CN104796050B - A kind of delay control method for suppressing torque pulsation of brushless DC motor - Google Patents

A kind of delay control method for suppressing torque pulsation of brushless DC motor Download PDF

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Publication number
CN104796050B
CN104796050B CN201510242617.9A CN201510242617A CN104796050B CN 104796050 B CN104796050 B CN 104796050B CN 201510242617 A CN201510242617 A CN 201510242617A CN 104796050 B CN104796050 B CN 104796050B
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China
Prior art keywords
commutation
shut
time
phase
delay
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Expired - Fee Related
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CN201510242617.9A
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Chinese (zh)
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CN104796050A (en
Inventor
姚绪梁
江晓明
杨光仪
张燕
常英健
冯丽媛
王峰
孟令卫
王晓伟
徐海洋
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Harbin Engineering University
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Harbin Engineering University
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    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/10Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P7/00Arrangements for regulating or controlling the speed or torque of electric DC motors
    • H02P7/06Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
    • H02P7/18Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
    • H02P7/24Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
    • H02P7/28Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
    • H02P7/285Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only
    • H02P7/29Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only using pulse modulation

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

The invention belongs to brshless DC motor control field, and in particular to a kind of delay control method of suppression torque pulsation of brushless DC motor.The present invention includes:Each phase current current intelligence is detected, it is determined that the shut-off phase of commutation is next carried out, conducting phase and non-commutation;In time delay before commutation, shut-off is mutually held on, conducting is mutually held off, pulse width modulation is carried out to non-commutation;After delay terminates, carry out commutation, shut-off is set mutually to turn off, by opposite bridge arm diode continuousing flow in parallel, order conducting phase and non-commutation normally, so that the time that shut-off phase current drops to 0 is equal with the time that conducting phase current rises to stationary value, realizes and suppress non-converting commutating current fluctuation, and then suppress commutation torque ripple.Delay control time module is added in original control system, and there is provided the formula of computing relay time, it is to avoid the adverse effect brought because time delay is gathered in examination, fast and effectively suppresses commutation torque ripple.

