CN104767434A - Rotor phase commutation position detection and phase commutation control method for brushless direct current motor - Google Patents

Rotor phase commutation position detection and phase commutation control method for brushless direct current motor Download PDF

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CN104767434A
CN104767434A CN201510193521.8A CN201510193521A CN104767434A CN 104767434 A CN104767434 A CN 104767434A CN 201510193521 A CN201510193521 A CN 201510193521A CN 104767434 A CN104767434 A CN 104767434A
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motor
phase
electromotive force
back electromotive
commutation
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程善美
李自成
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Huazhong University of Science and Technology
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Huazhong University of Science and Technology
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Abstract

The invention discloses a rotor phase commutation position detection and phase commutation control method for a brushless direct current motor. In order to facilitate calculation and better utilize the principle of line back electromotive force zero crossing, three F functions are defined, and the functions are reciprocals of a line back electromotive force which are related to positions. By detecting the two-phase line voltage and the stator current of the brushless direct current motor, the F functions are calculated out, and positive and negative amplitude limitation is conducted on values of the F functions. The moment when the values of the F functions are jumped to be positive threshold values or negative threshold values corresponds to a zero crossing point of the line back electromotive force, the zero crossing point is the rotor position of the brushless direct current motor, and according to the rotor position, the current phase commutation control for the motor can be achieved. The F function threshold values are set in a segmented mode according to the motor speed range. By means of the method, no dummy motor midpoint is needed, the 30-degree phase delay is not needed, the method is applicable to a back electromotive force in any shape, random PWM modulation mode can be adopted, and compared with a traditional detection method of opposite electromotive force zero crossing dummy midpoint, the method has the advantages of being simple in structure, wider in application range and the like.

Description

A kind of brushless DC motor rotor commutation position probing and phase change control method
Technical field
The invention belongs to industrial automation, be specifically related to a kind of brushless DC motor rotor commutation position probing and phase change control method.
Background technology
Phase back-emf method is a kind of brushless DC motor rotor position detecting method that current technology is the most ripe, the most effective and be most widely used.This method be based upon ignore motor armature reaction prerequisite under, by detecting the phase back-emf zero crossing of motor, then postpone main points position signalling in an electrical cycle that 30 ° of electrical degrees obtain rotor successively.Thus realizing power switch pipe commutation conducting successively, drive motor normally runs.
The phase back-emf of brushless DC motor is generally difficult to direct measurement, usually adopts hardware approach indirectly to obtain phase back-emf zero cross signal.Phase back-emf zero passage hardware detection is generally realized by the zero crossing comparing phase voltage or terminal voltage, and detects phase voltage or terminal voltage all needs to use motor mid point.For the brushless DC motor of the star-like connection of stator winding, motor mid point is not generally drawn, and now, needs reconstruct motor mid point to realize.There is the method for two kinds of reconstruct motor mid points: one is adopt resistor network reconstruct mid point; Another kind adopts DC bus-bar voltage mid point.Document (Yang Chengzhong, Zhang Hui. the back electromotive force of special DC motor having no brush and no position sensing device detects. small and special electric machine, 2010, (6): 15 ~ 17), utilize the zero crossing of terminal voltage detecting phase back-emf exactly.When adopting resistor network reconstruct mid point, the zero crossing obtained due to reasons such as filter circuit and the interference of PWM high-frequency signal will depart from actual commutation point, and the resistor network mid point now reconstructed is unequal with actual motor midpoint potential, particularly for not conducting when non-commutation period has afterflow phenomenon, above-mentioned 2 current potentials difference is larger.Therefore, the resistor network mid point of reconstruct is obtained phase back-emf zero cross signal as motor mid point there is larger limitation, limit the range of application of this zero crossing detection of back EMF, increase rotor-position metrical error, particularly can not detect in full speed range.Whether motor mid point is equal with DC bus-bar voltage midpoint potential is relevant with the on off state of power switch pipe, and the on off state of power switch pipe is determined by the PWM mode of inverter.In brshless DC motor 120 ° of conducting PWM control modes, single tube and multitube two class PWM mode can be divided into.Single tube PWM and multitube PWM mode all have Different Modulations.Under some modulation (PWM) mode, motor mid point is equal with DC bus-bar voltage midpoint potential, but under other modulation (PWM) mode both and unequal.Therefore, think above-mentioned 2 current potentials equal in traditional phase back-emf hardware detection method and using DC bus-bar voltage mid point as motor mid point carry out phase back-emf detect still there is larger limitation.
