CN104767447A - Five-section type vector control system of brushless direct-current motor - Google Patents
Five-section type vector control system of brushless direct-current motor Download PDFInfo
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Abstract
The invention discloses a five-section type vector control system of a brushless direct-current motor. The state that an upper bridge arm of a three-phase bridge type inverter is powered on is defined as the state '1', the state that the upper bridge arm of the three-phase bridge type inverter is defined as the state '0', eight space voltage vectors including six nonzero space voltage vectors and two zero vectors are formed and divide a space voltage vector plane into six sectors. A five-section type SVPWM model calculates the output phase voltage of the inverter and a synthesized reference voltage vector. The voltage vector in each switch cycle is formed by synthesizing basic vectors on the two sides of the corresponding sector and a zero vector, the synthesized reference voltage vector can circumferentially rotate according to set amplitude values by controlling the combination of the switch states, and required synthesized reference voltage vector output is obtained by combining the two basic zero vectors in the area according to the corresponding action time combination when the synthesized reference voltage vector is rotated to the area of one sector. By means of the five-section type vector control system, the control performance of a motor can be effectively improved, the switching loss of power pipes can be reduced, and heating can be reduced.
Description
Technical field
The present invention relates to Motor Control Field, be specifically related to a kind of brshless DC motor vector control system.
Background technology
Because structure is simple, easy to maintenance and speed adjusting performance is good etc., series of advantages has been widely used, particularly in the field such as household electrical appliance, electric motor car brshless DC motor (BLDCM).These applications are had higher requirement to the aspect such as flatness and low noise that motor runs.
China Patent Publication No. is CN101159424, name is called that " in Electric Machine Control SVPWM control method and adopt the control device of this control method " proposes a kind of traditional SVPWM control method being applied to alternating current machine, is seven segmentation vector control technologies.The general principle of this seven segmentations vector control technology is: compensate obtain SVPWM modulation wave signal by adding zero-sequence component to SVPWM modulation signal, directly calculated by SVPWM modulation wave signal and determine three phase comparator switching points, object is the various combination utilizing each brachium pontis switch controlling signal of inverter, makes the running orbit of the output region vector of inverter as far as possible close to circular.Its control device functional module comprises: torque command determination module, current-order determination module, current regulator, synchronous/fixed coordinate system conversion module, SVPWM module, fixing/Synchronous Reference Frame Transform device, rotor position detector, velocity calculator etc.
Though the problem that when seven segmentation vector control technologies being incorporated into inverter and can realizing in controlling the accurate control of motor and solve motor operation, noise is excessive, but what adopt is the mode of modulating motor stator winding three-phase simultaneously, the direct result that this mode produces is exactly: the switching frequency that improve inverter, add switching loss, cause power switch pipe to generate heat serious.
Summary of the invention
For the deficiencies in the prior art, the present invention proposes a kind of brshless DC motor five-part form vector control system.This five-part form vector control system can solve the restive problem that brshless DC motor causes because of characteristics such as multivariable, non-linear, close couplings, achieve brshless DC motor low torque ripple, motion smoothing, operational effect that noise is little under different loads, and switching loss is low, power tube caloric value is little.
The technical scheme that a kind of brshless DC motor five-part form of the present invention vector control system adopts is: comprise speed control, torque controller, Park inverse converter, three-phase bridge type converter, Clark converter, rotor-position detection module, Park converter, speed calculation module and current PI controller, speed control is by speed preset value
n* with the speed feedback value of brshless DC motor
ncompare, export the torque current meeting motor load needs
i q *, under Park converter is converted the synchronous rotating frame obtained by torque controller
qthe actual current of axle
i q the torque current exported with speed control
i q * compare and calculate corresponding stator quadrature-axis voltage
u q ; Stator quadrature-axis voltage
u q export Park inverse converter to; Park inverse converter gets stator direct-axis voltage component
u d with stator quadrature-axis voltage component
u q , utilize the rotor-position signal θ that rotor-position detection module exports, after conversion, obtain component of voltage under rest frame
u α with
u β ; Component of voltage
u α with
u β export five-part form SVPWM module to; Component of voltage under the rest frame that five-part form SVPWM module calculates Park inverse converter
u α with
u β process, calculate modulation, differentiate sector, produce five-part form pwm signal and control three-phase bridge type converter; Three-phase bridge type converter realizes opening of three-phase circuit upper and lower bridge arm power tube according to the control signal of input and turns off with the conducting state controlling each winding of brshless DC motor; Clark converter is got biphase current sampled signal on three-phase bridge type converter and, as input, by calculating third phase electric current, is exported the actual current value under two-phase rest frame after conversion
i α with
i β ; By actual current value
i α with
i β export Park converter to;
Park converter receives the actual current value under two-phase rest frame
i α with
i β , after conversion, export the actual current value under two-phase rotating coordinate system
i d with
i q ; Under Park converter is converted the synchronous rotating frame obtained by current PI controller
dthe actual current of axle
i d with given
i d *=0 compares calculating, exports corresponding stator direct-axis voltage
u d ; Stator direct-axis voltage
u d export Park inverse converter to.