Description

A kind of delay control method for suppressing torque pulsation of brushless DC motor
Technical field
The invention belongs to brshless DC motor control field, and in particular to a kind of suppression torque pulsation of brushless DC motor Delay control method.
Background technology
Brshless DC motor has simple in construction, the advantages of torque is big, the extensive application in all trades and professions, is considered as It is 21 century most promising and wide application prospect electronically controlled motor.But, be present torque pulsation in motor, hinder It is to high-power, the development in high-precision field.
The control system of brshless DC motor is speed and current double closed loop control system, and its System Working Principle is:First Speed preset value is compared with speed detection value, and obtained speed difference carries out PI (ratio and integration) through speed control and adjusted Section, exports the set-point as electric current loop, is compared with current detection value, current differential is amplified through current controller again And correction, signal after regulation be converted into the signal that hall position is detected in PWM (pulsewidth modulation) circuit needed for it is each Phase pwm control signal, pwm control signal driving three-phase inversion bridge circuit makes corresponding device for power switching work, brushless straight Stream motor normally rotates.
But there is inductance in brshless DC motor winding, in commutation, shut-off phase current fall off rate is mutually electric with conducting Flow climbing speed inconsistent, cause non-converting commutating current to produce fluctuation, so that motor has commutation torque ripple.
The content of the invention
Present invention aims at provide a kind of delay control method of torque pulsation of brushless DC motor.
The object of the present invention is achieved like this:
(1) each phase current current intelligence is detected, it is determined that the shut-off phase of commutation is next carried out, conducting phase and non-commutation, Pass through time delay expression formulaMotor optimum delay time is determined, I is electric current stationary value, and D is to account for Sky ratio, U is motor DC voltage, and E is back-emf value, and L is machine winding inductance, tDIt is time delay;
(2) in the time delay before commutation, shut-off is mutually held on, conducting is mutually held off, non-commutation is carried out Pulse width modulation, makes the shut-off phase current be inRise, conducting phase current is 0;
(3) after delay terminates, commutation is carried out, shut-off is mutually turned off, by opposite bridge arm diode continuousing flow in parallel, order conducting Mutually and non-commutation normally, so that shut-off phase current drop to 0 time and conducting phase current rise to stationary value when Between it is equal, realize and suppress the fluctuation of non-converting commutating current, and then suppress commutation torque ripple.
The beneficial effects of the present invention are:Delay control time module is added in original control system, and there is provided calculating The formula of time delay, it is to avoid the adverse effect brought because time delay is gathered in examination, fast and effectively suppresses commutation torque arteries and veins It is dynamic.
Brief description of the drawings
Fig. 1 is a kind of principle control block diagram for suppressing torque pulsation of brushless DC motor of the present invention.
Fig. 2 (a) PWM-ON current lead-throughs circuit diagrams within time delay for the present invention.
Fig. 2 (b) PWM-OFF current lead-throughs circuit diagrams within time delay for the present invention.
Fig. 3 interior current lead-through circuit diagrams during commutation for the present invention.
Fig. 4 is the embodiment three-phase current oscillogram under not controlled using the inventive method.
Fig. 5 is the embodiment three-phase current oscillogram under being controlled using the inventive method.
Fig. 6 is the embodiment current torque oscillogram under not controlled using the inventive method.
Fig. 7 is the embodiment current torque oscillogram under being controlled using the inventive method.
Embodiment
The present invention will be further described below in conjunction with the accompanying drawings:
As shown in figure 1, between PWM module and three-phase inversion bridge module, delay control time module is added, by The pwm control signal of PWM module output, after certain delay control, then drives three phase inverter bridge.Wherein delay control Time processed, can directly it be calculated by derivation formula, it is to avoid effectively accurate to suppress to change because the adverse effect that time delay brings is gathered in examination Phase torque pulsation.
The purpose of the present invention is realized by following technical proposal:
A kind of delay control method for suppressing torque pulsation of brushless DC motor, comprises the following steps:
Step 1:Each phase current current intelligence is detected, it is determined that next to carry out the shut-off phase of commutation, conducting mutually and non-is changed Phase, passes through time delay expression formulaMotor optimum delay time is determined, I is that electric current is stable Value,
D is dutycycle, and U is motor DC voltage, and E is back-emf value, and L is machine winding inductance, tDIt is time delay;
Step 2:In time delay before commutation, shut-off is set mutually to be held on, conducting is mutually held off, and is entered to non-commutation Horizontal pulse width modulated (PWM), makes the shut-off phase current be inRise, conducting phase current is 0;
Step 3:After delay terminates, commutation is carried out, shut-off is mutually turned off, by opposite bridge arm diode continuousing flow in parallel, order Conducting phase and non-commutation normally, so that shut-off phase current drops to for 0 time and conducting phase current rises to stationary value Time it is equal, realize and suppress the fluctuation of non-converting commutating current, and then suppress commutation torque ripple.
With reference to Fig. 2, by taking AC conducting commutations to BC as an example.AC is conducted during normal operation, when rotor rotates 60 ° of electrical angles, Start commutation.Now delay A phases are turned off, and continue to conducting, and B phases can not be turned within time delay, and electric current is without B Phase, C phase VT2 pipes are by PWM controls.Fig. 2 (a) is circuit diagram when PWM-ON is VT2 conductings, and electric current flows into C phases from A phases and flowed out, Flow back to power supply;When Fig. 2 (b) is VT2 shut-offs for PWM-OFF, by diode VD5 freewheeling circuit figures, electric current is flowed into from A phases, and C phases flow Go out, form circulation.Then shut-off phase A phase currents and the relational expression of time delay are derived:Wherein iaA phase current values are off, I is electric current stationary value, and D is dutycycle, and U is motor DC voltage, and E is back-emf value, and L is electricity Machine winding inductance, tDIt is time delay.
With reference to Fig. 3, after delay terminates, A phases are turned off, and A phase currents are via diode VD4 afterflows;B is conducted, and starts commutation. During commutation, shut-off phase A phases and conducting phase B phase current expression formulas can be derived: Wherein iaIt is off A phase current values, ibIt is conducting B phase current values, IaIt is A phase currents initial value when commutation starts.
Commutation torque ripple is relevant with non-converting commutating current, when being risen by turning off phase current fall time with conducting phase current Between it is equal, the fluctuation of non-converting commutating current can be suppressed, and then suppress commutation torque ripple.Therefore, equal it can be derived according to the time Go out to turn off the size of phase current when commutation starts, expression formula is:
Then the expression formula of time delay is obtained:
The time delay calculated by time delay expression formula is gone to control pwm signal, makes it accurately control to turn off phase The shut-off moment.
The embodiment of the present invention is used for explaining the present invention, rather than limits the invention, in the spirit and right of invention It is required that protection domain in, to any modifications and changes for making of the present invention, both fall within protection scope of the present invention.
Embodiment
The present invention uses brshless DC motor rated power 3.7KW, and rated voltage 300V, rated speed is 1500rmp, surveys It is 0.188425mH to obtain inductance.
Fig. 4 and Fig. 6 are embodiment three-phase current oscillogram and current torque waveform under not controlled using the inventive method Figure.It can be seen that the time that shut-off phase current drops to 0 is smaller than the time that conducting phase current rises to stationary value so that non-to change Phase current diminishes, during commutation, and torque also diminishes, and produces pulsation.Fig. 5 and Fig. 7 are the realities under being controlled using the inventive method Apply a three-phase current oscillogram and current torque oscillogram.Within time delay, shut-off phase current rises, and conducting phase current is 0, During commutation, the time that shut-off phase current drops to 0 is equal with the time that conducting phase current rises to stationary value, commutation torque ripple It is suppressed.
In summary, using brshless DC motor delay control method there is provided a kind of optimum delay time foundation, quickly Obtain accurate time delay, it is to avoid because the adverse effect that time delay brings is gathered in examination, effectively suppress commutation torque ripple, side Method is simple, it is easy to accomplish.