Summary of the invention
The present invention is directed to the problem that traditional phase back-emf zero passage detection needs virtual video machine winding mid point, propose a kind of line back electromotive force zero passage principle that utilizes to obtain the new method of brushless DC motor rotor-position and to realize motor commutation control.
One utilizes line back electromotive force zero passage principle to realize motor and changes facies-controlled new method, and the method to line back electromotive force zero passage detection, but adopts the method calculated in real time to obtain line back electromotive force zero-crossing thus estimation rotor-position without the need to hardware circuit, is specially:
Defining three F functions is
F ab = 1 / e ab = 1 u ab - R ( i a - i b ) - Ld ( i a - i b ) / dt F bc = 1 / e bc = 1 u bc - R ( i b - i c ) - Ld ( i b - i c ) / dt F ca = 1 / e ca = 1 u ca - R ( i c - i a ) - Ld ( i c - i c ) / dt
In formula, e ab, e bcand e cabe respectively triple line back electromotive force, u ab, u bcand u cabe respectively threephase stator line voltage, i a, i band i cbe respectively threephase stator electric current, R is stator winding resistance, L sfor stator phase winding self-induction, L mfor the mutual inductance of stator phase winding, L=L s-L mfor effective inductance.
By calculating above-mentioned three F functions in real time, rotor-position is estimated.During Practical Calculation, need to measure two phases line voltage wherein and two-phase phase current, third phase line voltage is by u ab+ u bc+ u ca=0 obtains, and third phase phase current is by i a+ i b+ i c=0 obtains.
The F functional value calculated is smaller within the most of the time, and at motor line back electromotive force zero crossings, its value increases gradually, for infinitely great when online back electromotive force is zero.For the ease of realizing, three F functions to calculating are needed to carry out amplitude limit.In order to the accuracy of compatible low speed lower rotor part position probing and the rapidity of high speed lower rotor part position probing, the threshold value of F function can adjust according to the segmentation of motor speed scope, and such as, when motor speed is positioned at 0 ~ 100rpm, the threshold value of F function is set as 50; When motor speed is positioned at 100 ~ 200rpm, the threshold value of F function is set as 45, and the rest may be inferred.To any flat-top width of brushless DC motor trapezoidal wave phase back-emf or sinusoidal wave phase back-emf, the zero crossing of its line back electromotive force is exactly corresponding commutation point.When line back electromotive force zero passage, namely the transition of F functional value is the moment of positive threshold value or negative threshold value, corresponding to brushless DC motor six rotor-positions.Detect brushless DC motor six rotor-position signals, according to motor speed and direction of rotation, produce corresponding pwm signal, realize six power switch pipe commutation conductings successively in inverter, drive the operation of brushless DC motor.
The technique effect of invention is embodied in:
1, this method is without the need to imaginary motor mid point, without the need to phase back-emf zero passage detection hardware circuit, and without the need to 30 ° of phase delays.
2, adapt to the phase back-emf of any shape, arbitrary PWM mode can be adopted.
3, only need measure two phases line voltage and the two-phase phase current of motor, fabricate midpoint detection method relative to traditional phase back-emf zero passage and there is the features such as structure is simple, the scope of application is wider.
Accompanying drawing explanation
The DC motor having no brush and no position sensing device Control system architecture schematic diagram that Fig. 1 implements for the present invention.
Fig. 2 is brushless DC motor main circuit and equivalent circuit diagram.
Fig. 3 is the trapezoidal wave phase back-emf of any flat-top width and the line back emf waveform that obtains thereof.
Fig. 4 is the F function ideal waveform after amplitude limit.
Fig. 5 is brushless DC motor rotor-position testing process.
