recognition mechanism is divided into one of four states: intact, accurate fault, final fault, standard are intact.
When System Reports fault, will the timing of fault confirming time be started, and fault is considered as accurate fault.When fault recognition timer has exceeded the fault confirming time of setting, then fault is considered as final fault.
If in the process, fault recognition timer does not also exceed the fault confirming time of setting, but phenomenon of the failure disappears, then malfunction will be transitioned into intact by accurate fault.As a same reason, for the final fault confirmed, when system no longer detects phenomenon of the failure, if the intact timer of fault has exceeded the intact acknowledging time of setting, then malfunction has now transferred to intact.If the fault occurred again before fault recognition timer exceeds, then fault will be transitioned into final malfunction by accurate serviceable condition.
By fault recognition mechanism, each sensor states is confirmed, finally to ensure when certain position signalling is abnormal, motor ensures that motor can continue normal work.
Embodiment 4
The two redundant control system of brushless electric machine in the present embodiment, comprising:
Sensor signal detection module, for detecting the position signalling that in brshless DC motor, transducer exports;
Without sensor signal detection module, for detecting the state computation outgoing position signal of each phase coil in brshless DC motor;
Reply logic module, the position signalling exported according to position transducer and each phase coil position signalling calculated provide effective motor rotor position signal.Reply logic module, according to selected which signal that adopts of predetermined scheme can drive brushless electric machine.Such as: in high temperature environments, adopt the position signalling exported without sensor signal detection module, and adopt the position signalling that sensor signal detection module exports when low temperature environment; Or, when starting, adopt the position signalling exported without sensor signal detection module, and adopt the position signalling etc. that sensor signal detection module exports when high speed.
Claims (9)
1. two remaining control methods for brushless electric machine, it is characterized in that, described method at least comprises the steps:
The position signalling that each phase position transducer gathering brushless electric machine exports;
The each phase coil position signalling of state computation of each phase coil of brushless electric machine is gathered according to the control method of position-sensor-free;
The position signalling exported according to position transducer and each phase coil position signalling calculated are by the output with conditions position signalling preset.
2. control method as claimed in claim 1, it is characterized in that, described method at least comprises the steps: that the described condition preset is:
Whether the position signalling that Real-Time Monitoring position transducer exports exceedes predetermined threshold;
Exceed position signalling that predetermined threshold then adopts the control method of position-sensor-free to calculate to export as the position signalling of the transducer of this phase;
Do not exceed the position signalling output that predetermined threshold then adopts position transducer to export.
3. control method as claimed in claim 1, it is characterized in that, described method at least comprises the steps: that the described condition preset is:
(1) whether the position signalling that Real-Time Monitoring position transducer exports exceeds predetermined threshold; If do not exceed predetermined threshold, then the position signalling adopting position transducer to export exports;
(2) if exceed predetermined threshold, then timing;
(3) monitor, in the given time, whether the position signalling that position transducer exports still continues to exceed predetermined threshold;
(4) if exceed the scheduled time, the position signalling that position transducer exports still continues to exceed predetermined threshold, the position signalling then adopting the control method of position-sensor-free to calculate exports as the position signalling of the transducer of this phase, returns step (1);
If within the position signalling that position transducer exports in the given time returns to predetermined threshold, then the position signalling adopting position transducer to export exports, and returns step (1).
4. control method as claimed in claim 5, it is characterized in that, the control method of described position-sensor-free comprises: one or more in state observer method, third harmonic component method, third phase conducting method, inductance method, back electromotive force method.
5. control method as claimed in claim 1, it is characterized in that, the control method of described position-sensor-free is, adopts the back-emf signal of corresponding phase to export as the hall sensor signal of this phase.
6. control method as claimed in claim 2, it is characterized in that, the computational methods of described predetermined threshold are:
Calculate each position sensor output signal periodic quantity;
Calculate each phase back-emf signal periodic quantity;
Calculate the mean value of each position sensor output signal periodic quantity and each phase back-emf signal periodic quantity;
This mean value is predetermined threshold.
7. the two redundant control system of brushless electric machine, is characterized in that, comprising:
Sensor signal detection module, for detecting the position signalling that in brshless DC motor, transducer exports;
Without sensor signal detection module, for detecting the state computation outgoing position signal of each phase coil in brshless DC motor according to the control method of position-sensor-free;
Reply logic module, each phase coil position signalling that the position signalling exported according to position transducer and the control method of position-sensor-free calculate is by the drive singal of the output with conditions brushless electric machine preset.