Claims (1)

1. a kind of delay control method for suppressing torque pulsation of brushless DC motor, it is characterised in that comprise the following steps:
(1) each phase current current intelligence is detected, it is determined that next to carry out the shut-off phase of commutation, conducting phase and non-commutation pass through Time delay expression formulaMotor optimum delay time is determined, I is electric current stationary value, and D is duty Than U is motor DC voltage, and E is back-emf value, and L is machine winding inductance, tDIt is time delay;
(2) in the time delay before commutation, shut-off is made mutually to be held on, conducting is mutually held off, and horizontal pulse is entered to non-commutation Width modulated, makes the shut-off phase current be inRise, conducting phase current is 0;
(3) after delay terminates, commutation is carried out, shut-off is mutually turned off, is continued by the diode of the switching tube reverse parallel connection with inverter Stream, order conducting phase and non-commutation normally, so that shut-off phase current drops to for 0 time and conducting phase current rises to surely The time of definite value is equal, realizes and suppresses non-converting commutating current fluctuation, and then suppresses commutation torque ripple.
CN201510242617.9A 2015-05-13 2015-05-13 A kind of delay control method for suppressing torque pulsation of brushless DC motor Expired - Fee Related CN104796050B (en)

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Publication number Priority date Publication date Assignee Title
CN106059406B (en) * 2016-06-15 2018-07-31 哈尔滨工程大学 A method of torque pulsation of brushless DC motor is inhibited based on delay hall signal
CN106452216B (en) * 2016-08-09 2018-09-25 王大方 A kind of suppressing method of brshless DC motor commutation torque ripple
WO2018032432A1 (en) * 2016-08-17 2018-02-22 邹霞 Brushless dc motor control system capable of implementing speed and current double closed-loop control
CN106602941B (en) * 2016-12-06 2019-03-05 南京邮电大学 A kind of control device and method reducing brshless DC motor commutation torque ripple
CN107222133B (en) * 2017-05-18 2019-08-06 哈尔滨工程大学 A method of inhibiting brshless DC motor commutation torque ripple
CN108880350A (en) * 2018-08-13 2018-11-23 张新华 Brshless DC motor turns off phase retardation duration control method
CN108964529A (en) * 2018-08-13 2018-12-07 张菊香 Brshless DC motor high speed is delayed to turn off angle setting method
CN109067268A (en) * 2018-08-13 2018-12-21 张新华 Brshless DC motor opens phase retardation and opens control method
CN114826036B (en) * 2022-05-30 2023-11-03 南京凌博电子科技有限公司 Brushless direct current motor control method capable of reducing commutation torque pulsation

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