The rotor-position signal s that Fig. 6 is given rotating speed 500r/min anticlimax to be estimated when being 50r/min bwith the rotor-position signal s that Hall element detects h.
The speed waveform that Fig. 7 is given rotating speed 500r/min anticlimax when being 50r/min.
Speed waveform when Fig. 8 is given rotating speed 500r/min shock load.
Fig. 9 is the interrupt routine flow chart controlling brushless DC motor.
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described.
The DC motor having no brush and no position sensing device Control system architecture figure that Fig. 1 implements for the present invention, this structure mainly comprises brushless DC motor BLDCM, three-phase full-bridge inverter, voltage-current sensor and filter circuit and the rotor-position comprised based on F function detects, commutation controls, PWM controls and the digital control part etc. of speeds control.
Fig. 2 is brushless DC motor main circuit and equivalent circuit diagram, and brushless DC motor main circuit is three-phase full-bridge inverter, and it comprises six power switch pipe VT1 ~ VT6 and antiparallel six power diode VD1 ~ VD6.
According to the equivalent electric circuit of brushless DC motor, brushless DC motor voltage equation can be obtained
u a u b u c = R 0 0 0 R 0 0 0 R i a i b i c + p L 0 0 0 L 0 0 0 L i a i b i c + e a e b e c + u n u n u n
In formula, be reference point relative to DC bus-bar voltage ground g, u a, u band u cbe respectively the voltage of threephase stator end a, b and c, u nfor the voltage of motor mid point n; i a, i band i cbe respectively threephase stator electric current, e a, e band e cbe respectively three-phase windings back electromotive force, R is stator resistance, L sfor stator phase winding self-induction, L mfor the mutual inductance of stator phase winding, L=L s-L mfor effective inductance, p is differential operator.
The expression formula of three-phase phase back-emf can be obtained
e a = u a - Ri a - Ld i a / dt - u n e b = u b - Ri b - Ld i b / dt - u n e c = u c - Ri c - Ld i c / dt - u n
Line back electromotive force is defined as the difference of phase back-emf, then above formula subtracts each other between two and can obtain line back electromotive force
e ab = u ab - R ( i a - i b ) - Ld ( i a - i b ) / dt e bc = u bc - R ( i b - i c ) - Ld ( i b - i c ) / dt e ca = u ca - R ( i c - i a ) - Ld ( i c - i a ) / dt
Wherein u ab, u bcand u cafor three-phase line voltage.
It is no matter the brshless DC motor of 120 ° of trapezoidal wave phase back-emf for flat-top width, or being the brshless DC motor of any flat-top width trapezoidal wave and phase back-emf for phase back-emf is the brshless DC motor of sine, the line back electromotive force zero-crossing of brshless DC motor is exactly the commutation point of motor.
The trapezoidal wave phase back-emf that Fig. 3 gives any flat-top width when motor rotates forward and the line back emf waveform obtained thereof.S 1~ s 6for the zero crossing of triple line back electromotive force, corresponding six motor rotor commutation positions.
Adopt voltage-current sensor to stator voltage u aband u bcand stator current i aand i cdetect, detect the signal obtained and give numerical control system after filtering and signal transacting, A/D converter sampled voltage current value, calculates u on this basis caand i c, then calculate three F functions in real time and come detection rotor position.Three F functions of definition are
F ab = 1 / e ab = 1 u ab - R ( i a - i b ) - Ld ( i a - i b ) / dt F bc = 1 / e bc = 1 u bc - R ( i b - i c ) - Ld ( i b - i c ) / dt F ca = 1 / e ca = 1 u ca - R ( i c - i a ) - Ld ( i c - i c ) / dt
Can obtain the F function ideal waveform after three amplitude limits thus, as shown in Figure 4, the positive negative threshold value absolute value of the present embodiment is set in 10 most between 50.F functional value is smaller within the most of the time, only just undergos mutation in the commutation point moment, highly beneficial to the estimation of rotor-position.When line back electromotive force is near zero, F functional value increases gradually, when becoming the moment of positive threshold value or negative threshold value, just corresponds to motor current commutation point.As can be seen from also above-mentioned, the F function obtained has nothing to do with PWM mode.