8. the two redundant control system of brushless electric machine, is characterized in that, comprising:
Sensor signal detection module, for detecting the position signalling that in brshless DC motor, transducer exports;
Without sensor signal detection module, for detecting the State-output position signalling of each phase coil in brshless DC motor;
Position signalling tracking module, evaluates each sensor position signal in real time, for fault detection module provides error,
Fault detection module, judges whether transducer breaks down and export indication information;
Fault reply logic module, carries out decision-making according to the indication information that fault detection module exports, provides effective motor rotor position signal.
9. the two redundant control system of brushless electric machine as claimed in claim 1, is characterized in that, also comprise a stabilization computing module; Receive fault detection module export indication information, and carry out stabilization calculate backward fault reply logic module export indication information.
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| CN201510009415.XA CN104734580A (en) | 2015-01-08 | 2015-01-08 | Dual-redundancy control method and system of brushless motor |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105790653A (en) * | 2016-05-13 | 2016-07-20 | 北京精密机电控制设备研究所 | Dual-redundant motor driver and human-aided heart control system |
| CN106452207A (en) * | 2016-09-27 | 2017-02-22 | 上海工业自动化仪表研究院 | High-temperature driving module of DC brushless motor |
| CN106549611A (en) * | 2017-01-13 | 2017-03-29 | 昊翔电能运动科技(昆山)有限公司 | The detection method and device of rotor |
| CN106982015A (en) * | 2017-05-16 | 2017-07-25 | 兰州理工大学 | A kind of multiprocessor permanent-magnet brushless DC electric machine joint governing system and method |
| CN107124130A (en) * | 2017-04-06 | 2017-09-01 | 深圳市伟创电气有限公司 | A kind of rotary transformer position failure information judges and fault handling method |
| CN107592037A (en) * | 2017-10-23 | 2018-01-16 | 哈尔滨理工大学 | Dual system control device for brushless direct current machine and method based on FPGA |
| WO2018039988A1 (en) * | 2016-08-31 | 2018-03-08 | SZ DJI Technology Co., Ltd. | Methods and systems for brushless motor control |
| US10103647B2 (en) | 2016-08-17 | 2018-10-16 | Industrial Technology Research Institute | Sensorless measurement method and device for filter capacitor current by using a state observer |
| CN110768591A (en) * | 2019-10-31 | 2020-02-07 | 江苏科技大学 | Switching method and device for double-mode control of brushless direct current motor |
| CN111190347A (en) * | 2018-11-14 | 2020-05-22 | 北京自动化控制设备研究所 | Fault-tolerant processing method for multi-position information of dual-redundancy electromechanical servo system |
| CN113435046A (en) * | 2021-06-29 | 2021-09-24 | 西北工业大学 | Reliability calculation method for control system of dual-redundancy brushless direct current motor |
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| CN107124130A (en) * | 2017-04-06 | 2017-09-01 | 深圳市伟创电气有限公司 | A kind of rotary transformer position failure information judges and fault handling method |
| CN107124130B (en) * | 2017-04-06 | 2019-11-22 | 苏州伟创电气设备技术有限公司 | A kind of judgement of rotary transformer position failure information and fault handling method |
| CN106982015A (en) * | 2017-05-16 | 2017-07-25 | 兰州理工大学 | A kind of multiprocessor permanent-magnet brushless DC electric machine joint governing system and method |
| CN107592037A (en) * | 2017-10-23 | 2018-01-16 | 哈尔滨理工大学 | Dual system control device for brushless direct current machine and method based on FPGA |
| CN111190347A (en) * | 2018-11-14 | 2020-05-22 | 北京自动化控制设备研究所 | Fault-tolerant processing method for multi-position information of dual-redundancy electromechanical servo system |
| CN111190347B (en) * | 2018-11-14 | 2023-01-17 | 北京自动化控制设备研究所 | Fault-tolerant processing method for multi-position information of dual-redundancy electromechanical servo system |
| CN110768591A (en) * | 2019-10-31 | 2020-02-07 | 江苏科技大学 | Switching method and device for double-mode control of brushless direct current motor |
| CN110768591B (en) * | 2019-10-31 | 2021-04-23 | 江苏科技大学 | Switching method and device for double-mode control of brushless direct current motor |
| CN113435046A (en) * | 2021-06-29 | 2021-09-24 | 西北工业大学 | Reliability calculation method for control system of dual-redundancy brushless direct current motor |
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Application publication date: 20150624 |