Be defined as state " 1 " during the upper brachium pontis conducting of three-phase bridge type converter, be defined as state " 0 " when turning off, form 8 space voltage vectors, wherein have 6 non-zero space voltage vectors and 2 zero vectors that space voltage vector plane is divided into 6 sectors; Five-part form SVPWM module according to
u α with
u β the output phase voltage of three-phase bridge type converter is gone out by formulae discovery
u a,
u b,
u cand calculate synthesized reference voltage vector
u sref , the voltage vector in each switch periods, by the basic vector on these sector region both sides and zero vector synthesis, by the combination of control switch state, makes synthesized reference voltage vector
u sref do circumference by the amplitude of setting to rotate, synthesized reference voltage vector
u sref when rotating in a sector zone, two basic zero vectors in this region obtain required synthesized reference voltage vector by combination action time of correspondence respectively
u sref export.
The advantage that the present invention has after adopting technique scheme and beneficial effect are:
1, the present invention adopts the STM32 series monolithic based on Cortex-M3 kernel, control performance is high, low in energy consumption, versatility is good, cheap, interface resource enriches, versatility is good, be applicable to the batch production of product, the problem of the aspect such as control efficiency, motor noise occurred when effectively can solve driven under square wave current brshless DC motor, achieves the operational effect that torque pulsation is under different loads little, motion smoothing, noise are low.
2, instant invention overcomes seven traditional segmentation SVPWM method to the too high deficiency of inverter power pipe modulating frequency, five-part form SVPWM modulating wave effectively can improve the control performance of motor when acting on inverter, reduce the switching loss of power tube simultaneously and reduce heating, switching frequency reduces by 1/3, power tube switching loss is low, and caloric value obviously reduces.
Accompanying drawing explanation
Fig. 1 is in the present invention
i d the vector control system structured flowchart of brshless DC motor when=0;
Fig. 2 is I sector two adjacent basic voltage vectors compound action composite diagram in the present invention;
Fig. 3 is I sector five-part form SVPWM ripple in the present invention;
Fig. 4 is symmetry three phase coordinate system and space voltage vector sector chart that in the present invention, law vector is formed;
Fig. 5 is the circuit topological structure figure of three-phase bridge type converter in Fig. 1.
In figure: 1. speed control; 2. torque controller; 3. Park inverse converter; 4. five-part form SVPWM module; 5. three-phase bridge type converter; 6. brshless DC motor; 7. Clark converter; 8. rotor-position detection module; 9. Park converter; 10. speed calculation module; 11. current PI controllers.
Embodiment
See Fig. 1, brshless DC motor 6 is control objects of apparatus of the present invention, provides the feedback signal such as rotating speed, rotor-position.Brshless DC motor five-part form vector control apparatus comprises following module: speed control 1, torque controller 2, Park inverse converter 3, five-part form SVPWM module 4, three-phase bridge type converter 5, Clark converter 7, rotor-position detection module 8, Park converter 9, speed calculation module 10, current PI controller 11 etc.Speed control 1 is by speed preset value
n* with the speed feedback value of brshless DC motor 6
ncompare, export the torque current meeting motor load needs
i q *.Under Park converter 9 is converted the synchronous rotating frame obtained by torque controller 2
qthe actual current of axle
i q the torque current exported with speed control 1
i q * compare calculating, obtain corresponding stator quadrature-axis voltage
u q ; Stator quadrature-axis voltage
u q export Park inverse converter 3 to.
Park inverse converter 3 gets stator direct-axis voltage component
u d with stator quadrature-axis voltage component
u q , utilize the rotor-position signal θ that rotor-position detection module 8 exports, after conversion, obtain component of voltage under rest frame
u α with
u β ; Component of voltage
u α with
u β export five-part form SVPWM module 4 to.
Component of voltage u under the rest frame that SVPWM module 4 pairs of Park inverse converters 3 calculate
αand u
βprocessing, controlling three-phase bridge type converter 5 by exporting six road pwm signals after computing.