Commutation control module produces commutation control signal t according to three F functions 1~ t 6.
When motor rotates forward, the phase change method between motor three-phase is as follows:
Within an electric cycle, when motor is in interval 5 operation, by judging F abtransition is the moment (i.e. θ=330 °) of positive threshold value, obtains electric current by the lower pipe VT4 commutation of a phase to the lower pipe VT6 of b phase; And when interval 2 run, by judging F abtransition is the moment (i.e. θ=150 °) of negative threshold value, obtains electric current by pipe VT3 in pipe VT1 commutation to b phase in a phase.
When motor is in interval 1 operation, by judging F bctransition is the moment (i.e. θ=90 °) of positive threshold value, obtains electric current by the lower pipe VT6 commutation of b phase to the lower pipe VT2 of c phase; And when interval 4 run, by judging F bctransition is the moment (i.e. θ=270 °) of negative threshold value, obtains electric current by pipe VT5 in pipe VT3 commutation to c phase in b phase.
When motor is in interval 3 operation, by judging F catransition is the moment (i.e. θ=210 °) of positive threshold value, obtains electric current by the lower pipe VT2 commutation of c phase to the lower pipe VT4 of a phase; And when interval 6 run, by judging F catransition is the moment (i.e. θ=30 °) of negative threshold value, obtains electric current by pipe VT1 in pipe VT5 commutation to a phase in c phase.
When motor reverses, the phase change method between motor three-phase is as follows:
Within an electric cycle, when motor is in interval 5 operation, by judging F abtransition is the moment (i.e. θ=330 °) of negative threshold value, obtains electric current by pipe VT3 in pipe VT1 commutation to b phase in a phase; And when interval 2 run, by judging F abtransition is the moment (i.e. θ=150 °) of positive threshold value, obtains electric current by the lower pipe VT4 commutation of a phase to the lower pipe VT6 of b phase.
When motor is in interval 1 operation, by judging F bctransition is the moment (i.e. θ=90 °) of negative threshold value, obtains electric current by pipe VT5 in pipe VT3 commutation to c phase in b phase; And when interval 4 run, by judging F bctransition is the moment (i.e. θ=270 °) of positive threshold value, obtains electric current by the lower pipe VT6 commutation of b phase to the lower pipe VT2 of c phase.
When motor is in interval 3 operation, by judging F catransition is the moment (i.e. θ=210 °) of negative threshold value, obtains electric current by pipe VT1 in pipe VT5 commutation to a phase in c phase; And when interval 6 run, by judging F catransition is the moment (i.e. θ=30 °) of positive threshold value, obtains electric current by the lower pipe VT2 commutation of c phase to the lower pipe VT4 of a phase.
According to above commutation rule, the switching signal t of control six power switch pipe VT1 ~ VT6 can be obtained 1~ t 6.Detect motor rotor position flow process as shown in Figure 5.
Simultaneously according to the time interval between F function threshold, calculate the speed n of motor, this speed n is compared with given speed n*, calculate speed difference, can obtain the output voltage V* of inverter after PI controller and PWM control, output voltage V* determines the turn-on and turn-off time of six power switch pipe VT1 ~ VT6.
Fig. 6 ~ 8 give control effects figure of the invention process.Matlab emulation is carried out to above method, the rotor-position signal s that Fig. 6 is given rotating speed 500r/min anticlimax to be estimated when being 50r/min bwith the actual rotor position signalling s that Hall element detects h.The speed waveform that Fig. 7 is given rotating speed 500r/min anticlimax when being 50r/min.Speed waveform when Fig. 8 is given rotating speed 500r/min shock load.Can find out that the rotor-position adopting the present invention to detect is consistent with actual rotor-position, speeds control is effective, and dynamic response is fast, and low-speed performance also achieves satisfied effect.
