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 PDFInfo
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- 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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- 238000000034 method Methods 0.000 title claims abstract description 15
- 230000010349 pulsation Effects 0.000 title claims abstract description 11
- 238000004804 winding Methods 0.000 claims description 5
- 230000002411 adverse Effects 0.000 abstract description 4
- 230000000694 effects Effects 0.000 abstract description 4
- 230000001629 suppression Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 2
- 210000001367 artery Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000009795 derivation Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000003462 vein Anatomy 0.000 description 1
Classifications
-
- 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
- H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
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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
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
- H02P7/06—Arrangements 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
- H02P7/18—Arrangements 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
- H02P7/24—Arrangements 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
- H02P7/28—Arrangements 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
- H02P7/285—Arrangements 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
- H02P7/29—Arrangements 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
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.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510242617.9A CN104796050B (en) | 2015-05-13 | 2015-05-13 | A kind of delay control method for suppressing torque pulsation of brushless DC motor |
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| CN201510242617.9A CN104796050B (en) | 2015-05-13 | 2015-05-13 | A kind of delay control method for suppressing torque pulsation of brushless DC motor |
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| CN104796050A CN104796050A (en) | 2015-07-22 |
| CN104796050B true CN104796050B (en) | 2017-10-03 |
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Families Citing this family (9)
| 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 |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103501146A (en) * | 2013-10-17 | 2014-01-08 | 中南林业科技大学 | Commutation torque ripple restraining method and system for brushless DC (Direct Current) motor driving system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7141943B2 (en) * | 2004-12-30 | 2006-11-28 | Korean Institute Of Science And Technology | Brushless DC motor system and method of controlling the same |
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Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103501146A (en) * | 2013-10-17 | 2014-01-08 | 中南林业科技大学 | Commutation torque ripple restraining method and system for brushless DC (Direct Current) motor driving system |
Non-Patent Citations (2)
| Title |
|---|
| 《Analysis of torque ripple due to phase commutation》;CARLSON R;《IEEE Trans on．Industrial Applicadons》;20091231;632-638 * |
| 《Commutation Torque Ripple Analysis and Reduction》;S.S.Bharatkar, Raju Yanamshetti，D.Chatterjee, A.K. Ganguli;《2008 IEEE Region 10 Colloquium and the Third ICIIS》;20081231;1-5 * |
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