What three-phase bridge type converter 5 realized three-phase circuit upper and lower bridge arm power tube according to the five-part form SVPWM control signal of input opens shutoff, thus controls the conducting state of each winding of brshless DC motor 6.
Clark converter 7 is got biphase current sampled signal on three-phase bridge type converter 5 and, as input, by calculating third phase electric current, is exported the actual current value under two-phase rest frame after conversion
i α with
i β ; By actual current value
i α with
i β export Park converter 9 to.
Rotor-position detection module 8 selects Hall element to obtain the positional information of rotor, is installed on brshless DC motor 6 stator winding position according to electrical degree 120 °, detects and judges the position signalling of current rotor.
Park converter 9 receives the actual current value under two-phase rest frame
i α with
i β , after conversion, export the actual current value under two-phase rotating coordinate system
i d with
i q .
Speed calculation module 10 gets the rotor-position signal θ of the rotor that rotor-position detection module 8 detects, calculates the actual speed of motor according to the Hall pulse number in a period of time, as the speed feedback value of motor
n.
Under Park converter 9 is converted the synchronous rotating frame obtained by current PI controller 11
dthe actual current of axle
i d with given
i d *=0 compares calculating, exports corresponding stator direct-axis voltage
u d ; Stator direct-axis voltage
u d export Park inverse converter 3 to.
The threephase stator electric current of motor
i a ,
i b ,
i c obtain after Clark converter 7 converts
i α ,
i β , then convert through Park converter 9, and make
daxle, along the direction of rotor flux, is equivalent to the excitation current component of brushless DC motor respectively
i d and torque current component
i q .By controlling excitation current component
i d and torque current component
i q , in rest frame into the control to DC quantity in respective synchronization rotating coordinate system is changed to the control of of ac.The present invention adopts
i d =0 vector control mode, is converted into the speed of motor and direct torque quadrature axis current torque current component
i q control.
In outer shroud, compare computational speed set-point
n* with speed feedback value
n, speed control 1 exports the torque current meeting motor load needs
i q *, it with feedback torque current component
i q compare, export corresponding stator quadrature-axis voltage through torque controller 2
u q , i.e. the torque component of voltage of motor.In inner ring, given
i d *=0, exports corresponding stator direct-axis voltage by current PI adjuster 11
u d , corresponding to the exciting voltage component of motor.Torque voltage and exciting voltage component utilize rotor-position signal θ through Park inverse transformation 3, calculate component of voltage under rest frame
u α with
u β .Finally, SVPWM modulation module 4 is right
u α with
u β carry out calculating modulation, differentiate sector, produce five-part form pwm signal switch main inverter circuit, realize the drived control of motor.
The general principle of five-part form SVPWM module 4 is as follows:
As shown in Figure 5, on definition three-phase, the on off state of brachium pontis is the topological structure of three-phase bridge type converter 5: S
a, S
b, S
c, lower brachium pontis and upper brachium pontis form the complementary switch state containing dead band: S
a_, S
b_, S
c_.Be defined as state " 1 " during upper brachium pontis conducting, during shutoff, be defined as state " 0 ".Can form 8 space voltage vectors, wherein 6 non-zero space voltage vectors are
u 4(100),
u 6(110),
u 2(010),
u 3(011),
u 1(001),
u 5(101) and 2 zero vectors are
u 0(000),
u 7(111) space voltage vector plane is divided into 6 sectors, as shown in Figure 4.Can derive, three-phase bridge type converter 5 export phase voltage vector [
u a u b u c]
twith switch state vector [
s a,
s b,
s c]
tbetween relation can be expressed as:
(1)
In formula,
u d for DC bus-bar voltage.Above-mentioned relation and parameter are based upon three phase static
a-
b-
con coordinate system.Utilize coordinate transform the phase voltage of three-phase static coordinate system can be converted into two-phase rest frame (
alpha-betacoordinate system) in.
Its change type is:
(2)
Wherein,
for
alpha-betacomponent of voltage in plane right-angle coordinate, will according to formula (2)
be converted to two-phase static coordinate and fasten corresponding phase voltage, then through type (1) calculates the phase voltage of three-phase bridge type converter 5 output
u a,
u b,
u c.
In conjunction with space vector of voltage formula:
（3）
Calculate synthesized reference voltage vector
u sref .
Below for synthesized reference voltage vector
u sref process:
1, the generation of five-part form SVPWM ripple
Fig. 2 is I sector two adjacent basic voltage vectors compound action composite diagram.For I sector, all can be synthesized by the basic vector on these sector region both sides and zero vector for the voltage vector in each switch periods.