Adopt the function that dsPIC30F6010 realizes in Fig. 1 in dotted line frame as main control chip, namely electric current and voltage sampling and conversion, F function calculate in real time, commutation control, speed calculates, PI controls and PWM controls.Fig. 9 is X in brushless DC motor control interrupt routine flow chart.In interrupt routine flow chart, dsPIC30F6010 calculates three F functions in real time, if when certain F functional value reaches the threshold value (10 ~ 50 or-10 ~-50) of regulation, then start commutation to control, realize rotor current commutation, calculate rotating speed simultaneously, control for speed closed loop.
Be in ON_PWM modulation system (i.e. 60 ° of PWM after front 60 ° of Heng Tongs) for brushless DC motor below to illustrate and change facies-controlled specific implementation.In interrupt routine, calculate the denominator of three F functions first in real time, and determine whether zero, if be in certain rotor commutation position for null representation motor, otherwise calculate three F functions.Work as F abwhen reaching positive threshold value and negative threshold value respectively, then think rotor-position respectively at 150 ° and 330 ° of places, remember that variable hall value is 3 and 4 respectively; Work as F bcwhen reaching positive threshold value and negative threshold value respectively, then think rotor-position respectively at 270 ° and 90 ° of places, remember that variable hall value is 6 and 1 respectively; Work as F cawhen reaching positive threshold value and negative threshold value respectively, then think rotor-position respectively at 30 ° and 210 ° of places, remember that variable hall value is 5 and 2 respectively.Then commutation control word OVDCON=StateTab [hall] is set according to hall value, array StateTab []={ 0x0000,0x2001,0x0204,0x2004,0x0810,0x0801,0x0210,0x0000}, wherein hall is 0 and 7 is disarmed state, thus six commutations realized within an electric cycle control.
Those skilled in the art will readily understand; the foregoing is only preferred embodiment of the present invention; not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.

Claims (3)

1. brushless DC motor rotor commutation position probing and a phase change control method, is characterized in that comprising the steps:
(1) voltage sensor and current sensor measurement brushless DC motor ab phase top-stitching voltage u is adopted abwith bc phase top-stitching voltage u bcand a, b biphase current i a, i b, calculate ca phase top-stitching voltage u ca=-(u ab+ u bc), c phase current i c=-(i a+ i b);
(2) triple line back electromotive force F reciprocal is calculated ab, F bc, F cafunctional value, computing formula is:
F ab = 1 / e ab = 1 u ab - R ( i a - i b ) - Ld ( i a - i b ) / dt F bc = 1 / e bc = 1 u bc - R ( i b - i c ) - Ld ( i b - i c ) / dt F ca = 1 / e ca = 1 u ca - R ( i c - i a ) - Ld ( i c - i a ) / dt
E in formula ab, e bcand e cabe respectively triple line back electromotive force, R is stator winding resistance, L=L s-L mfor stator effective inductance, L sfor stator phase winding self-induction, L mfor the mutual inductance of stator phase winding;
(3) F is detected ab, F bc, F cafunctional value, as wherein any one function absolute value reaches default threshold value, obtains a line back electromotive force zero-crossing, namely a motor rotor commutation position.
2. method for detecting position according to claim 1, is characterized in that the threshold value of F function can adjust according to the segmentation of motor speed scope; Between zero to rated speed, when compared with setting larger threshold value when low engine speed range; When the threshold value that the setting when higher rotation speed scope is less.
3. based on the brushless DC motor phase change control method of the commutation method for detecting position described in claim 1-2, it is characterized in that, in the F functional value trip point moment, produce motor current commutation control signal.
CN201510193521.8A 2015-04-22 2015-04-22 Rotor phase commutation position detection and phase commutation control method for brushless direct current motor Pending CN104767434A (en)

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CN108258950B (en) * 2017-08-29 2021-06-01 苏州博牛电气有限公司 Control method for driving and starting permanent magnet brushless direct current motor
CN108258950A (en) * 2017-08-29 2018-07-06 苏州博牛电气有限公司 The control method that permanent-magnet brushless DC electric machine driving starts
CN108054962B (en) * 2017-12-21 2019-09-06 天津大学 A kind of brushless direct current motor sensorless control method
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