Fig. 3 is I sector five-part form SVPWM ripple, and its vector sequence of operation is
u 0 -U 4 -U 6 -U 6 -U 4 -U 0 (
u 4 , U 6 be I sector basic voltage vectors,
u 0 for zero vector).The target that SVPWM controls is exactly by the combination of control switch state, will make synthesized reference voltage vector
u sref do circumference by the amplitude of setting to rotate.Sometime
u sref rotate in I sector zone, two basic zero vectors in this region
u 4 with
u 6respectively by corresponding action time
t 4 , T 6 combination obtains required
u sref export:
(A)
Wherein,
t 4 , T 6 be respectively two basic zero vectors
u 4 with
u 6corresponding action time,
tfor the total time that synthesized voltage vector acts in I sector.If
, need zero vector be inserted, meet:
.
for the zero vector resultant action time.Basis again:
(a)
for synthesized reference voltage vector
u sref be mapped to the projection voltage vector of α axle;
for synthesized reference voltage vector
u sref be mapped to the projection voltage vector of β axle.These interval two basic voltage vectors must divide other action time:
(B)
Vector
u 4with
u 6modulus value be 2
u d/ 3,
u d for inverter input voltage.
Define two zero vectors respectively
u 0 with
u 7action time be
t 0 with
t 7 , wherein:
(C)
In the present invention
, namely only have one of them zero vector
u 0 effect, another zero vector
u 7inoperative, then in each switch periods, always there is the switch function of a phase to keep low level.
2, the selection of sector and neighbouring vectors action time
Fig. 4 is symmetry three phase coordinate system and the space voltage vector sector chart of law vector formation.If intermediate variable X, Y and Z of action time:
(b)
The first sector neighboring voltage vector T action time is calculated according to formula (B)
4=-Z and T
6=X.
According to component under two-phase rest frame
, obtain three-phase windings phase voltage through Clarke inverse transformation
u a ,
u b ,
u c .Primary winding axis direction is rotated counterclockwise 90 ° of electrical degrees, uses unit vector
represent postrotational law vector,
afor twiddle factor
.Three law vector constitute new symmetry three phase axis
v a ,
v b with
v c .
Sector residing for this space vector of positive negative judgement projected on law vector by space vector, defines 3 scalars
v a ,
v b with
v c for the projection of any space vector on law vector, shown in (D),
for the unit vector on primary winding A phase axis.
(D)
If sector number P=A+2B+4C, logical variable A, B, C(value 1 or 0 under the new axis coordinate system built) value by 3 scalars
v a ,
v b with
v c positive and negative decision.Logical variable true value is determined as: if
v a during >0, A=1, on the contrary be 0; If
v b during >0, B=1, on the contrary be 0; If
v c >0, C=1, on the contrary be 0.
Positive and negative in the sector number P judged residing for given voltage vector according to these three scalars, P value is not real sector number, and table 1 lists actual corresponding relation.After determining spatial sector residing for vector, calculate the action time of adjacent two basic vectors, as the derivation of I sector, other sectors are in like manner tried to achieve.Different sector is as shown in table 1 for corresponding action time,
t 1with
t 2for adjacent basic voltage vectors action time.
Sector number residing for table 1 P value, actual reference voltage and adjacent basic voltage vectors correspondence action time table
| PValue | 3 | 1 | 5 | 4 | 6 | 2 |
| Actual sector number | Ⅰ | Ⅱ | Ⅲ | Ⅳ | Ⅴ | Ⅵ |
| t 1 | -Z | Z | X | -X | -Y | Y |
| t 2 | X | Y | -Y | Z | -Z | -X |
Claims (7)
1. a brshless DC motor five-part form vector control system, comprise speed control (1), torque controller (2), Park inverse converter (3), three-phase bridge type converter (5), Clark converter (7), rotor-position detection module (8), Park converter (9), speed calculation module (10) and current PI controller (11), it is characterized in that: speed control (1) is by speed preset value
n* with the speed feedback value of brshless DC motor (6)
ncompare, export the torque current meeting motor load needs
i q *, under Park converter (9) is converted the synchronous rotating frame obtained by torque controller (2)
qthe actual current of axle
i q the torque current exported with speed control (1)
i q * compare and calculate corresponding stator quadrature-axis voltage
u q ; Stator quadrature-axis voltage
u q export Park inverse converter (3) to; Park inverse converter (3) gets stator direct-axis voltage component
u d with stator quadrature-axis voltage component
u q , utilize the rotor-position signal θ that rotor-position detection module (8) exports, after conversion, obtain component of voltage under rest frame
u α with
u β ; Component of voltage
u α with
u β export five-part form SVPWM module (4) to; Component of voltage under the rest frame that five-part form SVPWM module (4) calculates Park inverse converter (3)
u α with
u β process, calculate modulation, differentiate sector, produce five-part form pwm signal and control three-phase bridge type converter (5); Three-phase bridge type converter (5) realizes opening of three-phase circuit upper and lower bridge arm power tube according to the control signal of input and turns off with the conducting state controlling brshless DC motor (6) each winding; Clark converter (7) gets the upper biphase current sampled signal of three-phase bridge type converter (5) as input, by calculating third phase electric current, exports the actual current value under two-phase rest frame after conversion
i α with
i β ; By actual current value
i α with
i β export Park converter (9) to; Park converter (9) receives the actual current value under two-phase rest frame
i α with
i β , after conversion, export the actual current value under two-phase rotating coordinate system
i d with
i q ; Under Park converter (9) is converted the synchronous rotating frame obtained by current PI controller (11)
dthe actual current of axle
i d with given
i d *=0 compares calculating, exports corresponding stator direct-axis voltage
u d ; Stator direct-axis voltage
u d export Park inverse converter (3) to.
2. a kind of brshless DC motor five-part form vector control system according to claim 1, it is characterized in that: be defined as state " 1 " during the upper brachium pontis conducting of three-phase bridge type converter (5), be defined as state " 0 " when turning off, form 8 space voltage vectors, wherein have 6 non-zero space voltage vectors and 2 zero vectors that space voltage vector plane is divided into 6 sectors; Five-part form SVPWM module (4) basis
u α with
u β the output phase voltage of three-phase bridge type converter (5) is gone out by formulae discovery
u a,
u b,
u cand calculate synthesized reference voltage vector
u sref , the voltage vector in each switch periods, by the basic vector on these sector region both sides and zero vector synthesis, by the combination of control switch state, makes synthesized reference voltage vector
u sref do circumference by the amplitude of setting to rotate, synthesized reference voltage vector
u sref when rotating in a sector zone, two basic zero vectors in this region obtain required synthesized reference voltage vector by combination action time of correspondence respectively
u sref export.
3. a kind of brshless DC motor five-part form vector control system according to claim 2, is characterized in that:
Five-part form SVPWM module (4) is according to formula
calculate phase voltage
u a,
u b,
u c; According to formula
calculate synthesized reference voltage vector
u sref .
4. a kind of brshless DC motor five-part form vector control system according to claim 3, is characterized in that: after determining spatial sector residing for vector, calculates the action time of adjacent two basic vectors.
5. a kind of brshless DC motor five-part form vector control system according to claim 1, is characterized in that: given
i d *=0, exports corresponding stator direct-axis voltage by current PI adjuster (11)
u d , corresponding to the exciting voltage component of motor, torque voltage and exciting voltage component utilize rotor-position signal θ through Park inverse transformation (3), calculate component of voltage under rest frame
u α with
u β .
6. a kind of brshless DC motor five-part form vector control system according to claim 1, it is characterized in that: speed calculation module (10) gets the rotor-position signal θ of the rotor that rotor-position detection module (8) detects, the actual speed of motor is calculated, as the speed feedback value of motor according to the Hall pulse number in a period of time
n.
7. a kind of brshless DC motor five-part form vector control system according to claim 1, it is characterized in that: rotor-position detection module (8) selects Hall element to obtain the positional information of rotor, be installed on brshless DC motor (6) stator winding position according to electrical degree 120 °, detect and judge the position signalling of current rotor.
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| CN112821844B (en) * | 2021-03-09 | 2022-06-10 | 广东威灵电机制造有限公司 | Motor control method and device, readable storage medium and electrical equipment |
| CN112910374A (en) * | 2021-03-10 | 2021-06-04 | 苏州汇川联合动力系统有限公司 | Method for optimizing inverter modulation strategy and motor control equipment |
| CN112910374B (en) * | 2021-03-10 | 2022-12-27 | 苏州汇川联合动力系统有限公司 | Method for optimizing inverter modulation strategy and motor control equipment |
| CN115189615A (en) * | 2021-09-23 | 2022-10-14 | 广州启明星机器人有限公司 | SVPWM control device of brushless DC motor |
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Application publication date: 20150708 |